{"id":"https://openalex.org/W3131900354","doi":"https://doi.org/10.1109/iros45743.2020.9341425","title":"Towards Autonomous Control of Magnetic Suture Needles","display_name":"Towards Autonomous Control of Magnetic Suture Needles","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131900354","doi":"https://doi.org/10.1109/iros45743.2020.9341425","mag":"3131900354","pmid":"https://pubmed.ncbi.nlm.nih.gov/34457374"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8389736","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056911095","display_name":"Matthew Fan","orcid":"https://orcid.org/0000-0002-4042-6685"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Fan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","University of Maryland, College Park, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393828","display_name":"Xiaolong Liu","orcid":"https://orcid.org/0000-0003-0252-7976"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaolong Liu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","University of Maryland, College Park, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071023429","display_name":"Kamakshi Jain","orcid":"https://orcid.org/0000-0003-4374-5865"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kamakshi Jain","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","University of Maryland, College Park, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046440242","display_name":"Daniel Lerner","orcid":"https://orcid.org/0000-0002-9848-4757"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Lerner","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","University of Maryland, College Park, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031462593","display_name":"Lamar O. Mair","orcid":"https://orcid.org/0000-0001-9459-3932"},"institutions":[{"id":"https://openalex.org/I4210132880","display_name":"Weinberg Medical Physics (United States)","ror":"https://ror.org/03kh4zk18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210132880"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lamar O. Mair","raw_affiliation_strings":["Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA","Weinberg Medical Physics, Inc, North Bethesda, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA","institution_ids":["https://openalex.org/I4210132880"]},{"raw_affiliation_string":"Weinberg Medical Physics, Inc, North Bethesda, Maryland, USA","institution_ids":["https://openalex.org/I4210132880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026251408","display_name":"I. Weinberg","orcid":"https://orcid.org/0000-0001-8564-2982"},"institutions":[{"id":"https://openalex.org/I4210132880","display_name":"Weinberg Medical Physics (United States)","ror":"https://ror.org/03kh4zk18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210132880"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Irving N. Weinberg","raw_affiliation_strings":["Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA","Weinberg Medical Physics, Inc, North Bethesda, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA","institution_ids":["https://openalex.org/I4210132880"]},{"raw_affiliation_string":"Weinberg Medical Physics, Inc, North Bethesda, Maryland, USA","institution_ids":["https://openalex.org/I4210132880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050664586","display_name":"Yancy Diaz-Mercado","orcid":"https://orcid.org/0000-0003-0288-0112"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yancy Diaz-Mercado","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","University of Maryland, College Park, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008331040","display_name":"Axel Krieger","orcid":"https://orcid.org/0000-0001-8169-075X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axel Krieger","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","University of Maryland, College Park, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5228,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62714078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2020","issue":null,"first_page":"2935","last_page":"2942"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9807999730110168,"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/controller","display_name":"Controller (irrigation)","score":0.6378973722457886},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5267583727836609},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4928627014160156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47654086351394653},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46477702260017395},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4451512098312378},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44007959961891174},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.43480390310287476},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4122258126735687},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2946794033050537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2699023485183716},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26347243785858154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2289121150970459},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16675764322280884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12435808777809143}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