{"id":"https://openalex.org/W2562881420","doi":"https://doi.org/10.1109/iros.2016.7759333","title":"New kinematic multi-section model for catheter contact force estimation and steering","display_name":"New kinematic multi-section model for catheter contact force estimation and steering","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2562881420","doi":"https://doi.org/10.1109/iros.2016.7759333","mag":"2562881420"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://kclpure.kcl.ac.uk/ws/files/105122086/IROS16_1429_MS_1_.PDF","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052100121","display_name":"Junghwan Back","orcid":"https://orcid.org/0000-0002-9788-9269"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Junghwan Back","raw_affiliation_strings":["Department of Informatics, King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073776552","display_name":"Lukas Lindenroth","orcid":"https://orcid.org/0000-0002-9108-4574"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lukas Lindenroth","raw_affiliation_strings":["Department of Informatics, King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009527958","display_name":"Rashed Karim","orcid":"https://orcid.org/0000-0002-2977-8997"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rashed Karim","raw_affiliation_strings":["Department Imaging and Biomedical Engineering, King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department Imaging and Biomedical Engineering, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Department of Informatics, King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001083475","display_name":"Kawal Rhode","orcid":"https://orcid.org/0000-0002-4707-7318"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kawal Rhode","raw_affiliation_strings":["Department Imaging and Biomedical Engineering, King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department Imaging and Biomedical Engineering, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Department of Informatics, King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5052100121"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":1.4041,"has_fulltext":true,"cited_by_count":40,"citation_normalized_percentile":{"value":0.8176882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2122","last_page":"2127"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9764999747276306,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9624000191688538,"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/contact-force","display_name":"Contact force","score":0.8267224431037903},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6162840723991394},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6106568574905396},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5871991515159607},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5361793637275696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5092312097549438},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43739914894104004},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.43416842818260193},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4329388439655304},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4136943519115448},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2059880793094635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15675729513168335},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.1448342204093933},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1351882517337799},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08514821529388428}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.8267224431037903},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6162840723991394},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6106568574905396},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5871991515159607},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5361793637275696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5092312097549438},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43739914894104004},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.43416842818260193},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4329388439655304},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4136943519115448},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2059880793094635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15675729513168335},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.1448342204093933},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1351882517337799},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08514821529388428},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/2d9362c2-742b-449a-b225-aa7a7dd4c9bc","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/2d9362c2-742b-449a-b225-aa7a7dd4c9bc","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/105122086/IROS16_1429_MS_1_.PDF","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Back, J, Lindenroth, L, Karim, R, Althoefer, K, Rhode, K & Liu, H 2016, New kinematic multi-section model for catheter contact force estimation and steering. in IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759333, pp. 2122-2127, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/2016. https://doi.org/10.1109/IROS.2016.7759333","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/2d9362c2-742b-449a-b225-aa7a7dd4c9bc","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/2d9362c2-742b-449a-b225-aa7a7dd4c9bc","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/105122086/IROS16_1429_MS_1_.PDF","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Back, J, Lindenroth, L, Karim, R, Althoefer, K, Rhode, K & Liu, H 2016, New kinematic multi-section model for catheter contact force estimation and steering. in IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759333, pp. 2122-2127, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/2016. https://doi.org/10.1109/IROS.2016.7759333","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2562881420.pdf","grobid_xml":"https://content.openalex.org/works/W2562881420.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W205076019","https://openalex.org/W1993946365","https://openalex.org/W2005284429","https://openalex.org/W2022157658","https://openalex.org/W2057785338","https://openalex.org/W2091761952","https://openalex.org/W2101797976","https://openalex.org/W2104767879","https://openalex.org/W2107924998","https://openalex.org/W2128065058","https://openalex.org/W2147492425","https://openalex.org/W2160825462","https://openalex.org/W2228579726","https://openalex.org/W2535851765","https://openalex.org/W2758416491","https://openalex.org/W6608308108"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W3001080452"],"abstract_inverted_index":{"Contact":[0],"force":[1,21,48,63,75,96,143,162],"play":[2],"is":[3,15,25,70],"a":[4,23,35,101,106],"significant":[5],"role":[6],"in":[7],"success":[8],"of":[9,40,109,140,160],"the":[10,41,57,61,73,78,82,94,121,126,129,141,155],"cardiac":[11],"ablation.":[12],"However,":[13],"it":[14],"still":[16],"challenging":[17],"to":[18],"estimate":[19],"contact":[20,74,95,142,148,161],"when":[22],"catheter":[24,58,83,107,127],"under":[26],"large":[27],"bending":[28],"and":[29,50,86,97,134],"multiple":[30],"contacts.":[31],"This":[32],"paper":[33],"develops":[34],"new":[36],"multi-section":[37],"static":[38],"model":[39,54,122],"tendon-driven":[42],"catheters":[43],"for":[44,72],"both":[45],"real-time":[46],"intrinsic":[47],"sensing":[49],"interaction":[51],"control.":[52],"The":[53,115,138,158],"allows":[55],"estimating":[56],"shape":[59,79,98,116],"by":[60],"external":[62],"at":[64],"arbitrary":[65],"location.":[66],"Also,":[67],"an":[68],"algorithm":[69],"developed":[71],"estimation":[76,80,99,117,144],"using":[77,100,154],"with":[81,112,166],"end-position":[84],"tracking":[85],"tension":[87,113],"feedback.":[88,114],"In":[89],"this":[90],"study,":[91],"we":[92],"validated":[93],"robotic":[102],"platform,":[103],"which":[104],"steers":[105],"consisting":[108],"4":[110],"tendons":[111],"results":[118,139],"show":[119,145],"that":[120,146],"can":[123,150],"accurately":[124,153],"predict":[125],"shape;":[128],"position":[130],"difference":[131],"between":[132],"measured":[133],"estimated":[135,152],"was":[136,164],"2.5mm.":[137],"3-dimensional":[147],"forces":[149],"be":[151],"proposed":[156],"method.":[157],"magnitude":[159],"error":[163],"0.0117N":[165],"350Hz":[167],"update":[168],"rate.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
