{"id":"https://openalex.org/W4401414038","doi":"https://doi.org/10.1109/icra57147.2024.10610709","title":"A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization","display_name":"A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414038","doi":"https://doi.org/10.1109/icra57147.2024.10610709"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5016720438","display_name":"Emanuele Nicotra","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Emanuele Nicotra","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035617912","display_name":"Chi Cong Nguyen","orcid":"https://orcid.org/0000-0002-8113-5163"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chi Cong Nguyen","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040093080","display_name":"James Davies","orcid":"https://orcid.org/0000-0001-7987-2378"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"James Davies","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048204656","display_name":"Phuoc Thien Phan","orcid":"https://orcid.org/0000-0001-5833-6939"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Phuoc Thien Phan","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041990614","display_name":"Trung Thien Hoang","orcid":"https://orcid.org/0000-0001-5216-5948"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Trung Thien Hoang","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067586033","display_name":"Bibhu Sharma","orcid":"https://orcid.org/0000-0002-6017-6847"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Bibhu Sharma","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111340471","display_name":"Adrienne Ji","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Adrienne Ji","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051127682","display_name":"Kefan Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kefan Zhu","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074977304","display_name":"Trung Dung Ngo","orcid":"https://orcid.org/0000-0002-3074-7135"},"institutions":[{"id":"https://openalex.org/I22188714","display_name":"University of Prince Edward Island","ror":"https://ror.org/02xh9x144","country_code":"CA","type":"education","lineage":["https://openalex.org/I22188714"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Trung Dung Ngo","raw_affiliation_strings":["University of Prince Edward Island,More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering,Charlottetown,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Prince Edward Island,More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering,Charlottetown,Canada","institution_ids":["https://openalex.org/I22188714"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007406858","display_name":"Van Anh Ho","orcid":"https://orcid.org/0000-0002-4519-0448"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Van Anh Ho","raw_affiliation_strings":["Soft Haptics Laboratory, School of Materials Science, Japan Advanced Institute of Science and Technology,Kawaguchi,Saitama,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Haptics Laboratory, School of Materials Science, Japan Advanced Institute of Science and Technology,Kawaguchi,Saitama,Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060555317","display_name":"Hung Manh La","orcid":"https://orcid.org/0000-0003-2183-2634"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hung Manh La","raw_affiliation_strings":["Advanced Robotics and Automation (ARA) Lab, University of Nevada,Department of Computer Science and Engineering,Reno,NV,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automation (ARA) Lab, University of Nevada,Department of Computer Science and Engineering,Reno,NV,USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060602596","display_name":"Nigel H. Lovell","orcid":"https://orcid.org/0000-0003-1637-1079"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Nigel H. Lovell","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016623093","display_name":"Thanh Nho","orcid":"https://orcid.org/0000-0002-4980-5251"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thanh Nho Do","raw_affiliation_strings":["UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNSW Sydney,Graduate School of Biomedical Engineering, Faculty of Engineering,Kensington Campus,Australia,NSW 2052","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":13,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8106,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68943838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11585","last_page":"11591"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.9927999973297119,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bernoullis-principle","display_name":"Bernoulli's principle","score":0.7180711030960083},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.5327762365341187},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.4865037798881531},{"id":"https://openalex.org/keywords/aneurysm","display_name":"Aneurysm","score":0.4496850371360779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4383024275302887},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3389471471309662},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3294633626937866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25678741931915283},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2566032409667969},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.24989566206932068},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20999491214752197},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11223015189170837},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09557726979255676}],"concepts":[{"id":"https://openalex.org/C152361515","wikidata":"https://www.wikidata.org/wiki/Q181328","display_name":"Bernoulli's