{"id":"https://openalex.org/W3118376666","doi":"https://doi.org/10.1109/ismr48331.2020.9312925","title":"Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire","display_name":"Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire","publication_year":2020,"publication_date":"2020-11-18","ids":{"openalex":"https://openalex.org/W3118376666","doi":"https://doi.org/10.1109/ismr48331.2020.9312925","mag":"3118376666"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48331.2020.9312925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48331.2020.9312925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5029120781","display_name":"Achraj Sarma","orcid":"https://orcid.org/0000-0002-0476-4644"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Achraj Sarma","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038727216","display_name":"Graham C. Collins","orcid":"https://orcid.org/0000-0003-3811-6044"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Graham C. Collins","raw_affiliation_strings":["Ultrasonic Imaging and Instrumentation Laboratory (UIIL), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ultrasonic Imaging and Instrumentation Laboratory (UIIL), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080944229","display_name":"Namrata U. Nayar","orcid":"https://orcid.org/0000-0001-8062-0629"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Namrata Nayar","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001760308","display_name":"Yash Chitalia","orcid":"https://orcid.org/0000-0002-6291-3492"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Chitalia","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017597959","display_name":"Seokhwan Jeong","orcid":"https://orcid.org/0000-0001-9727-7601"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seokhwan Jeong","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040472044","display_name":"Brooks D. Lindsey","orcid":"https://orcid.org/0000-0001-7128-108X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brooks D. Lindsey","raw_affiliation_strings":["Ultrasonic Imaging and Instrumentation Laboratory (UIIL), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ultrasonic Imaging and Instrumentation Laboratory (UIIL), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"173","last_page":"180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/transducer","display_name":"Transducer","score":0.6482810974121094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5526092648506165},{"id":"https://openalex.org/keywords/beamforming","display_name":"Beamforming","score":0.5521756410598755},{"id":"https://openalex.org/keywords/fluoroscopy","display_name":"Fluoroscopy","score":0.5494314432144165},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4890936017036438},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.4731249213218689},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.46062058210372925},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.37841424345970154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34143325686454773},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.311360627412796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19617733359336853},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.16319382190704346}],"concepts":[{"id":"https://openalex.org/C56318395","wikidata":"https://www.wikidata.org/wiki/Q215928","display_name":"Transducer","level":2,"score":0.6482810974121094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5526092648506165},{"id":"https://openalex.org/C54197355","wikidata":"https://www.wikidata.org/wiki/Q5782992","display_name":"Beamforming","level":2,"score":0.5521756410598755},{"id":"https://openalex.org/C2776805002","wikidata":"https://www.wikidata.org/wiki/Q614984","display_name":"Fluoroscopy","level":2,"score":0.5494314432144165},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4890936017036438},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.4731249213218689},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.46062058210372925},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.37841424345970154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34143325686454773},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.311360627412796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19617733359336853},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.16319382190704346},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48331.2020.9312925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48331.2020.9312925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1604037