{"id":"https://openalex.org/W2209444443","doi":"https://doi.org/10.1109/iros.2015.7353999","title":"Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning","display_name":"Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2209444443","doi":"https://doi.org/10.1109/iros.2015.7353999","mag":"2209444443","pmid":"https://pubmed.ncbi.nlm.nih.gov/26951790"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353999","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","pubmed"],"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/A5006739892","display_name":"Cenk Baykal","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cenk Baykal","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108091395","display_name":"Luis G. Torres","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis G. Torres","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.001,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.86047904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"2015","issue":null,"first_page":"4381","last_page":"4387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.8190919160842896},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7550334930419922},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.7403430342674255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.578997790813446},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4616907835006714},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4598982632160187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44484078884124756},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4397708475589752},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4261828362941742},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3658079504966736},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3632493019104004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3495863080024719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.150654137134552}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8190919160842896},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7550334930419922},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.7403430342674255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.578997790813446},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4616907835006714},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4598982632160187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44484078884124756},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4397708475589752},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4261828362941742},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3658079504966736},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3632493019104004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3495863080024719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.150654137134552},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":3,"locations":[{"id":"doi:10.1109/iros.2015.7353999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353999","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"},{"id":"pmid:26951790","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26951790","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:3991854","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4778735","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1539672629","https://openalex.org/W1979190059","https://openalex.org/W1991443363","https://openalex.org/W2014100751","https://openalex.org/W2018071836","https://openalex.org/W2030605379","https://openalex.org/W2031747890","https://openalex.org/W2035105943","https://openalex.org/W2042106485","https://openalex.org/W2060929344","https://openalex.org/W2063706473","https://openalex.org/W2065532858","https://openalex.org/W2078850086","https://openalex.org/W2095999605","https://openalex.org/W2103819010","https://openalex.org/W2112075057","https://openalex.org/W2113104542","https://openalex.org/W2114045677","https://openalex.org/W2138564331","https://openalex.org/W2139470902","https://openalex.org/W2156199850","https://openalex.org/W2164013717","https://openalex.org/W2170623737","https://openalex.org/W2462654948","https://openalex.org/W2525425589","https://openalex.org/W2611243847","https://openalex.org/W6719065306"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W985713740","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2048576502","https://openalex.org/W30332934","https://openalex.org/W2112736381"],"abstract_inverted_index":{"Concentric":[0],"tube":[1,49,73,104],"robots":[2,6,23],"are":[3],"tentacle-like":[4],"medical":[5],"that":[7,68,76,128],"can":[8,24,51,77],"bend":[9],"around":[10],"anatomical":[11,138],"obstacles":[12],"to":[13,28,34,123,131],"access":[14],"hard-to-reach":[15],"clinical":[16],"targets.":[17],"The":[18],"component":[19],"tubes":[20],"of":[21,71,83,101,126,144],"these":[22],"be":[25],"swapped":[26],"prior":[27],"performing":[29],"a":[30,43,57,84,95,102,107,112,148],"task":[31],"in":[32,88,97,116,121,147],"order":[33,122],"customize":[35],"the":[36,53,80,89,98,117,142],"robot's":[37,44,54,118],"behavior":[38],"and":[39],"reachable":[40,81],"workspace.":[41],"Optimizing":[42],"design":[45,99],"by":[46],"appropriately":[47],"selecting":[48],"parameters":[50],"improve":[52],"effectiveness":[55,143],"on":[56,152],"procedure-and":[58],"patient-specific":[59],"basis.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64],"present":[65],"an":[66],"algorithm":[67,93,146],"generates":[69],"sets":[70,125],"concentric":[72,103],"robot":[74,105],"designs":[75,127],"collectively":[78],"maximize":[79],"percentage":[82],"given":[85],"goal":[86,132],"region":[87],"human":[90],"body.":[91],"Our":[92],"combines":[94],"search":[96],"space":[100,120],"using":[106],"global":[108],"optimization":[109],"method":[110],"with":[111,137],"sampling-based":[113],"motion":[114],"planner":[115],"configuration":[119],"find":[124],"enable":[129],"motions":[130],"regions":[133],"while":[134],"avoiding":[135],"contact":[136],"obstacles.":[139],"We":[140],"demonstrate":[141],"our":[145],"simulated":[149],"scenario":[150],"based":[151],"lung":[153],"anatomy.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
