{"id":"https://openalex.org/W2209517745","doi":"https://doi.org/10.1109/iros.2015.7353821","title":"A robotics-assisted catheter manipulation system for cardiac ablation with real-time force estimation","display_name":"A robotics-assisted catheter manipulation system for cardiac ablation with real-time force estimation","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2209517745","doi":"https://doi.org/10.1109/iros.2015.7353821","mag":"2209517745"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5049373738","display_name":"Mahta Khoshnam","orcid":"https://orcid.org/0000-0003-3185-0182"},"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":"Mahta Khoshnam","raw_affiliation_strings":["Canadian Surgical Technologies and Advanced Robotics, London, ON, Canada","Department of Electrical and Computer Engineering, Western University, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics, London, ON, Canada","institution_ids":[]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014986943","display_name":"Iman Khalaji","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161447","display_name":"Intuitive Surgical (United States)","ror":"https://ror.org/05g2n4m79","country_code":"US","type":"company","lineage":["https://openalex.org/I4210161447"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iman Khalaji","raw_affiliation_strings":["Intuitive Surgical Inc., Sunnyvale, CA, USA"],"affiliations":[{"raw_affiliation_string":"Intuitive Surgical Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I4210161447"]}]},{"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":"Rajni V. Patel","raw_affiliation_strings":["Western University, London, ON, CA"],"affiliations":[{"raw_affiliation_string":"Western University, London, ON, CA","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049373738"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":1.0863,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.77536007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3202","last_page":"3207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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":0.9973000288009644,"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/T11217","display_name":"Cardiac Arrhythmias and Treatments","score":0.9911999702453613,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9907000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.7165007591247559},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6926421523094177},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5714139342308044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5627655982971191},{"id":"https://openalex.org/keywords/cardiac-ablation","display_name":"Cardiac Ablation","score":0.547487199306488},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.5387338995933533},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5318379402160645},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5074796080589294},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4927573502063751},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.471747487783432},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.44185009598731995},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4357845187187195},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43367743492126465},{"id":"https://openalex.org/keywords/catheter-ablation","display_name":"Catheter ablation","score":0.43194007873535156},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.41889122128486633},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3928230404853821},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3862845003604889},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3451753258705139},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.23130261898040771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2164422571659088},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1752241551876068},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12891730666160583},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12449774146080017},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11887526512145996},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11230611801147461}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.7165007591247559},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6926421523094177},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5714139342308044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5627655982971191},{"id":"https://openalex.org/C2910474132","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Cardiac Ablation","level":4,"score":0.547487199306488},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.5387338995933533},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5318379402160645},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5074796080589294},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4927573502063751},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.471747487783432},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.44185009598731995},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4357845187187195},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43367743492126465},{"id":"https://openalex.org/C2776131983","wikidata":"https://www.wikidata.org/wiki/Q436572","display_name":"Catheter ablation","level":3,"score":0.43194007873535156},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.41889122128486633},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3928230404853821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3862845003604889},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3451753258705139},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.23130261898040771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2164422571659088},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1752241551876068},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12891730666160583},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12449774146080017},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11887526512145996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11230611801147461},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337561","display_name":"Biosense Webster","ror":"https://ror.org/00mjrkf94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W158039134","https://openalex.org/W1973837055","https://openalex.org/W2002091296","https://openalex.org/W2005284429","https://openalex.org/W2011972884","https://openalex.org/W2014057017","https://openalex.org/W2021393572","https://openalex.org/W2022157658","https://openalex.org/W2026008817","https://openalex.org/W2030166869","https://openalex.org/W2034219663","https://openalex.org/W2057785338","https://openalex.org/W2058004183","https://openalex.org/W2068536355","https://openalex.org/W2087508469","https://openalex.org/W2088823887","https://openalex.org/W2101797976","https://openalex.org/W2125860604","https://openalex.org/W2130349647","https://openalex.org/W2136747438","https://openalex.org/W2153941218","https://openalex.org/W2160864172","https://openalex.org/W2547526288","https://openalex.org/W2798613942"],"related_works":["https://openalex.org/W4282937895","https://openalex.org/W2586759459","https://openalex.org/W3096595966","https://openalex.org/W2007676758","https://openalex.org/W2936970490","https://openalex.org/W2355331932","https://openalex.org/W2162832145","https://openalex.org/W2005284429","https://openalex.org/W4380610749","https://openalex.org/W2326119823"],"abstract_inverted_index":{"Lack":[0],"of":[1,7,20,35,97,113,118,125,149,182,203,217],"dexterous":[2],"control":[3],"over":[4],"the":[5,18,27,31,62,66,71,74,78,85,99,103,110,114,122,126,138,145,150,164,168,172,183,191,195,204],"position":[6,146],"a":[8,50,57,92,132,179],"catheter's":[9],"distal":[10,111,123,151],"tip":[11,21,64,75,170,197],"and":[12,69,142,147,207],"not":[13],"having":[14],"any":[15],"feedback":[16],"from":[17],"quality":[19],"-":[22],"tissue":[23],"contact":[24,184,208],"are":[25,210],"among":[26],"factors":[28],"that":[29,55,73,94,189],"make":[30],"conventional":[32,58],"catheter-based":[33],"method":[34],"performing":[36],"cardiac":[37],"ablation":[38,59,63],"very":[39],"challenging.":[40],"To":[41],"resolve":[42],"these":[43],"issues,":[44],"in":[45,80,166,212],"this":[46,83],"paper,":[47],"we":[48],"present":[49],"robotic":[51,193],"catheter":[52,127,169,196],"manipulation":[53],"system":[54,155],"accommodates":[56],"catheter,":[60],"places":[61],"at":[65,121,171],"desired":[67,173],"target":[68,206],"reports":[70],"forces":[72,209],"exerts":[76],"on":[77,144],"environment":[79],"real-time.":[81],"In":[82],"system,":[84,194],"manual":[86],"proximal":[87],"handle":[88],"is":[89,95,128,156,198],"replaced":[90],"with":[91,159,178,214],"mechanism":[93],"capable":[96],"measuring":[98],"tension":[100,140],"force":[101,134,141],"along":[102],"pull-wire":[104],"while":[105,175],"actuating":[106],"it":[107],"to":[108,162],"flex":[109],"shaft":[112],"catheter.":[115],"The":[116,153],"placement":[117],"force/pressure":[119],"sensors":[120],"end":[124],"avoided":[129],"by":[130],"developing":[131],"model-based":[133],"estimation":[135],"technique":[136],"using":[137,190],"measured":[139],"information":[143],"orientation":[148],"tip.":[152],"developed":[154],"further":[157],"enhanced":[158],"an":[160,215],"interface":[161],"assist":[163],"user":[165],"placing":[167],"location":[174],"providing":[176],"him/her":[177],"real-time":[180,213],"measure":[181],"force.":[185],"Extensive":[186],"experiments":[187],"show":[188],"proposed":[192],"positioned":[199],"within":[200],"\u00b11":[201],"mm":[202],"designated":[205],"reported":[211],"accuracy":[216],"3":[218],"gf.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}