{"id":"https://openalex.org/W3090137532","doi":"https://doi.org/10.1109/access.2020.3028374","title":"Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles","display_name":"Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3090137532","doi":"https://doi.org/10.1109/access.2020.3028374","mag":"3090137532","pmid":"https://pubmed.ncbi.nlm.nih.gov/35198341"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3028374","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3028374","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09211508.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09211508.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016647778","display_name":"Margaret Rox","orcid":"https://orcid.org/0000-0003-4271-9139"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I4210162197","display_name":"Vanderbilt Health","ror":"https://ror.org/05grhsk96","country_code":"US","type":"company","lineage":["https://openalex.org/I4210162197"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret Rox","raw_affiliation_strings":["Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","Vanderbilt University, Nashville, TN, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0003-4271-9139","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","institution_ids":["https://openalex.org/I200719446","https://openalex.org/I4210162197"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057650460","display_name":"Maxwell Emerson","orcid":"https://orcid.org/0000-0003-2491-1979"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I4210162197","display_name":"Vanderbilt Health","ror":"https://ror.org/05grhsk96","country_code":"US","type":"company","lineage":["https://openalex.org/I4210162197"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxwell Emerson","raw_affiliation_strings":["Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","Vanderbilt University, Nashville, TN, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0003-2491-1979","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","institution_ids":["https://openalex.org/I200719446","https://openalex.org/I4210162197"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049322095","display_name":"Tayfun Efe Ertop","orcid":"https://orcid.org/0000-0001-7004-367X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I4210162197","display_name":"Vanderbilt Health","ror":"https://ror.org/05grhsk96","country_code":"US","type":"company","lineage":["https://openalex.org/I4210162197"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tayfun Efe Ertop","raw_affiliation_strings":["Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0001-7004-367X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","institution_ids":["https://openalex.org/I200719446","https://openalex.org/I4210162197"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043527194","display_name":"Inbar Fried","orcid":"https://orcid.org/0000-0003-0427-284X"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Inbar Fried","raw_affiliation_strings":["Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080782723","display_name":"Mengyu Fu","orcid":"https://orcid.org/0000-0002-5237-1220"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mengyu Fu","raw_affiliation_strings":["Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":"https://orcid.org/0000-0002-5237-1220","affiliations":[{"raw_affiliation_string":"Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082472029","display_name":"Janine Hoelscher","orcid":"https://orcid.org/0000-0003-3970-0613"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Janine Hoelscher","raw_affiliation_strings":["Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":"https://orcid.org/0000-0003-3970-0613","affiliations":[{"raw_affiliation_string":"Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["Robotics Center and the School of Computing at the University of Utah, Salt Lake City, UT 84112, USA","School of Computing, The University of Utah, Salt Lake City, UT, USA","Robotics Center, The University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0003-0017-3932","affiliations":[{"raw_affiliation_string":"Robotics Center and the School of Computing at the University of Utah, Salt Lake City, UT 84112, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"School of Computing, The University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Robotics Center, The University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030668353","display_name":"Josephine Granna","orcid":"https://orcid.org/0000-0001-5213-6928"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I4210162197","display_name":"Vanderbilt Health","ror":"https://ror.org/05grhsk96","country_code":"US","type":"company","lineage":["https://openalex.org/I4210162197"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Josephine Granna","raw_affiliation_strings":["Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","Vanderbilt University, Nashville, TN, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","institution_ids":["https://openalex.org/I200719446","https://openalex.org/I4210162197"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059786636","display_name":"Jason E. Mitchell","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I4210162197","display_name":"Vanderbilt