{"id":"https://openalex.org/W3004260896","doi":"https://doi.org/10.1109/iros40897.2019.8967712","title":"Haptic Guidance for Robot-Assisted Endovascular Procedures: Implementation and Evaluation on Surgical Simulator","display_name":"Haptic Guidance for Robot-Assisted Endovascular Procedures: Implementation and Evaluation on Surgical Simulator","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004260896","doi":"https://doi.org/10.1109/iros40897.2019.8967712","mag":"3004260896"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967712","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066185368","display_name":"M. B. Molinero","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"M. B. Molinero","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,UK","Hamlyn Centre for Robotic Surgery, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087701279","display_name":"Giulio Dagnino","orcid":"https://orcid.org/0000-0002-1613-1051"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"G. Dagnino","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,UK","Hamlyn Centre for Robotic Surgery, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100760835","display_name":"Jun Liu","orcid":"https://orcid.org/0000-0002-1604-0539"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"J. Liu","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,UK","Hamlyn Centre for Robotic Surgery, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081824008","display_name":"Wenqiang Chi","orcid":"https://orcid.org/0000-0003-3726-4678"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"W. Chi","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,UK","Hamlyn Centre for Robotic Surgery, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013098471","display_name":"Mohamed E. M. K. Abdelaziz","orcid":"https://orcid.org/0000-0003-2763-8998"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"M. E. M. K. Abdelaziz","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,UK","Hamlyn Centre for Robotic Surgery, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110244775","display_name":"Trevor M. Y. Kwok","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"T.M.Y. Kwok","raw_affiliation_strings":["Imperial College London,Department of Surgery &#x0026; Cancer,UK","Department of Surgery & Cancer, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Surgery &#x0026; Cancer,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery & Cancer, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110761598","display_name":"C. Riga","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"C. Riga","raw_affiliation_strings":["Imperial College London,Department of Surgery &#x0026; Cancer,UK","Department of Surgery & Cancer, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Surgery &#x0026; Cancer,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Surgery & Cancer, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"G.Z. Yang","raw_affiliation_strings":["Imperial College London,Hamlyn Centre for Robotic Surgery,UK","Hamlyn Centre for Robotic Surgery, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Hamlyn Centre for Robotic Surgery,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5066185368"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.2715,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.78757534,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5398","last_page":"5403"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9909999966621399,"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/haptic-technology","display_name":"Haptic technology","score":0.9208978414535522},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5224320292472839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5130535364151001},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.4981238842010498},{"id":"https://openalex.org/keywords/stereotaxy","display_name":"Stereotaxy","score":0.4937683045864105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4487449824810028},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4368540644645691},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.42940157651901245},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.32913100719451904},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.31927061080932617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20089244842529297}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9208978414535522},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5224320292472839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5130535364151001},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.4981238842010498},{"id":"https://openalex.org/C176700471","wikidata":"https://www.wikidata.org/wiki/Q7611272","