{"id":"https://openalex.org/W2890182857","doi":"https://doi.org/10.1109/icra.2018.8462694","title":"Design, Modeling and Control of a 2-DoF Robotic Guidewire","display_name":"Design, Modeling and Control of a 2-DoF Robotic Guidewire","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890182857","doi":"https://doi.org/10.1109/icra.2018.8462694","mag":"2890182857"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8462694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8462694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5001760308","display_name":"Yash Chitalia","orcid":"https://orcid.org/0000-0002-6291-3492"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Chitalia","raw_affiliation_strings":["Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, Georgia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, Georgia","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451946","display_name":"Xuefeng Wang","orcid":"https://orcid.org/0000-0001-9655-6609"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuefeng Wang","raw_affiliation_strings":["Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, Georgia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, Georgia","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, Georgia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, Georgia","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"32","last_page":"37"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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":0.987500011920929,"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/T10732","display_name":"Laser Material Processing Techniques","score":0.9485999941825867,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.5769132971763611},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5568895936012268},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5524923205375671},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5401623845100403},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.49302002787590027},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4759628176689148},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4180070161819458},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38198745250701904},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3235938549041748},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28869402408599854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27469080686569214},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18590807914733887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1842997670173645}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5769132971763611},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5568895936012268},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5524923205375671},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5401623845100403},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.49302002787590027},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4759628176689148},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4180070161819458},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38198745250701904},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3235938549041748},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28869402408599854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27469080686569214},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18590807914733887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1842997670173645},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8462694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8462694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1604037492","https://openalex.org/W1880400364","https://openalex.org/W1979524122","https://openalex.org/W1995071895","https://openalex.org/W2001262435","https://openalex.org/W2006573361","https://openalex.org/W2011569763","https://openalex.org/W2019534837","https://openalex.org/W2036915629","https://openalex.org/W2101667962","https://openalex.org/W2110101054","https://openalex.org/W2119343887","https://openalex.org/W2146630054","https://openalex.org/W2147492425","https://openalex.org/W2261751601","https://openalex.org/W2328731921","https://openalex.org/W2544641369","https://openalex.org/W2558247857","https://openalex.org/W2561240586","https://openalex.org/W2589653451","https://openalex.org/W2738025599","https://openalex.org/W6639320125","https://openalex.org/W6728940637"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W3094485622","https://openalex.org/W2888483922"],"abstract_inverted_index":{"In":[0],"most":[1],"cases":[2],"of":[3,15,36,45,68,77,87,104,123,150],"peripheral":[4],"arterial":[5],"disease":[6],"(PAD),":[7],"the":[8,41,46,54,65,75,105,114],"operating":[9],"surgeon":[10,50],"must":[11,28],"use":[12],"a":[13,19,24,33,58,69,78,92,110,117,124,143,151],"variety":[14],"catheters":[16],"riding":[17],"on":[18],"thin":[20],"wire":[21],"known":[22],"as":[23,109,142],"`guidewire'.":[25],"This":[26,72],"guidewire":[27,47,84],"be":[29,140],"manually":[30],"navigated":[31],"through":[32],"tortuous":[34],"pathway":[35],"arteries":[37],"to":[38],"arrive":[39],"at":[40],"diseased":[42],"area.":[43],"Automation":[44],"therefore":[48],"reduces":[49],"effort":[51],"and":[52,116],"minimizes":[53],"time":[55],"required":[56],"for":[57,120,147],"PAD":[59],"procedure,":[60],"but":[61],"is":[62,133],"restricted":[63],"by":[64],"size":[66],"constraints":[67],"standard":[70],"guidewire.":[71],"work":[73],"presents":[74],"design":[76],"robotically":[79],"actuated":[80],"2":[81],"degree-of-freedom":[82],"(DoF)":[83],"tip":[85],"comprised":[86],"joints":[88],"laser":[89],"micro-machined":[90],"into":[91],"0.78":[93],"mm":[94],"(<;":[95],"2.4":[96],"Fr)":[97],"Nitinol":[98],"tube.":[99],"We":[100],"present":[101],"an":[102,134],"analysis":[103],"notch":[106],"joint":[107,152],"used":[108,141],"building":[111],"block":[112],"in":[113,153],"robot":[115],"control":[118,155],"strategy":[119],"this":[121,148],"type":[122,149],"joint.":[125],"The":[126],"experimental":[127],"results":[128],"show":[129],"that":[130,138],"tendon":[131],"force":[132],"important":[135],"observable":[136],"quantity":[137],"can":[139],"shape":[144],"sensing":[145],"mechanism":[146],"practical":[154],"applications.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}