{"id":"https://openalex.org/W2058004183","doi":"https://doi.org/10.1109/icra.2013.6631205","title":"A pseudo-rigid-body 3R model for a steerable ablation catheter","display_name":"A pseudo-rigid-body 3R model for a steerable ablation catheter","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2058004183","doi":"https://doi.org/10.1109/icra.2013.6631205","mag":"2058004183"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5049373738","display_name":"Mahta Khoshnam","orcid":"https://orcid.org/0000-0003-3185-0182"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mahta Khoshnam","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Canadian Surgical Technologies and Advanced Robotics (CSTAR), Western University, London, ONT, Canada","[Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Canadian Surgical Technologies and Advanced Robotics (CSTAR), Western University, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada]","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rajni V. Patel","raw_affiliation_strings":["Department of Surgery, Western University, London, ONT, Canada","[Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada]"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, Western University, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada]","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049373738"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":3.0713,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.90959366,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4427","last_page":"4432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9790999889373779,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9757999777793884,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/catheter","display_name":"Catheter","score":0.7623538970947266},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.6561968922615051},{"id":"https://openalex.org/keywords/cardiac-ablation","display_name":"Cardiac Ablation","score":0.5842869281768799},{"id":"https://openalex.org/keywords/catheter-ablation","display_name":"Catheter ablation","score":0.5008366107940674},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4846694767475128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46870535612106323},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.46271464228630066},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4375775158405304},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3898187279701233},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36336731910705566},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3481130003929138},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21151891350746155},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16633960604667664},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1625162959098816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13024777173995972}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.7623538970947266},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.6561968922615051},{"id":"https://openalex.org/C2910474132","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Cardiac Ablation","level":4,"score":0.5842869281768799},{"id":"https://openalex.org/C2776131983","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Catheter ablation","level":3,"score":0.5008366107940674},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4846694767475128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46870535612106323},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.46271464228630066},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4375775158405304},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3898187279701233},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36336731910705566},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3481130003929138},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21151891350746155},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16633960604667664},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1625162959098816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13024777173995972},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2022157658","https://openalex.org/W2068991773","https://openalex.org/W2078419925","https://openalex.org/W2081310867","https://openalex.org/W2088823887","https://openalex.org/W2117586322","https://openalex.org/W2119531408","https://openalex.org/W2121744551","https://openalex.org/W2125860604","https://openalex.org/W2128755057","https://openalex.org/W2131150943","https://openalex.org/W2140544649","https://openalex.org/W2144245558","https://openalex.org/W2147492425","https://openalex.org/W6678278368"],"related_works":["https://openalex.org/W4210927327","https://openalex.org/W63965692","https://openalex.org/W2143427407","https://openalex.org/W2602975634","https://openalex.org/W3115751652","https://openalex.org/W2029545144","https://openalex.org/W25713472","https://openalex.org/W2593438362","https://openalex.org/W4292689102","https://openalex.org/W2179224909"],"abstract_inverted_index":{"Over":[0],"the":[1,10,28,31,35,46,50,58,62,69,82,100,105,108,112,128,133],"past":[2],"few":[3],"decades,":[4],"catheter-based":[5],"cardiac":[6],"ablation":[7,24,63,113],"has":[8],"been":[9],"first":[11],"surgical":[12],"option":[13],"for":[14,81,149],"treatment":[15],"of":[16,52,57,107,111,127],"arrhythmia.":[17],"In":[18],"order":[19],"to":[20,139],"have":[21],"an":[22],"effective":[23],"procedure,":[25,64],"after":[26],"positioning":[27],"catheter":[29,59,70,83,114,129],"at":[30],"desired":[32],"location":[33],"inside":[34],"heart":[36],"chamber,":[37],"a":[38,146,151],"consistent":[39],"tip/tissue":[40],"contact":[41],"should":[42],"be":[43],"maintained":[44],"during":[45,61],"whole":[47],"procedure.":[48],"With":[49],"goal":[51],"implementing":[53],"hybrid":[54],"force/position":[55],"control":[56,152],"tip":[60,71,84],"this":[65,144],"paper":[66],"studies":[67],"how":[68],"deflects":[72],"when":[73],"forces":[74],"are":[75,137],"applied.":[76],"A":[77],"pseudo-rigid-body":[78],"3R":[79],"model":[80,88,102,121,145],"is":[85,90,97,118],"introduced.":[86],"The":[87],"performance":[89],"evaluated":[91],"through":[92],"extensive":[93,125],"experiments":[94],"and":[95,141],"it":[96],"shown":[98],"that":[99],"proposed":[101],"can":[103],"estimate":[104],"shape":[106],"bending":[109],"section":[110],"if":[115],"force":[116],"information":[117],"available.":[119],"This":[120],"does":[122],"not":[123],"require":[124],"knowledge":[126],"internal":[130],"structure.":[131],"Moreover,":[132],"well-established":[134],"static":[135],"equations":[136],"simple":[138],"understand":[140],"solve,":[142],"making":[143],"convenient":[147],"choice":[148],"developing":[150],"system.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}