{"id":"https://openalex.org/W2018071836","doi":"https://doi.org/10.1109/iros.2010.5651240","title":"Quasistatic modeling of concentric tube robots with external loads","display_name":"Quasistatic modeling of concentric tube robots with external loads","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2018071836","doi":"https://doi.org/10.1109/iros.2010.5651240","mag":"2018071836","pmid":"https://pubmed.ncbi.nlm.nih.gov/21278853"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://nrs.harvard.edu/urn-3:HUL.InstRepos:33892608","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049776850","display_name":"Jesse Lock","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesse Lock","raw_affiliation_strings":["Biomedical Engineering, Boston University, Boston, MA 02215 USA ( lockj@bu.edu )","Biomedical Engineering, Boston University, MA 02215 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomedical Engineering, Boston University, Boston, MA 02215 USA ( lockj@bu.edu )","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Biomedical Engineering, Boston University, MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080798861","display_name":"Genevieve Laing","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Genevieve Laing","raw_affiliation_strings":["Mechanical Engineering, Boston University, Boston, MA, USA","Mechanical Engineering; Boston University; Boston MA 02215 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Mechanical Engineering; Boston University; Boston MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082047973","display_name":"Mohsen Mahvash","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohsen Mahvash","raw_affiliation_strings":["Harvard Medical School, Boston, MA, USA","Harvard Medical School Boston MA 02115 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Medical School Boston MA 02115 USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041400572","display_name":"Pierre E. Dupont","orcid":"https://orcid.org/0000-0001-7294-640X"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre E Dupont","raw_affiliation_strings":["Cardiovascular Surgery, Harvard Medical School, Children's Hospital Boston, Boston, MA, USA","Cardiovascular Surgery, Children's Hospital Boston, Harvard Medical School, MA 02115, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cardiovascular Surgery, Harvard Medical School, Children's Hospital Boston, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]},{"raw_affiliation_string":"Cardiovascular Surgery, Children's Hospital Boston, Harvard Medical School, MA 02115, USA","institution_ids":["https://openalex.org/I1288882113"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.7247,"has_fulltext":false,"cited_by_count":89,"citation_normalized_percentile":{"value":0.99406183,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"21","issue":null,"first_page":"2325","last_page":"2332"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10892","display_name":"Drilling and Well Engineering","score":0.9817000031471252,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/quasistatic-process","display_name":"Quasistatic process","score":0.8450188636779785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7935503721237183},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.7353208661079407},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.7194086313247681},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7012115716934204},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.6337919235229492},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48115479946136475},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45103156566619873},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40004783868789673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39881590008735657},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3839239180088043},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3744707703590393},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33277377486228943},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3153360188007355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24767720699310303},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.223483145236969},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1876991093158722},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1845407783985138},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16807183623313904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16215664148330688},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15487626194953918}],"concepts":[{"id":"https://openalex.org/C4708273","wikidata":"https://www.wikidata.org/wiki/Q900222","display_name":"Quasistatic process","level":2,"score":0.8450188636779785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7935503721237183},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7353208661079407},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.7194086313247681},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7012115716934204},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.6337919235229492},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48115479946136475},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45103156566619873},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40004783868789673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39881590008735657},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3839239180088043},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3744707703590393},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