display_name":"Stereotaxy","level":3,"score":0.4937683045864105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4487449824810028},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4368540644645691},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.42940157651901245},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.32913100719451904},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.31927061080932617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20089244842529297}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967712","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G195137609","display_name":null,"funder_award_id":"EP/N024877/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1524934791","https://openalex.org/W1966531554","https://openalex.org/W1966575367","https://openalex.org/W1983281817","https://openalex.org/W1988000217","https://openalex.org/W2009180946","https://openalex.org/W2009801772","https://openalex.org/W2044544244","https://openalex.org/W2057889805","https://openalex.org/W2072854478","https://openalex.org/W2079316138","https://openalex.org/W2089145243","https://openalex.org/W2092198701","https://openalex.org/W2117586322","https://openalex.org/W2143526841","https://openalex.org/W2148368094","https://openalex.org/W2150376913","https://openalex.org/W2156696972","https://openalex.org/W2511811782","https://openalex.org/W2780633237","https://openalex.org/W2909128381","https://openalex.org/W2909693109","https://openalex.org/W2919629852"],"related_works":["https://openalex.org/W3175380930","https://openalex.org/W2183424744","https://openalex.org/W4309505616","https://openalex.org/W2136086106","https://openalex.org/W2183808292","https://openalex.org/W2108167108","https://openalex.org/W2069386304","https://openalex.org/W2329432189","https://openalex.org/W2492481707","https://openalex.org/W2348224808"],"abstract_inverted_index":{"Vascular":[0],"diseases":[1],"are":[2,14],"the":[3,17,41,68,75,82,86,93,109,119,127,140,153,160,172,176,189,213,228],"most":[4],"common":[5],"precursors":[6],"to":[7,31,36,64,125,132,174,235],"ischemic":[8],"heart":[9],"disease":[10],"and":[11,54,72,74,95,117,156,219,232],"stroke,":[12],"which":[13,78],"two":[15],"of":[16,20,43,81,97,103,111,129,142,162,188,215,221],"leading":[18],"causes":[19],"death":[21],"worldwide.":[22],"Endovascular":[23,58],"intervention":[24],"is":[25,108,191],"a":[26,180,183,200],"minimally":[27],"invasive":[28],"surgical":[29,62,154,202,242],"approach":[30],"treat":[32],"such":[33],"diseases.":[34],"Compared":[35],"open":[37],"surgery,":[38],"it":[39],"has":[40,212],"advantages":[42],"faster":[44],"recovery,":[45],"reduced":[46,51],"need":[47],"for":[48,85],"general":[49],"anesthesia,":[50],"blood":[52],"loss":[53],"significantly":[55],"lower":[56],"mortality.":[57],"procedures":[59],"require":[60],"high":[61],"skills":[63],"minimize":[65],"contacts":[66],"between":[67],"manipulated":[69],"instruments":[70,98],"(catheters":[71],"guidewires)":[73],"vessel":[76],"wall,":[77],"represent":[79],"one":[80],"major":[83],"risks":[84],"patient.":[87],"Robotic":[88],"assistance":[89],"can":[90,150],"potentially":[91],"improve":[92,152],"precision":[94],"stability":[96],"manipulation.":[99],"One":[100],"key":[101],"limitation":[102],"current":[104],"commercial":[105],"robotic":[106,184],"platforms":[107],"lack":[110],"haptic":[112,130,144,169,185,210],"feedback,":[113],"preventing":[114],"their":[115],"acceptance":[116],"limiting":[118],"clinical":[120],"usability.":[121],"This":[122],"paper":[123],"proposes":[124],"bring":[126],"benefit":[128],"feedback":[131],"robot-assisted":[133,147],"endovascular":[134,148,222],"intervention.":[135,223],"Here":[136],"we":[137],"hypothesize":[138],"that":[139,208],"introduction":[141],"3D":[143,168,209],"guidance":[145,170,211],"during":[146],"procedure":[149],"further":[151],"performance":[155],"safety":[157,220],"while":[158,178],"overcoming":[159],"limitations":[161],"currently":[163],"available":[164],"technology.":[165],"The":[166,204],"proposed":[167,229],"allows":[171],"surgeon":[173],"sense":[175],"vasculature":[177],"controlling":[179],"catheter":[181],"through":[182,193],"manipulator.":[186],"Validation":[187],"system":[190],"performed":[192],"end-user":[194],"experiments":[195],"with":[196],"vascular":[197,225],"surgeons":[198,226],"on":[199,240],"bespoke":[201],"simulator.":[203],"obtained":[205],"results":[206],"demonstrate":[207],"potential":[214,239],"improving":[216],"effectiveness,":[217],"precision,":[218],"Furthermore,":[224],"found":[227],"technology":[230],"safe":[231],"overall":[233],"easy":[234],"use,":[236],"indicating":[237],"its":[238],"real":[241],"procedures.":[243]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
