{"id":"https://openalex.org/W4206839844","doi":"https://doi.org/10.1109/icar53236.2021.9659442","title":"Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions","display_name":"Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4206839844","doi":"https://doi.org/10.1109/icar53236.2021.9659442"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659442","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/123456789/685397","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003884539","display_name":"Aditya Sridhar","orcid":"https://orcid.org/0000-0002-8010-2247"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Aditya Sridhar","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062778860","display_name":"Mouloud Ourak","orcid":"https://orcid.org/0000-0003-4885-8965"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Mouloud Ourak","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041111167","display_name":"Irati Valdivielso","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Irati Valdivielso","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068041103","display_name":"Emmanuel Vander Poorten","orcid":"https://orcid.org/0000-0003-3764-9551"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Emmanuel Vander Poorten","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.2962298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"155","last_page":"160"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9933000206947327,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9909999966621399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mitraclip","display_name":"MitraClip","score":0.6931406259536743},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6455169320106506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5309609174728394},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4773264527320862},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.4554034471511841},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4553963243961334},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.4492015242576599},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4320395290851593},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.41627052426338196},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.33059635758399963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24005568027496338},{"id":"https://openalex.org/keywords/mitral-regurgitation","display_name":"Mitral regurgitation","score":0.19709107279777527},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.17003613710403442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12998971343040466},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12309727072715759},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.10455691814422607}],"concepts":[{"id":"https://openalex.org/C2780793704","wikidata":"https://www.wikidata.org/wiki/Q17148524","display_name":"MitraClip","level":3,"score":0.6931406259536743},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6455169320106506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5309609174728394},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4773264527320862},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.4554034471511841},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4553963243961334},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.4492015242576599},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4320395290851593},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.41627052426338196},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.33059635758399963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24005568027496338},{"id":"https://openalex.org/C2993373945","wikidata":"https://www.wikidata.org/wiki/Q268292","display_name":"Mitral regurgitation","level":2,"score":0.19709107279777527},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.17003613710403442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12998971343040466},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12309727072715759},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.10455691814422607},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659442","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/685397","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/685397","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR), Slovenia, 6-10 December 2021","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/685397","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/685397","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR), Slovenia, 6-10 December 2021","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1549090753","https://openalex.org/W1976775775","https://openalex.org/W2002483723","https://openalex.org/W2068437788","https://openalex.org/W2098457991","https://openalex.org/W2106089315","https://openalex.org/W2112050863","https://openalex.org/W2119343887","https://openalex.org/W2167480813","https://openalex.org/W2537317783","https://openalex.org/W2538060465","https://openalex.org/W2551179411","https://openalex.org/W2554924386","https://openalex.org/W2613408503","https://openalex.org/W2771636580","https://openalex.org/W2903348871","https://openalex.org/W2957167419","https://openalex.org/W2977886389","https://openalex.org/W2979893520","https://openalex.org/W3022595114","https://openalex.org/W6728705506"],"related_works":["https://openalex.org/W2893339935","https://openalex.org/W2318553114","https://openalex.org/W1996675943","https://openalex.org/W2890720924","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2936987457","https://openalex.org/W4389491526","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"Mitral":[0],"regurgitation":[1],"is":[2,48,103,108,178,195],"the":[3,19,42,111,137,141,143,154,193],"second":[4],"most":[5],"common":[6],"of":[7,71,140,153,157,168],"all":[8],"cardiovascular":[9],"diseases":[10],"in":[11,124],"Europe.":[12],"Nowadays,":[13],"minimally":[14],"invasive":[15],"approaches":[16],"such":[17,86],"as":[18,87,110],"MitraClip":[20,30],"system":[21,31],"are":[22,78,118],"becoming":[23],"popular":[24],"to":[25,39,51,67,136,188,197],"treat":[26],"this":[27,45,95],"disease.":[28],"The":[29,190],"relies":[32],"on":[33,192],"a":[34,97,184],"steerable":[35,100],"catheter":[36],"and":[37,54,60,73,90,127,163,173,180],"sheath":[38,101,194],"navigate":[40],"through":[41],"vasculature.":[43],"However,":[44],"flexible":[46,74,159],"instrument":[47],"generally":[49],"prone":[50],"large":[52],"friction":[53],"backlash,":[55],"highly":[56],"nonlinear":[57],"force-displacement":[58],"relations,":[59],"significant":[61],"hysteresis":[62,191],"effects.":[63],"These":[64],"limitations":[65],"call":[66],"investigate":[68],"new":[69],"designs":[70],"actuators":[72],"structures.":[75],"Flexible":[76],"instruments":[77],"commonly":[79],"actuated":[80],"with":[81],"cables,":[82],"but":[83],"other":[84],"options":[85],"soft":[88,99,138],"materials":[89],"pneumatic":[91],"muscles":[92,116],"exist.":[93],"In":[94],"paper,":[96],"novel":[98],"design":[102],"proposed.":[104],"A":[105,165],"silicone":[106],"mixture":[107],"used":[109],"backbone":[112],"for":[113,133],"six":[114],"McKibben":[115],"which":[117],"set":[119],"up":[120,187],"antagonistically.":[121],"This":[122,149,182],"results":[123],"low":[125],"cost":[126],"high":[128],"force":[129],"per":[130],"volume":[131],"ratio":[132],"actuation.":[134],"Due":[135],"nature":[139],"instrument,":[142],"device":[144],"possesses":[145],"some":[146,152],"intrinsic":[147],"safety.":[148],"paper":[150],"addresses":[151],"bigger":[155],"challenges":[156],"using":[158],"instruments,":[160],"namely":[161],"miniaturization":[162],"hysteresis.":[164],"first":[166],"prototype":[167],"outer":[169],"diameter":[170,175],"12":[171],"mm":[172,177],"inner":[174],"6":[176],"manufactured":[179],"characterized.":[181],"shows":[183],"bending":[185],"performance":[186],"68°.":[189],"calculated":[196],"be":[198],"around":[199],"8%.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}