Health","ror":"https://ror.org/05grhsk96","country_code":"US","type":"company","lineage":["https://openalex.org/I4210162197"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason E. Mitchell","raw_affiliation_strings":["Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","institution_ids":["https://openalex.org/I200719446","https://openalex.org/I4210162197"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076979196","display_name":"Michael Lester","orcid":"https://orcid.org/0000-0002-1098-6251"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Lester","raw_affiliation_strings":["Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","Vanderbilt University Medical Center, Nashville, TN, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030115976","display_name":"Fabien Maldonado","orcid":"https://orcid.org/0000-0002-6504-2063"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabien Maldonado","raw_affiliation_strings":["Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt University Medical Center, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000367649","display_name":"Erin A. Gillaspie","orcid":"https://orcid.org/0000-0003-2075-5534"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erin A. Gillaspie","raw_affiliation_strings":["Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","Vanderbilt University Medical Center, Nashville, TN, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078927238","display_name":"Jason Akulian","orcid":"https://orcid.org/0000-0002-4528-8496"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason A. Akulian","raw_affiliation_strings":["Division of Pulmonary Diseases and Critical Care Medicine at the University of North Carolina at Chapel Hill, NC 27599, USA","Division of Pulmonary Diseases and Critical Care Medicine, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Pulmonary Diseases and Critical Care Medicine at the University of North Carolina at Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Division of Pulmonary Diseases and Critical Care Medicine, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":"https://orcid.org/0000-0002-4492-1384","affiliations":[{"raw_affiliation_string":"Department of Computer Science at the University of North Carolina at Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I4210162197","display_name":"Vanderbilt Health","ror":"https://ror.org/05grhsk96","country_code":"US","type":"company","lineage":["https://openalex.org/I4210162197"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","Vanderbilt University, Nashville, TN, USA","Vanderbilt University Medical Center, Nashville, TN, USA","Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0003-1389-224X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Vanderbilt Institute for Surgery and Engineering at Vanderbilt University, Nashville, TN 37203, USA","institution_ids":["https://openalex.org/I200719446","https://openalex.org/I4210162197"]},{"raw_affiliation_string":"Department of Medicine and Thoracic Surgery at the Vanderbilt University Medical Center, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":15,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8714,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.70983247,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"181411","last_page":"181419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9775000214576721,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9706000089645386,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6240695714950562},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6149738430976868},{"id":"https://openalex.org/keywords/shearing","display_name":"Shearing (physics)","score":0.5848309397697449},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5212148427963257},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5100329518318176},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.498884916305542},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.3381601572036743},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1923219859600067},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.17382484674453735},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12076559662818909}],"concepts":[{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6240695714950562},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6149738430976868},{"id":"https://openalex.org/C152279782","wikidata":"https://www.wikidata.org/wiki/Q13583542","display_name":"Shearing (physics)","level":2,"score":0.5848309397697449},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5212148427963257},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5100329518318176},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.498884916305542},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.3381601572036743},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1923219859600067},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.17382484674453735},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12076559662818909},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.3028374","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3028374","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09211508.