{"id":"https://openalex.org/W2737351840","doi":"https://doi.org/10.1109/icra.2017.7989414","title":"Experimental validation of the pseudo-rigid-body model of the MRI-actuated catheter","display_name":"Experimental validation of the pseudo-rigid-body model of the MRI-actuated catheter","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737351840","doi":"https://doi.org/10.1109/icra.2017.7989414","mag":"2737351840","pmid":"https://pubmed.ncbi.nlm.nih.gov/29218235"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5047453519","display_name":"Tipakorn Greigarn","orcid":"https://orcid.org/0000-0001-9891-4676"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tipakorn Greigarn","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081352818","display_name":"Russell C. Jackson","orcid":"https://orcid.org/0000-0002-1362-7182"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell Jackson","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021854587","display_name":"Taoming Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taoming Liu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073651156","display_name":"M. Cenk \u00c7avu\u015fo\u011flu","orcid":"https://orcid.org/0000-0003-2800-5922"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Cenk Cavusoglu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":3.5329,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9265845,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2017","issue":null,"first_page":"3600","last_page":"3605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9753999710083008,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9599999785423279,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.7466444373130798},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.573597252368927},{"id":"https://openalex.org/keywords/catheter-ablation","display_name":"Catheter ablation","score":0.49270394444465637},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4473405182361603},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4391743838787079},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4259566068649292},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.41401568055152893},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.3203088641166687},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20847934484481812},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20400625467300415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17782258987426758},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.15042021870613098},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1357468068599701},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11120548844337463},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09502097964286804}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.7466444373130798},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.573597252368927},{"id":"https://openalex.org/C2776131983","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Catheter ablation","level":3,"score":0.49270394444465637},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4473405182361603},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4391743838787079},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4259566068649292},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.41401568055152893},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.3203088641166687},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20847934484481812},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20400625467300415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17782258987426758},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.15042021870613098},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1357468068599701},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11120548844337463},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09502097964286804},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2017.7989414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmid:29218235","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29218235","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:europepmc.org:5008544","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5713912","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4842850444","display_name":null,"funder_award_id":"R01 EB018108","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1482277461","https://openalex.org/W1564897360","https://openalex.org/W1972322705","https://openalex.org/W1980577882","https://openalex.org/W2016959837","https://openalex.org/W2022241642","https://openalex.org/W2029135435","https://openalex.org/W2039078214","https://openalex.org/W2053354202","https://openalex.org/W2058004183","https://openalex.org/W2081310867","https://openalex.org/W2101667962","https://openalex.org/W2125860604","https://openalex.org/W2131150943","https://openalex.org/W2140516362","https://openalex.org/W2144245558","https://openalex.org/W2147492425","https://openalex.org/W2167850919","https://openalex.org/W2184993170","https://openalex.org/W2343058007","https://openalex.org/W2414226368","https://openalex.org/W2491939967","https://openalex.org/W4299959860","https://openalex.org/W6656346905","https://openalex.org/W6704718524"],"related_works":["https://openalex.org/W4210927327","https://openalex.org/W63965692","https://openalex.org/W4292689102","https://openalex.org/W3008274195","https://openalex.org/W2179224909","https://openalex.org/W2143427407","https://openalex.org/W2602975634","https://openalex.org/W3115751652","https://openalex.org/W4282937895","https://openalex.org/W2029545144"],"abstract_inverted_index":{"An":[0],"MRI-actuated":[1,88],"catheter":[2,7,20,30,57,89,106],"is":[3,90],"a":[4,32,46,77,83],"novel":[5],"robotic":[6],"system":[8],"that":[9],"utilizes":[10],"the":[11,29,39,55,67,73,87,95,98,102,105],"MRI":[12],"for":[13,19],"both":[14],"remote":[15],"steering":[16],"and":[17,26,51],"visualization":[18],"ablation":[21],"of":[22,28,38,70,72,86,97,104],"atrial":[23],"fibrillation.":[24],"Planning":[25],"control":[27],"requires":[31],"sufficiently":[33],"fast":[34],"yet":[35],"accurate":[36],"model":[37,44,85,100],"catheter.":[40],"The":[41],"pseudo-rigid-body":[42],"(PRB)":[43],"offers":[45],"reasonable":[47],"trade-off":[48],"between":[49],"speed":[50],"accuracy":[52],"by":[53,62,93],"approximating":[54],"continuum":[56,74],"as":[58],"rigid":[59],"links":[60],"connected":[61],"flexible":[63],"joints,":[64],"thus":[65],"reducing":[66],"infinite":[68],"degrees":[69],"freedom":[71],"mechanism":[75],"to":[76],"finite":[78],"one.":[79],"In":[80],"this":[81],"paper,":[82],"PRB":[84,99],"validated":[91],"experimentally":[92],"comparing":[94],"deflections":[96,103],"with":[101],"prototype.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-08-02T14:50:37.381335","created_date":"2025-10-10T00:00:00"}