492","https://openalex.org/W1963480796","https://openalex.org/W1973230733","https://openalex.org/W1982025307","https://openalex.org/W1995071895","https://openalex.org/W1998146762","https://openalex.org/W2010719601","https://openalex.org/W2015378785","https://openalex.org/W2027262698","https://openalex.org/W2041966892","https://openalex.org/W2045876071","https://openalex.org/W2045892655","https://openalex.org/W2053044515","https://openalex.org/W2053088518","https://openalex.org/W2071172826","https://openalex.org/W2081359092","https://openalex.org/W2089895537","https://openalex.org/W2099462370","https://openalex.org/W2106779983","https://openalex.org/W2106924297","https://openalex.org/W2110523481","https://openalex.org/W2115727204","https://openalex.org/W2116373972","https://openalex.org/W2119343887","https://openalex.org/W2122285378","https://openalex.org/W2129798375","https://openalex.org/W2131958512","https://openalex.org/W2137173702","https://openalex.org/W2145140351","https://openalex.org/W2147492425","https://openalex.org/W2148084763","https://openalex.org/W2153935991","https://openalex.org/W2186410016","https://openalex.org/W2324520536","https://openalex.org/W2343462905","https://openalex.org/W2540463330","https://openalex.org/W2544190909","https://openalex.org/W2561240586","https://openalex.org/W2890182857","https://openalex.org/W2989772550","https://openalex.org/W3002480759","https://openalex.org/W3003639106"],"related_works":["https://openalex.org/W2015651921","https://openalex.org/W2079637538","https://openalex.org/W4377014751","https://openalex.org/W2170032467","https://openalex.org/W2055350243","https://openalex.org/W3133964112","https://openalex.org/W2335408592","https://openalex.org/W2366424944","https://openalex.org/W2089829884","https://openalex.org/W3034962873"],"abstract_inverted_index":{"Minimally-invasive":[0],"treatments":[1],"for":[2,82,219],"chronic":[3],"total":[4],"occlusions":[5],"(CTO)":[6],"involve":[7],"the":[8,30,89,102,106,124,192,197,210,213,216,220],"manual":[9],"routing":[10],"of":[11,24,42,85,88,95,98,109,112,118,129,156,174,209,215],"a":[12,37,56,68,74,96,130,172,207],"guidewire":[13,40,103,193],"under":[14],"fluoroscopy.":[15],"However,":[16],"navigation":[17],"remains":[18],"clinically":[19],"challenging":[20],"with":[21,105,134,143],"high":[22],"rates":[23],"procedural":[25],"failure":[26],"and":[27,63,115,127,152,159,168,185,226,228,238],"trauma":[28],"to":[29,170,178,190,205],"vessel.":[31],"In":[32],"this":[33,144],"paper,":[34],"we":[35,100,122],"present":[36,55],"proof-of-concept":[38],"robotic":[39,86],"capable":[41],"acquiring":[43],"forward-viewing":[44],"ultrasound":[45],"(US)":[46],"images,":[47],"thereby":[48],"enhancing":[49],"maneuverability":[50],"through":[51],"complex":[52],"vasculature.":[53],"We":[54],"statics":[57],"model":[58,184],"based":[59],"on":[60,92],"Castigliano's":[61],"theorem":[62],"its":[64],"validation":[65],"by":[66],"controlling":[67],"notched":[69],"nitinol":[70],"tube":[71],"used":[72,169,189,204],"as":[73,138,140],"guidewire.":[75,90],"A":[76],"feedback":[77],"control":[78,84],"system":[79],"was":[80,223],"employed":[81],"precise":[83],"actuation":[87],"Based":[91],"our":[93],"analysis":[94],"set":[97],"designs,":[99],"chose":[101],"sample":[104],"highest":[107],"depth":[108],"cut":[110],"(80%":[111],"outer":[113],"diameter)":[114],"greatest":[116],"number":[117],"notches":[119],"(20).":[120],"Additionally,":[121],"document":[123],"design,":[125],"fabrication,":[126],"characterization":[128],"17.2MHz":[131],"US":[132],"transducer":[133,145],"41%":[135],"fractional":[136],"bandwidth,":[137],"well":[139],"image":[141,171,198],"formation":[142],"via":[146],"synthetic":[147],"aperture":[148],"beamforming.":[149],"Insertion":[150],"loss":[151],"SNR":[153,218],"were":[154,165,188,203,233],"found":[155],"-60":[157],"dB":[158,231],"28":[160],"dB,":[161,225],"respectively.":[162,243],"These":[163],"components":[164],"then":[166],"combined":[167],"series":[173],"wires":[175],"in":[176],"water":[177],"establish":[179],"feasibility.":[180],"The":[181,200],"developed":[182],"kinematic":[183],"experimental":[186],"data":[187,201],"compute":[191],"pose,":[194],"which":[195],"informed":[196],"formation.":[199],"obtained":[202],"create":[206],"visualization":[208],"objects,":[211],"demonstrating":[212],"feasibility":[214],"system.":[217],"resulting":[221],"images":[222],"52":[224],"axial":[227],"lateral":[229],"-6":[230],"ranges":[232],"97":[234],"\u00b1":[235,240],"11":[236],"\u03bcm":[237,242],"339":[239],"80":[241]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