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmid:35198341","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35198341","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE access : practical innovations, open solutions","raw_type":null},{"id":"pmh:oai:doaj.org/article:9d6df610138c4c448e2a0c5e8d2203e8","is_oa":true,"landing_page_url":"https://doaj.org/article/9d6df610138c4c448e2a0c5e8d2203e8","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 181411-181419 (2020)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:8863302","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8863302","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3028374","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3028374","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09211508.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1026998983","display_name":null,"funder_award_id":"T32EB021937","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G1937603640","display_name":null,"funder_award_id":"T32 EB021937","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G5512545490","display_name":null,"funder_award_id":"T32EB021937","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3090137532.pdf","grobid_xml":"https://content.openalex.org/works/W3090137532.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1591352837","https://openalex.org/W1987524362","https://openalex.org/W1990170256","https://openalex.org/W1992267514","https://openalex.org/W2029990316","https://openalex.org/W2040641305","https://openalex.org/W2057271741","https://openalex.org/W2067873889","https://openalex.org/W2070313161","https://openalex.org/W2071435520","https://openalex.org/W2075352058","https://openalex.org/W2088865132","https://openalex.org/W2090415875","https://openalex.org/W2091884377","https://openalex.org/W2093664976","https://openalex.org/W2100890205","https://openalex.org/W2102729693","https://openalex.org/W2106934286","https://openalex.org/W2107550832","https://openalex.org/W2121939955","https://openalex.org/W2132167838","https://openalex.org/W2150119051","https://openalex.org/W2154598371","https://openalex.org/W2166175546","https://openalex.org/W2180065899","https://openalex.org/W2201506230","https://openalex.org/W2217491342","https://openalex.org/W2396266093","https://openalex.org/W2400840419","https://openalex.org/W2531214183","https://openalex.org/W2578460647","https://openalex.org/W2588358979","https://openalex.org/W2794262107","https://openalex.org/W2910540886","https://openalex.org/W2916893469","https://openalex.org/W2920959446","https://openalex.org/W4233999938"],"related_works":["https://openalex.org/W55883722","https://openalex.org/W585100505","https://openalex.org/W2394379345","https://openalex.org/W2079726820","https://openalex.org/W3215763795","https://openalex.org/W2368899197","https://openalex.org/W4288816678","https://openalex.org/W2385888045","https://openalex.org/W1988570269","https://openalex.org/W1993699589"],"abstract_inverted_index":{"The":[0],"maximum":[1,62],"curvature":[2],"of":[3,21],"a":[4,52],"steerable":[5,134,199],"needle":[6,14,30,40,57,71,82,111,135,163],"in":[7,25,89,105,162],"soft":[8,106],"tissue":[9,181],"is":[10],"highly":[11],"sensitive":[12],"to":[13,55,80,168,180,194],"shaft":[15,34,41,58,86],"stiffness,":[16],"which":[17,119],"has":[18],"motivated":[19],"use":[20,110],"small":[22,45],"diameter":[23,161,167],"needles":[24],"the":[26,39,153,186],"past.":[27],"However,":[28],"desired":[29],"payloads":[31],"constrain":[32],"minimum":[33],"diameters,":[35],"and":[36,47,91,98,118,142,149,191],"shearing":[37],"along":[38],"can":[42],"occur":[43],"at":[44,66],"diameters":[46,67,112],"high":[48,103],"curvatures.":[49],"We":[50,74,131],"provide":[51],"new":[53,189],"way":[54,187],"adjust":[56],"stiffness":[59],"(thereby":[60],"enhancing":[61],"curvature,":[63],"i.e.":[64],"\"steerability\")":[65],"selected":[68,170],"based":[69,171],"on":[70,172],"payload":[72,145],"requirements.":[73],"propose":[75],"helical":[76,128],"dovetail":[77,129,156],"laser":[78],"patterning":[79,157],"increase":[81],"steerability":[83,104,159],"without":[84,127],"reducing":[85],"diameter.":[87],"Experiments":[88],"phantoms":[90],"ex":[92],"vivo":[93],"animal":[94],"muscle,":[95],"brain,":[96],"liver,":[97],"inflated":[99],"lung":[100],"tissues":[101],"demonstrate":[102,143],"tissues.":[107],"These":[108,183],"experiments":[109],"suitable":[113],"for":[114,188],"various":[115],"clinical":[116,173],"scenarios,":[117],"have":[120],"been":[121],"previously":[122],"limited":[123],"by":[124],"steering":[125],"challenges":[126],"patterning.":[130],"show":[132],"that":[133],"targeting":[136],"remains":[137],"accurate":[138],"with":[139],"established":[140],"controllers":[141],"interventional":[144,192],"delivery":[146],"(brachytherapy":[147],"seeds":[148],"radiofrequency":[150],"ablation)":[151],"through":[152],"needle.":[154],"Helical":[155],"decouples":[158],"from":[160],"design.":[164],"It":[165],"enables":[166],"be":[169,195],"requirements":[174],"rather":[175],"than":[176],"being":[177],"carefully":[178],"tuned":[179],"properties.":[182],"results":[184],"pave":[185],"sensors":[190],"tools":[193],"integrated":[196],"into":[197],"high-curvature":[198],"needles.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}