{"id":"https://openalex.org/W4383108314","doi":"https://doi.org/10.1109/icra48891.2023.10161486","title":"Modeling of a Robotic Transcatheter Delivery System","display_name":"Modeling of a Robotic Transcatheter Delivery System","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108314","doi":"https://doi.org/10.1109/icra48891.2023.10161486"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5080944229","display_name":"Namrata U. Nayar","orcid":"https://orcid.org/0000-0001-8062-0629"},"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":"Namrata U. Nayar","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA","Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012543620","display_name":"Ronghuai Qi","orcid":"https://orcid.org/0000-0002-9229-0206"},"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":"Ronghuai Qi","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA","Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","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":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA","Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","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":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4675","last_page":"4681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9997000098228455,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9997000098228455,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9943000078201294,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9868000149726868,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5723810791969299},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.527121365070343},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5037998557090759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4978926181793213},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47073328495025635},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4549197852611542},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43457260727882385},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.43404752016067505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38651129603385925},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3606123924255371},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33230680227279663},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32303422689437866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27182137966156006},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.20047709345817566},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14761394262313843},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10796815156936646}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5723810791969299},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.527121365070343},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5037998557090759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4978926181793213},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47073328495025635},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4549197852611542},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43457260727882385},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.43404752016067505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38651129603385925},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3606123924255371},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33230680227279663},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32303422689437866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27182137966156006},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.20047709345817566},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14761394262313843},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10796815156936646},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1989250097","https://openalex.org/W1998856116","https://openalex.org/W2046738551","https://openalex.org/W2077544344","https://openalex.org/W2088676023","https://openalex.org/W2106089315","https://openalex.org/W2107617215","https://openalex.org/W2111651562","https://openalex.org/W2122694177","https://openalex.org/W2752671352","https://openalex.org/W2788235044","https://openalex.org/W2898581089","https://openalex.org/W2915142973","https://openalex.org/W2942670522","https://openalex.org/W3005467067","https://openalex.org/W3111761397","https://openalex.org/W3129783109","https://openalex.org/W3132736524","https://openalex.org/W3149640772","https://openalex.org/W3207015144","https://openalex.org/W4206714833","https://openalex.org/W4210927443","https://openalex.org/W4285028846"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2593563634"],"abstract_inverted_index":{"Intracardiac":[0],"transcatheter":[1,20,33],"systems":[2,21,141],"guided":[3],"by":[4],"advanced":[5],"imaging":[6],"modalities":[7],"are":[8],"gaining":[9],"popularity":[10],"in":[11,15,71,123,188],"treating":[12],"mitral":[13],"regurgitation":[14],"non-surgical":[16],"candidates.":[17],"Robotically":[18],"steerable":[19,49],"must":[22],"use":[23],"model-based":[24],"control":[25,41,166],"strategies":[26],"to":[27,74,79,88,94,129,138,149,160,174],"ensure":[28],"safer":[29],"and":[30,54,61,105,136,156,179,185],"more":[31],"effective":[32],"procedures":[34],"with":[35,170],"less":[36],"trauma":[37],"while":[38],"using":[39],"smaller":[40],"gains.":[42],"In":[43],"this":[44,76],"paper,":[45],"a":[46,106,114],"4-DoF":[47],"robotically":[48],"tendon-driven":[50],"robot":[51,155],"was":[52,65,69,86,111,147,158,167,191],"fabricated,":[53],"the":[55,58,62,90,100,120,151,154,171,176,180,183,186,189],"relationship":[56],"between":[57],"tendon":[59,91,101,107,117],"displacement":[60],"joint":[63,97],"angle":[64],"derived.":[66],"This":[67],"relation":[68],"derived":[70,87,112],"two":[72,124],"parts":[73],"make":[75],"approach":[77],"applicable":[78],"any":[80],"other":[81],"catheter":[82],"system.":[83],"A":[84],"model":[85,110,146,173,184],"determine":[89],"tensions":[92],"needed":[93],"achieve":[95],"desired":[96],"angles.":[98],"Then,":[99],"characteristics":[102],"were":[103],"studied,":[104],"elongation":[108],"(TE)":[109],"as":[113],"function":[115],"of":[116,153,182],"length.":[118],"Executing":[119],"modeling":[121],"process":[122],"steps":[125],"makes":[126],"it":[127],"easy":[128],"introduce":[130],"additional":[131],"parameters":[132],"like":[133,142],"length,":[134],"friction,":[135],"pose,":[137],"characterize":[139,161],"complex":[140],"catheters.":[143],"The":[144],"TE":[145,172],"used":[148,168],"actuate":[150],"joints":[152],"RMSE":[157],"computed":[159],"its":[162],"performance.":[163],"Also,":[164],"PID":[165],"along":[169],"improve":[175],"system's":[177],"performance,":[178],"contribution":[181],"controller":[187],"system":[190],"recorded.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
