{"id":"https://openalex.org/W2103710021","doi":"https://doi.org/10.1109/iros.2007.4399251","title":"Autonomous robot-assisted active catheter insertion using image guidance","display_name":"Autonomous robot-assisted active catheter insertion using image guidance","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2103710021","doi":"https://doi.org/10.1109/iros.2007.4399251","mag":"2103710021"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5074629957","display_name":"Jagadeesan Jayender","orcid":"https://orcid.org/0000-0002-3308-3012"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"J. Jayender","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","University of Western Ontario, London"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"University of Western Ontario, London","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002658374","display_name":"Mahdi Azizian","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Azizian","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","University of Western Ontario, London"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"University of Western Ontario, London","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"R. V. Patel","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","University of Western Ontario, London"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"University of Western Ontario, London","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074629957"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":0.2611,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.6276487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"17","issue":null,"first_page":"889","last_page":"894"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10916","display_name":"Surgical Simulation and Training","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9815000295639038,"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/actuator","display_name":"Actuator","score":0.6423579454421997},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.6232993602752686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5507470369338989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48818689584732056},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.460748553276062},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.451874703168869},{"id":"https://openalex.org/keywords/fluoroscopy","display_name":"Fluoroscopy","score":0.43394094705581665},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38049882650375366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3686962127685547},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3208532929420471},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.23627331852912903},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13222408294677734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09330311417579651},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08981916308403015}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6423579454421997},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.6232993602752686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5507470369338989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48818689584732056},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.460748553276062},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.451874703168869},{"id":"https://openalex.org/C2776805002","wikidata":"https://www.wikidata.org/wiki/Q614984","display_name":"Fluoroscopy","level":2,"score":0.43394094705581665},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38049882650375366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3686962127685547},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3208532929420471},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.23627331852912903},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13222408294677734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09330311417579651},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08981916308403015},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W150101478","https://openalex.org/W154941835","https://openalex.org/W1544686603","https://openalex.org/W2019214176","https://openalex.org/W2033380643","https://openalex.org/W2064056700","https://openalex.org/W2109315789","https://openalex.org/W2142621683","https://openalex.org/W2151677602","https://openalex.org/W2167667767","https://openalex.org/W6606124135","https://openalex.org/W6632615127"],"related_works":["https://openalex.org/W2015651921","https://openalex.org/W2079637538","https://openalex.org/W4377014751","https://openalex.org/W2170032467","https://openalex.org/W2055350243","https://openalex.org/W3133964112","https://openalex.org/W2027219424","https://openalex.org/W2072829857","https://openalex.org/W123684265","https://openalex.org/W2773626125"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"investigate":[4],"autonomous":[5],"robot-":[6],"assisted":[7],"insertion":[8,153],"of":[9,60,80,94,103,113,118],"an":[10],"active":[11,41,76,82],"catheter":[12,83,96,106,142,152],"instrumented":[13],"with":[14],"shape":[15],"memory":[16],"alloy":[17],"(SMA)":[18],"actuators":[19],"using":[20],"image":[21],"guidance.":[22],"An":[23],"Augmented":[24],"Hybrid":[25],"Impedance":[26],"Control":[27],"(AHIC)":[28],"algorithm":[29],"is":[30,45,84,107],"implemented":[31],"on":[32,91],"a":[33,53,137],"Mitsubishi":[34],"robot":[35,44],"(PA":[36],"10-7C)":[37],"to":[38,47,69,88,115,130,148],"insert":[39],"the":[40,58,72,75,81,92,95,100,111,116,123,126,131,150],"catheter.":[42,77],"The":[43,78,105],"constrained":[46],"move":[48],"in":[49,74,86],"Cartesian":[50],"space":[51],"along":[52],"pre-defined":[54],"trajectory":[55],"while":[56],"controlling":[57],"force":[59],"insertion.":[61,104,143],"A":[62],"closed-loop":[63],"control":[64,71],"scheme":[65],"has":[66],"been":[67],"developed":[68],"accurately":[70],"bending":[73],"tip":[79],"tracked":[85],"real-time":[87],"provide":[89],"information":[90],"path":[93],"and":[97],"for":[98,134,141],"determining":[99],"future":[101],"course":[102],"autonomously":[108],"guided":[109],"from":[110,125],"point":[112],"entry":[114],"site":[117],"plaque":[119],"buildup,":[120],"thereby":[121],"shielding":[122],"surgeon":[124],"harmful":[127],"radiation":[128],"due":[129],"X-rays":[132],"used":[133],"imaging,":[135],"providing":[136],"more":[138],"ergonomic":[139],"approach":[140],"Experimental":[144],"results":[145],"are":[146],"given":[147],"illustrate":[149],"robot-assisted":[151],"procedure.":[154]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
