{"id":"https://openalex.org/W2966230635","doi":"https://doi.org/10.1109/iros40897.2019.8967593","title":"Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability","display_name":"Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2966230635","doi":"https://doi.org/10.1109/iros40897.2019.8967593","mag":"2966230635"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/portal/en/publications/3767fe1c-ad24-40b7-9e69-04d829db7fda","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057363853","display_name":"Mohsen Khadem","orcid":"https://orcid.org/0000-0002-6873-273X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mohsen Khadem","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK","School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091714083","display_name":"J. J. O\u2019Neill","orcid":"https://orcid.org/0000-0003-1552-0669"},"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":"John O\u2019Neill","raw_affiliation_strings":["King’s College London,School of Biomedical Engineering and Imaging Sciences,London,UK","School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"King’s College London,School of Biomedical Engineering and Imaging Sciences,London,UK","institution_ids":[]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027050792","display_name":"Zisos Mitros","orcid":"https://orcid.org/0000-0002-5739-3461"},"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":"Zisos Mitros","raw_affiliation_strings":["King’s College London,School of Biomedical Engineering and Imaging Sciences,London,UK","School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"King’s College London,School of Biomedical Engineering and Imaging Sciences,London,UK","institution_ids":[]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052578273","display_name":"Lyndon da Cruz","orcid":"https://orcid.org/0000-0002-7695-6354"},"institutions":[{"id":"https://openalex.org/I1299528221","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842","country_code":"GB","type":"government","lineage":["https://openalex.org/I1299528221","https://openalex.org/I4210087105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyndon da Cruz","raw_affiliation_strings":["UCL Wellcome/EPSRC Centre for Interventional and Surgical Engineering Sciences, UCL"],"affiliations":[{"raw_affiliation_string":"UCL Wellcome/EPSRC Centre for Interventional and Surgical Engineering Sciences, UCL","institution_ids":["https://openalex.org/I1299528221"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"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":"Christos Bergeles","raw_affiliation_strings":["King’s College London,School of Biomedical Engineering and Imaging Sciences,London,UK","School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"King’s College London,School of Biomedical Engineering and Imaging Sciences,London,UK","institution_ids":[]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5057363853"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":0.7945,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.70119911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2197","last_page":"2204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9933000206947327,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/traverse","display_name":"Traverse","score":0.7834411263465881},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7465692162513733},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7088133096694946},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6247988939285278},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5825212001800537},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5226792693138123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4995293617248535},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.49890637397766113},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4958096444606781},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4695003032684326},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4108860194683075},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2701871693134308},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18858963251113892},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15574806928634644},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15230721235275269},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12010550498962402},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08597490191459656}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7834411263465881},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7465692162513733},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7088133096694946},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6247988939285278},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5825212001800537},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5226792693138123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4995293617248535},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.49890637397766113},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4958096444606781},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4695003032684326},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4108860194683075},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2701871693134308},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18858963251113892},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15574806928634644},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15230721235275269},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12010550498962402},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08597490191459656},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:openaire/3767fe1c-ad24-40b7-9e69-04d829db7fda","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/3767fe1c-ad24-40b7-9e69-04d829db7fda","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Khadem, M, O'Neill, J, Mitros, Z, Da