{"id":"https://openalex.org/W2326691141","doi":"https://doi.org/10.1109/embc.2014.6944256","title":"Towards kinematic modeling of a multi-DOF tendon driven robotic catheter","display_name":"Towards kinematic modeling of a multi-DOF tendon driven robotic catheter","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2326691141","doi":"https://doi.org/10.1109/embc.2014.6944256","mag":"2326691141","pmid":"https://pubmed.ncbi.nlm.nih.gov/25570624"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2014.6944256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2014.6944256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025104684","display_name":"Peng Qi","orcid":"https://orcid.org/0000-0003-0514-9464"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Peng Qi","raw_affiliation_strings":["The Centre for Robotics Research, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"The Centre for Robotics Research, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["The Centre for Robotics Research, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"The Centre for Robotics Research, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862138","display_name":"Lakmal Seneviratne","orcid":"https://orcid.org/0000-0001-6405-8402"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lakmal Seneviratne","raw_affiliation_strings":["The Centre for Robotics Research, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"The Centre for Robotics Research, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["The Centre for Robotics Research, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"The Centre for Robotics Research, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025104684"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":1.4946,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.82416344,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2014","issue":null,"first_page":"3009","last_page":"3012"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/workspace","display_name":"Workspace","score":0.8643128275871277},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8196462392807007},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6920020580291748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6590580940246582},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4676456153392792},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4401479959487915},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42756545543670654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31274932622909546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21632274985313416},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1795952022075653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17294567823410034},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13898465037345886},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08500665426254272}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8643128275871277},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8196462392807007},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6920020580291748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6590580940246582},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4676456153392792},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4401479959487915},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42756545543670654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31274932622909546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21632274985313416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1795952022075653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17294567823410034},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13898465037345886},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08500665426254272}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057785","descriptor_name":"Catheters","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057785","descriptor_name":"Catheters","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057785","descriptor_name":"Catheters","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2014.6944256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2014.6944256","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:25570624","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25570624","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":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8100000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1540305977","https://openalex.org/W1891615552","https://openalex.org/W2029779080","https://openalex.org/W2063797945","https://openalex.org/W2073714308","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2119343887","https://openalex.org/W2135485145","https://openalex.org/W2146481048","https://openalex.org/W2147492425","https://openalex.org/W2162612257","https://openalex.org/W2502155430","https://openalex.org/W4233318739"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,24,45,73],"recent":[4],"study":[5],"on":[6,80],"kinematic":[7],"modeling":[8,56,77],"of":[9,18,30,83,89,122],"remote-controlled":[11],"active":[12],"catheter.":[13],"The":[14],"tip":[15,36],"steering":[16],"motion":[17],"the":[19,34,60,81,87],"catheter":[20,51],"is":[21,64,96,112],"actuated":[22],"in":[23,114],"tendon-driven":[25],"manner.":[26],"Two":[27],"antagonistic":[28],"groups":[29],"tendon":[31],"actuation":[32],"realize":[33],"distal":[35],"deflecting":[37],"with":[38],"two-degree-of-freedom":[39],"(2-DOF)":[40],"allowing":[41],"it":[42],"to":[43,106],"reach":[44],"considerable":[46],"large":[47],"spatial":[48],"workspace":[49],"without":[50],"shaft":[52],"rotation.":[53],"However,":[54],"when":[55],"such":[57],"bending":[58],"deformation,":[59],"sequential":[61],"rotation":[62,85,91],"approach":[63],"easily":[65],"misapplied.":[66],"We":[67],"address":[68],"this":[69],"problem":[70],"and":[71,75,86,101,118],"introduce":[72],"novel":[74],"unified":[76],"methodology":[78],"based":[79],"concept":[82],"simultaneous":[84],"use":[88],"Rodrigues'":[90],"formula.":[92],"An":[93],"accurate":[94,116],"model":[95],"created":[97],"for":[98],"robotic":[99],"catheters":[100],"also":[102],"can":[103],"be":[104],"generalized":[105],"common":[107],"multi-tendon-driven":[108],"continuum":[109],"manipulators.":[110],"It":[111],"essential":[113],"achieving":[115],"control":[117],"improving":[119],"autonomous":[120],"execution":[121],"command":[123],"tracking":[124],"tasks.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