6378973722457886},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5267583727836609},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4928627014160156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47654086351394653},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46477702260017395},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4451512098312378},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44007959961891174},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.43480390310287476},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4122258126735687},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2946794033050537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2699023485183716},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26347243785858154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2289121150970459},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16675764322280884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12435808777809143},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros45743.2020.9341425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:34457374","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34457374","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:pubmedcentral.nih.gov:8389736","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8389736","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8389736","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8389736","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1210027368","https://openalex.org/W1972057105","https://openalex.org/W1976221960","https://openalex.org/W1978202603","https://openalex.org/W1990785667","https://openalex.org/W2006525209","https://openalex.org/W2027592661","https://openalex.org/W2064274477","https://openalex.org/W2080671898","https://openalex.org/W2089634666","https://openalex.org/W2094796932","https://openalex.org/W2094904022","https://openalex.org/W2126232669","https://openalex.org/W2143057172","https://openalex.org/W2346178339","https://openalex.org/W2414307141","https://openalex.org/W2536840290","https://openalex.org/W2591461579","https://openalex.org/W2777700953","https://openalex.org/W2790485773","https://openalex.org/W2793873467","https://openalex.org/W2793966962","https://openalex.org/W2896049741","https://openalex.org/W2972451145","https://openalex.org/W3006179300","https://openalex.org/W3016347190","https://openalex.org/W3099541148","https://openalex.org/W6657332938"],"related_works":["https://openalex.org/W2381426581","https://openalex.org/W4323768008","https://openalex.org/W2024370140","https://openalex.org/W3131574667","https://openalex.org/W2159705349","https://openalex.org/W4248382324","https://openalex.org/W2105392727","https://openalex.org/W4360995134","https://openalex.org/W2081826635","https://openalex.org/W2125678830"],"abstract_inverted_index":{"This":[0,19],"paper":[1],"proposes":[2],"a":[3,52,64,68,94,120,199],"magnetic":[4,11,32,60,79,85,95,110,162,177,219],"needle":[5,97,128,184,187,209],"steering":[6,210],"controller":[7,147,211],"to":[8,82,129,165],"manipulate":[9],"mesoscale":[10,218],"suture":[12,33,61,96,163,178,220],"needles":[13,34,62,164],"for":[14,35,138,159],"executing":[15],"planned":[16],"suturing":[17,36],"motion.":[18],"is":[20,157],"an":[21],"initial":[22],"step":[23],"towards":[24],"our":[25,207],"research":[26],"objective:":[27],"enabling":[28],"autonomous":[29],"control":[30,59,83,155,174,189,196,216],"of":[31,46,93,109,142,148,176,217],"tasks":[37],"in":[38,63,102],"minimally":[39],"invasive":[40],"surgery.":[41],"To":[42,172],"demonstrate":[43,206],"the":[44,91,103,116,127,140,149,161],"feasibility":[45],"accurate":[47,214],"motion":[48,215],"control,":[49,186],"we":[50,118,180],"employ":[51],"cardinally-arranged":[53],"four-coil":[54],"electromagnetic":[55,150],"system":[56,151],"setup":[57],"and":[58,100,112,131,169,194],"2-dimensional":[65],"environment,":[66],"i.e.,":[67],"Petri":[69],"dish":[70],"filled":[71],"with":[72,153],"viscous":[73],"liquid.":[74],"Different":[75],"from":[76],"only":[77,132],"using":[78,191,198],"field":[80],"gradients":[81],"small":[84],"agents":[86],"under":[87],"high":[88],"damping":[89],"conditions,":[90],"dynamics":[92],"are":[98],"investigated":[99],"encoded":[101],"controller.":[104],"Based":[105],"on":[106,115],"mathematical":[107],"formulations":[108],"force":[111],"torque":[113],"applied":[114],"needle,":[117],"develop":[119],"kinematically":[121],"constrained":[122],"dynamic":[123],"model":[124],"that":[125],"controls":[126],"rotate":[130],"translate":[133],"along":[134],"its":[135],"central":[136],"axis":[137],"mimicking":[139],"behavior":[141],"surgical":[143],"sutures.":[144],"A":[145],"current":[146],"combining":[152],"closed-loop":[154],"schemes":[156],"designed":[158],"commanding":[160],"achieve":[166],"desired":[167],"linear":[168],"angular":[170],"velocities.":[171],"evaluate":[173],"performance":[175],"needles,":[179],"conduct":[181],"experiments":[182],"including":[183],"rotation":[185],"position":[188],"by":[190,197],"discretized":[192],"trajectories,":[193],"velocity":[195],"time-varying":[200],"circular":[201],"trajectory.":[202],"The":[203],"experiment":[204],"results":[205],"proposed":[208],"can":[212],"perform":[213],"needles.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}