principle","level":2,"score":0.7180711030960083},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.5327762365341187},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.4865037798881531},{"id":"https://openalex.org/C2776098176","wikidata":"https://www.wikidata.org/wiki/Q189389","display_name":"Aneurysm","level":2,"score":0.4496850371360779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4383024275302887},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3389471471309662},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3294633626937866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25678741931915283},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2566032409667969},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.24989566206932068},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20999491214752197},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11223015189170837},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09557726979255676}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1902605501","https://openalex.org/W1966780058","https://openalex.org/W2057045896","https://openalex.org/W2067717626","https://openalex.org/W2101667962","https://openalex.org/W2117809780","https://openalex.org/W2124852832","https://openalex.org/W2163466561","https://openalex.org/W2184993170","https://openalex.org/W2405004168","https://openalex.org/W2412810726","https://openalex.org/W2527528220","https://openalex.org/W2614107499","https://openalex.org/W2803735436","https://openalex.org/W2806855621","https://openalex.org/W3001194984","https://openalex.org/W3034796677","https://openalex.org/W3081572958","https://openalex.org/W3114090329","https://openalex.org/W3145917579","https://openalex.org/W3156329246","https://openalex.org/W3203812479","https://openalex.org/W3208967582","https://openalex.org/W3212639113","https://openalex.org/W3213520345","https://openalex.org/W4234515891","https://openalex.org/W4283724926","https://openalex.org/W4285008668","https://openalex.org/W4285108893","https://openalex.org/W4317876178","https://openalex.org/W4319789854","https://openalex.org/W4319790444","https://openalex.org/W4321258692","https://openalex.org/W4321350345","https://openalex.org/W4366751911","https://openalex.org/W4367663183","https://openalex.org/W4375957612","https://openalex.org/W4377157882","https://openalex.org/W4382981911","https://openalex.org/W4387671468","https://openalex.org/W6658885168"],"related_works":["https://openalex.org/W4293440023","https://openalex.org/W2050736209","https://openalex.org/W1619264321","https://openalex.org/W2248024246","https://openalex.org/W2899588557","https://openalex.org/W2374334911","https://openalex.org/W2064079700","https://openalex.org/W4254565718","https://openalex.org/W4298392611","https://openalex.org/W3020534285"],"abstract_inverted_index":{"Aneurysms,":[0],"balloon-like":[1],"bulges":[2],"in":[3],"blood":[4,42],"vessels,":[5],"present":[6],"a":[7,74,87,131],"significant":[8],"health":[9],"risk":[10],"due":[11],"to":[12,15,18,32,107,148],"their":[13,56],"potential":[14],"rupture,":[16],"leading":[17],"life-threatening":[19],"internal":[20],"bleeding.":[21],"Current":[22],"treatments":[23],"often":[24],"involve":[25],"delivering":[26],"embolic":[27,49,118],"materials":[28,50,119],"or":[29],"metal":[30],"coils":[31],"fill":[33],"these":[34],"bulges,":[35],"occluding":[36],"them":[37],"from":[38],"the":[39,59,65,69,94,115,124,152,156,162],"pressure":[40],"of":[41,61,68,81,117,161],"flow.":[43],"However,":[44],"clinical":[45],"micro-catheters":[46],"that":[47],"deploy":[48],"used":[51],"today":[52],"face":[53],"limitations,":[54],"primarily":[55],"rigidity":[57],"and":[58,112,120,126,135,142,150,155,158],"lack":[60],"active":[62,105],"control":[63,125],"over":[64],"bending":[66,99],"tip":[67,103],"catheter.":[70],"This":[71],"paper":[72],"introduces":[73],"new":[75,92,95,163],"soft":[76],"micro-robotics":[77],"catheter,":[78],"with":[79,86],"diameter":[80],"only":[82],"0.8":[83],"mm,":[84],"equipped":[85],"hollow":[88],"channel.":[89],"With":[90],"this":[91],"design,":[93],"device":[96],"can":[97],"induce":[98],"motions":[100],"at":[101],"its":[102],"for":[104],"steerability":[106,157],"reach":[108],"desired":[109],"aneurysm":[110],"targets":[111],"then":[113],"perform":[114],"delivery":[116],"tools.":[121],"To":[122],"enhance":[123],"precise":[127],"navigation":[128,159],"during":[129],"procedures,":[130],"robust":[132],"mathematical":[133],"model":[134],"image":[136],"processing":[137],"techniques":[138],"are":[139,145],"also":[140,146],"introduced":[141],"validated.":[143],"Experiments":[144],"performed":[147],"characterise":[149],"validate":[151],"model\u2019s":[153],"accuracy":[154],"capabilities":[160],"micro-catheter.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}