{"id":"https://openalex.org/W2419312574","doi":"https://doi.org/10.1109/icra.2016.7487610","title":"Path planning for robot-enhanced cardiac Radiofrequency Catheter Ablation","display_name":"Path planning for robot-enhanced cardiac Radiofrequency Catheter Ablation","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2419312574","doi":"https://doi.org/10.1109/icra.2016.7487610","mag":"2419312574"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5030025128","display_name":"Xiao-Yun Zhou","orcid":"https://orcid.org/0000-0001-7886-8596"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xiao-Yun Zhou","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084191288","display_name":"Sabine Ernst","orcid":"https://orcid.org/0000-0003-1258-2477"},"institutions":[{"id":"https://openalex.org/I4210096640","display_name":"Royal Brompton Hospital","ror":"https://ror.org/00cv4n034","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I2800036501","https://openalex.org/I4210096640"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sabine Ernst","raw_affiliation_strings":["Royal Brompton Hospital, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Royal Brompton Hospital, London, UK","institution_ids":["https://openalex.org/I4210096640"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021882557","display_name":"Lee Su-Lin","orcid":"https://orcid.org/0000-0002-7841-9106"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Su-Lin Lee","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0588,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.934,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4172","last_page":"4177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11217","display_name":"Cardiac Arrhythmias and Treatments","score":0.9932000041007996,"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/T11217","display_name":"Cardiac Arrhythmias and Treatments","score":0.9932000041007996,"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/T10919","display_name":"Neurological disorders and treatments","score":0.9679999947547913,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T11677","display_name":"Congenital heart defects research","score":0.9362999796867371,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.5612702369689941},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.5540934801101685},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.545669436454773},{"id":"https://openalex.org/keywords/heart-disease","display_name":"Heart disease","score":0.4990859031677246},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4977302849292755},{"id":"https://openalex.org/keywords/catheter-ablation","display_name":"Catheter ablation","score":0.49651724100112915},{"id":"https://openalex.org/keywords/radiofrequency-catheter-ablation","display_name":"Radiofrequency catheter ablation","score":0.49218645691871643},{"id":"https://openalex.org/keywords/cardiology","display_name":"Cardiology","score":0.46102625131607056},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.42846062779426575},{"id":"https://openalex.org/keywords/internal-medicine","display_name":"Internal medicine","score":0.3509284257888794},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.32954341173171997},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.27642571926116943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20773863792419434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0830557644367218},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.081562340259552}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.5612702369689941},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.5540934801101685},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.545669436454773},{"id":"https://openalex.org/C2780074459","wikidata":"https://www.wikidata.org/wiki/Q389735","display_name":"Heart disease","level":2,"score":0.4990859031677246},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4977302849292755},{"id":"https://openalex.org/C2776131983","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Catheter ablation","level":3,"score":0.49651724100112915},{"id":"https://openalex.org/C3018349756","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Radiofrequency catheter ablation","level":4,"score":0.49218645691871643},{"id":"https://openalex.org/C164705383","wikidata":"https://www.wikidata.org/wiki/Q10379","display_name":"Cardiology","level":1,"score":0.46102625131607056},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.42846062779426575},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.3509284257888794},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.32954341173171997},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.27642571926116943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20773863792419434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0830557644367218},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.081562340259552},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/33387","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/33387","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W44429629","https://openalex.org/W652863082","https://openalex.org/W1489538615","https://openalex.org/W1982968486","https://openalex.org/W1986573745","https://openalex.org/W1995076163","https://openalex.org/W2017307450","https://openalex.org/W2033071120","https://openalex.org/W2051448670","https://openalex.org/W2057192740","https://openalex.org/W2064809245","https://openalex.org/W2068034065","https://openalex.org/W2097370639","https://openalex.org/W2127033124","https://openalex.org/W2127472273","https://openalex.org/W2132466079","https://openalex.org/W2156849739","https://openalex.org/W2158685812","https://openalex.org/W2165987118","https://openalex.org/W2235901111","https://openalex.org/W2295382923","https://openalex.org/W3150224893","https://openalex.org/W4243723963"],"related_works":["https://openalex.org/W2179224909","https://openalex.org/W4210927327","https://openalex.org/W63965692","https://openalex.org/W4292689102","https://openalex.org/W3008274195","https://openalex.org/W2143427407","https://openalex.org/W2086897532","https://openalex.org/W2602975634","https://openalex.org/W3115751652","https://openalex.org/W2583799525"],"abstract_inverted_index":{"Radiofrequency":[0],"Catheter":[1],"Ablation":[2],"(RFCA)":[3],"is":[4,135,158],"a":[5,94,140,144],"procedure":[6,68],"used":[7],"to":[8,20,49,65,77,81,99,121,147],"treat":[9],"cardiac":[10,51,56,101,125],"arrhythmias":[11],"by":[12,111],"burning":[13],"at":[14,154],"regions":[15,80],"of":[16],"the":[17,22,27,44,79,105,124],"endocardial":[18],"walls":[19],"prevent":[21],"abnormal":[23,50],"electrical":[24],"circuits":[25],"causing":[26],"problem.":[28],"Patients":[29],"with":[30],"Adult":[31],"Congenital":[32],"Heart":[33],"Disease":[34],"(ACHD)":[35],"who":[36],"have":[37,73],"undergone":[38],"surgical":[39],"treatments":[40],"suffer":[41],"scarring":[42],"within":[43],"heart":[45],"that":[46,137],"can":[47],"lead":[48],"rhythms.":[52],"However,":[53],"poor":[54],"intraoperative":[55],"geometry":[57,127],"recovery":[58],"and":[59,70,83,113,128,150],"incomplete":[60],"Electrophysiological":[61],"(EP)":[62],"mapping":[63,107],"due":[64],"limited":[66],"available":[67],"time":[69],"complex":[71],"anatomy":[72],"resulted":[74],"in":[75],"difficulty":[76],"detect":[78],"ablate":[82],"hence":[84],"relatively":[85],"high":[86],"recurrence":[87],"rates.":[88],"In":[89],"this":[90],"paper,":[91],"we":[92],"present":[93],"catheter":[95,146],"path":[96,134],"planning":[97],"algorithm":[98],"optimise":[100],"EP":[102,129,152],"mapping.":[103,130],"Firstly,":[104],"optimal":[106],"positions":[108],"are":[109],"determined":[110],"curvature":[112],"distance":[114],"weighted":[115],"Quadric":[116],"Error":[117],"Metric":[118],"Simplification":[119],"(QEMS)":[120],"maximally":[122],"recover":[123],"chamber":[126],"Secondly,":[131],"an":[132],"efficient":[133],"designed":[136],"moves":[138],"along":[139],"predetermined":[141],"axis":[142],"for":[143],"robotic":[145],"pass":[148],"through":[149],"collect":[151],"data":[153,164],"these":[155],"positions.":[156],"Validation":[157],"performed":[159],"on":[160],"retrospectively":[161],"collected":[162],"CARTO":[163],"from":[165],"ACHD":[166],"patients.":[167]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}