33277377486228943},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3153360188007355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24767720699310303},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.223483145236969},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1876991093158722},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1845407783985138},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16807183623313904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16215664148330688},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15487626194953918},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2010.5651240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmid:21278853","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/21278853","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":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:europepmc.org:2237699","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3028209","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"},{"id":"pmh:oai:dash.harvard.edu:1/33892608","is_oa":true,"landing_page_url":"http://nrs.harvard.edu/urn-3:HUL.InstRepos:33892608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401540","display_name":"Digital Access to Scholarship at Harvard (DASH) (Harvard University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I136199984","host_organization_name":"Harvard University","host_organization_lineage":["https://openalex.org/I136199984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dash.harvard.edu:1/33892608","is_oa":true,"landing_page_url":"http://nrs.harvard.edu/urn-3:HUL.InstRepos:33892608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401540","display_name":"Digital Access to Scholarship at Harvard (DASH) (Harvard University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I136199984","host_organization_name":"Harvard University","host_organization_lineage":["https://openalex.org/I136199984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G516740804","display_name":null,"funder_award_id":"R01HL073647","funder_id":"https://openalex.org/F4320337338","funder_display_name":"National Heart, Lung, and Blood Institute"},{"id":"https://openalex.org/G7046292141","display_name":null,"funder_award_id":"R01 HL087797","funder_id":"https://openalex.org/F4320337338","funder_display_name":"National Heart, Lung, and Blood Institute"}],"funders":[{"id":"https://openalex.org/F4320337338","display_name":"National Heart, Lung, and Blood Institute","ror":"https://ror.org/012pb6c26"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W57879603","https://openalex.org/W1508861003","https://openalex.org/W1993671632","https://openalex.org/W2007243548","https://openalex.org/W2075793199","https://openalex.org/W2092391367","https://openalex.org/W2098956671","https://openalex.org/W2101797976","https://openalex.org/W2111866551","https://openalex.org/W2114428836","https://openalex.org/W2118997958","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2133231729","https://openalex.org/W2135485145","https://openalex.org/W2142067324","https://openalex.org/W2147492425","https://openalex.org/W2156199850","https://openalex.org/W2167549732","https://openalex.org/W2168771200","https://openalex.org/W4247379505","https://openalex.org/W4292993127","https://openalex.org/W6602345493","https://openalex.org/W6652328274"],"related_works":["https://openalex.org/W2134175607","https://openalex.org/W2031747890","https://openalex.org/W2059706327","https://openalex.org/W2097690188","https://openalex.org/W2087842666","https://openalex.org/W2018071836","https://openalex.org/W2131150943","https://openalex.org/W2181541019","https://openalex.org/W2111449477","https://openalex.org/W2895508245"],"abstract_inverted_index":{"Concentric":[0],"tube":[1,101],"robots":[2,8,63],"are":[3,18,64,90],"a":[4,95,139],"subset":[5],"of":[6,33,56],"continuum":[7],"constructed":[9],"by":[10,66],"combining":[11],"pre-curved":[12],"elastic":[13],"tubes.":[14],"As":[15],"the":[16,34,41,75,132],"tubes":[17],"rotated":[19],"and":[20,86,103,113],"translated":[21],"with":[22,106],"respect":[23],"to":[24,50,74,81,110,138],"each":[25],"other,":[26],"their":[27,84],"curvatures":[28],"interact":[29],"elastically,":[30],"enabling":[31],"control":[32],"robot's":[35],"tip":[36,114],"configuration":[37],"as":[38,40,126,128],"well":[39,127],"curvature":[42],"along":[43],"its":[44],"length.":[45],"This":[46,92],"technology":[47],"is":[48,135],"projected":[49],"be":[51,119],"useful":[52],"in":[53,79,121],"many":[54],"types":[55],"minimally":[57],"invasive":[58],"medical":[59],"procedures.":[60],"Because":[61],"these":[62],"flexible":[65],"design,":[67,123],"they":[68],"deflect":[69],"considerably":[70],"when":[71],"applying":[72],"forces":[73],"external":[76],"environment.":[77],"Thus,":[78],"contrast":[80],"rigid-link":[82],"robots,":[83],"kinematic":[85],"static":[87],"force":[88],"models":[89],"coupled.":[91],"paper":[93],"derives":[94],"multi-tube":[96,133],"quasistatic":[97],"model":[98,117,134],"that":[99],"relates":[100],"rotations":[102],"translations":[104],"together":[105],"externally":[107],"applied":[108,120],"loads":[109],"robot":[111,122],"shape":[112],"configuration.":[115],"The":[116],"can":[118],"procedure":[124],"planning":[125],"control.":[129],"For":[130],"validation,":[131],"compared":[136],"experimentally":[137],"computationally-efficient":[140],"single-tube":[141],"approximate":[142],"model.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":6}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}