Cruz, L & Bergeles, C 2020, 'Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability', 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2197-2204. https://doi.org/10.1109/IROS40897.2019.8967593","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:publications/2af12fca-58be-48d1-987a-c85ee25457c5","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/autonomous-steering-of-concentric-tube-robots-for-enhanced-forcevelocity-manipulability(3767fe1c-ad24-40b7-9e69-04d829db7fda).html","pdf_url":"https://www.research.ed.ac.uk/en/publications/2af12fca-58be-48d1-987a-c85ee25457c5","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:openaire/2af12fca-58be-48d1-987a-c85ee25457c5","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/2af12fca-58be-48d1-987a-c85ee25457c5","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Khadem, M, O'Neill, J, Mitros, Z, Da Cruz, L & Bergeles, C 2020, Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 2197-2204, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8967593","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:openaire/3767fe1c-ad24-40b7-9e69-04d829db7fda","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/3767fe1c-ad24-40b7-9e69-04d829db7fda","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Khadem, M, O'Neill, J, Mitros, Z, Da Cruz, L & Bergeles, C 2020, 'Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability', 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2197-2204. https://doi.org/10.1109/IROS40897.2019.8967593","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6000000238418579,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G7457963120","display_name":null,"funder_award_id":"MC_PC_18046","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"}],"funders":[{"id":"https://openalex.org/F4320334626","display_name":"Medical Research Council","ror":"https://ror.org/03x94j517"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1994837038","https://openalex.org/W2018071836","https://openalex.org/W2042913147","https://openalex.org/W2050458225","https://openalex.org/W2063706473","https://openalex.org/W2065689795","https://openalex.org/W2067873889","https://openalex.org/W2099095260","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2133231729","https://openalex.org/W2138564331","https://openalex.org/W2156441448","https://openalex.org/W2283595331","https://openalex.org/W2555633778","https://openalex.org/W2559631364","https://openalex.org/W2603097910","https://openalex.org/W2616035607","https://openalex.org/W2765859816","https://openalex.org/W2775076711","https://openalex.org/W2792910172","https://openalex.org/W2901136733","https://openalex.org/W2910154315","https://openalex.org/W3206780068","https://openalex.org/W4248302205","https://openalex.org/W6675041395","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"Concentric":[0],"tube":[1],"robots":[2,67],"(CTR)":[3],"can":[4,68,74,176],"traverse":[5],"tightly":[6],"curved":[7],"paths":[8],"and":[9,27,36,61,98,147,164,199],"offer":[10],"dexterity":[11],"in":[12,55,145,159],"constrained":[13],"environments,":[14],"making":[15],"them":[16],"advantageous":[17],"for":[18,86,95],"minimally":[19],"invasive":[20],"surgical":[21,28],"scenarios":[22],"that":[23,45,93],"experience":[24],"strict":[25],"anatomical":[26],"constraints.":[29],"Their":[30],"shape":[31],"is":[32],"controlled":[33],"via":[34],"rotation":[35],"translation":[37],"of":[38,63,89,106,138,169,191,197],"several":[39],"concentrically":[40],"arranged":[41],"super-elastic":[42],"precurved":[43],"tubes":[44,65],"form":[46],"the":[47,51,56,64,76,104,107,121,134,167,170],"robot":[48,108,201],"backbone.":[49],"As":[50],"elastic":[52],"energy":[53],"accumulated":[54],"backbone":[57],"due":[58],"to":[59,109,141,195,203],"bending":[60],"twist":[62],"increases,":[66],"exhibit":[69],"sudden":[70],"snapping":[71,153],"motions,":[72],"which":[73],"damage":[75],"surrounding":[77],"tissues.":[78],"In":[79],"this":[80],"paper,":[81],"we":[82],"proposed":[83,171],"an":[84,130],"approach":[85],"closed-loop":[87],"steering":[88],"a":[90,118,125,178,188],"redundant":[91,136],"CTR":[92,122,181],"allows":[94],"snap-free":[96],"motion":[97],"enhances":[99],"its":[100,143,157],"force/velocity":[101],"manipulability,":[102],"increasing":[103],"capacity":[105,158],"move":[110],"and/or":[111],"exercise":[112,204],"forces":[113,205],"along":[114,182],"any":[115],"direction.":[116],"First,":[117],"controller":[119,175],"stabilizes":[120],"end-effector":[123],"on":[124],"desired":[126],"time-variant":[127],"trajectory.":[128],"Next,":[129],"online":[131],"optimizer":[132],"uses":[133],"robot's":[135],"Degrees":[137],"Freedom":[139],"(DoF)":[140],"reshape":[142],"manipulability":[144],"real-time":[146],"steer":[148,177],"it":[149],"away":[150],"from":[151],"potentially":[152],"configurations":[154],"or":[155],"increase":[156],"delivering":[160],"force":[161],"payloads.":[162],"Simulations":[163],"experiments":[165],"demonstrate":[166],"performance":[168],"control":[172],"strategy.":[173],"The":[174],"generally":[179],"unstable":[180],"trajectories":[183],"while":[184],"avoiding":[185],"instabilities":[186],"with":[187],"mean":[189],"error":[190],"850":[192],"\u03bcm,":[193],"corresponding":[194],"0.6%":[196],"arclength,":[198],"improves":[200],"ability":[202],"by":[206],"55%.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}