{"id":"https://openalex.org/W1589824090","doi":"https://doi.org/10.1109/icra.2015.7139513","title":"A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation","display_name":"A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1589824090","doi":"https://doi.org/10.1109/icra.2015.7139513","mag":"1589824090","pmid":"https://pubmed.ncbi.nlm.nih.gov/26413381"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4578310","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108091395","display_name":"Luis G. Torres","orcid":null},"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":"Luis G. Torres","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","Department of Computer Science, University of North Carolina at Chapel Hill, 27599, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, 27599, 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/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":"Alan Kuntz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","Department of Computer Science, University of North Carolina at Chapel Hill, 27599, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025215159","display_name":"Hunter B. Gilbert","orcid":"https://orcid.org/0000-0001-8590-2596"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hunter B. Gilbert","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101662877","display_name":"Philip J. Swaney","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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip J. Swaney","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047656946","display_name":"Richard J. Hendrick","orcid":"https://orcid.org/0000-0001-7976-2064"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard J. Hendrick","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","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, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","Department of Computer Science, University of North Carolina at Chapel Hill, 27599, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9105,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.90181734,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2015","issue":null,"first_page":"2361","last_page":"2367"},"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":0.9972000122070312,"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":0.9957000017166138,"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/robot","display_name":"Robot","score":0.789950966835022},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7319112420082092},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6710458397865295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5265503525733948},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5255920886993408},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5026297569274902},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.4831342399120331},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47857192158699036},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4771922826766968},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.471555233001709},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46632272005081177},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4549829363822937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4445115625858307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35250169038772583},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09341749548912048},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08870252966880798}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.789950966835022},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7319112420082092},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6710458397865295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5265503525733948},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5255920886993408},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5026297569274902},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.4831342399120331},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47857192158699036},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4771922826766968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.471555233001709},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46632272005081177},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4549829363822937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4445115625858307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35250169038772583},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09341749548912048},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08870252966880798},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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":3,"locations":[{"id":"doi:10.1109/icra.2015.7139513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmid:26413381","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26413381","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 International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:4578310","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4578310","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 Int Conf Robot Autom","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:4578310","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4578310","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 Int Conf Robot Autom","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1964102168","https://openalex.org/W1971086298","https://openalex.org/W1994837038","https://openalex.org/W1996588298","https://openalex.org/W2004139909","https://openalex.org/W2018071836","https://openalex.org/W2019965290","https://openalex.org/W2035105943","https://openalex.org/W2036915629","https://openalex.org/W2037290941","https://openalex.org/W2053265216","https://openalex.org/W2058544403","https://openalex.org/W2065532858","https://openalex.org/W2084461575","https://openalex.org/W2087842666","https://openalex.org/W2095999605","https://openalex.org/W2103819010","https://openalex.org/W2112075057","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2138564331","https://openalex.org/W2139470902","https://openalex.org/W2142224528","https://openalex.org/W2156137014","https://openalex.org/W2156199850","https://openalex.org/W2161819990","https://openalex.org/W2164013717","https://openalex.org/W2462654948","https://openalex.org/W2474124859","https://openalex.org/W2525425589","https://openalex.org/W2611243847","https://openalex.org/W3210232381","https://openalex.org/W6631300751","https://openalex.org/W6719065306","https://openalex.org/W6720916326","https://openalex.org/W6728102747","https://openalex.org/W6803376173","https://openalex.org/W6888765124"],"related_works":["https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W4242231179","https://openalex.org/W3016367173","https://openalex.org/W3135439126","https://openalex.org/W2172144564","https://openalex.org/W3040474838","https://openalex.org/W628231512","https://openalex.org/W2483758673","https://openalex.org/W2591779012"],"abstract_inverted_index":{"Concentric":[0],"tube":[1,86,171],"robots":[2],"are":[3,133],"thin,":[4],"tentacle-like":[5,72],"devices":[6],"that":[7,32,89],"can":[8,14],"move":[9],"along":[10,69,108],"curved":[11],"paths":[12],"and":[13,23,43,173,178],"potentially":[15],"enable":[16],"new,":[17],"less":[18],"invasive":[19],"surgical":[20],"procedures.":[21],"Safe":[22],"effective":[24],"operation":[25],"of":[26,29,74,120,128,144],"this":[27],"type":[28],"robot":[30,87,92,122,158,172],"requires":[31],"the":[33,46,49,53,70,75,91,129,142,150],"robot's":[34,50,54,76],"shaft":[35],"avoid":[36],"sensitive":[37],"anatomical":[38,130],"structures":[39],"(e.g.,":[40],"critical":[41],"vessels":[42],"organs)":[44],"while":[45,104],"surgeon":[47],"teleoperates":[48],"tip.":[51],"However,":[52],"unintuitive":[55],"kinematics":[56],"makes":[57],"it":[58],"difficult":[59],"for":[60,84],"a":[61,80,102,118,126,168],"human":[62],"user":[63,103],"to":[64,93,98],"manually":[65],"ensure":[66],"obstacle":[67,176],"avoidance":[68,115,177],"entire":[71],"shape":[73],"shaft.":[77,110],"We":[78,111,139,162],"present":[79],"motion":[81,165],"planning":[82],"approach":[83],"concentric":[85,170],"teleoperation":[88],"enables":[90],"interactively":[94],"maneuver":[95],"its":[96,109,175],"tip":[97,159],"points":[99],"selected":[100],"by":[101,116,153],"automatically":[105],"avoiding":[106],"obstacles":[107],"achieve":[112],"automatic":[113],"collision":[114],"precomputing":[117],"roadmap":[119],"collision-free":[121],"configurations":[123],"based":[124,156],"on":[125,157,167],"description":[127],"obstacles,":[131],"which":[132],"attainable":[134],"via":[135],"volumetric":[136],"medical":[137],"imaging.":[138],"also":[140],"mitigate":[141],"effects":[143],"kinematic":[145],"modeling":[146],"error":[147],"in":[148,180],"reaching":[149],"goal":[151],"positions":[152],"adjusting":[154],"motions":[155],"position":[160],"sensing.":[161],"evaluate":[163],"our":[164],"planner":[166],"teleoperated":[169],"demonstrate":[174],"accuracy":[179],"environments":[181],"with":[182],"tubular":[183],"obstacles.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}
