{"id":"https://openalex.org/W4205472344","doi":"https://doi.org/10.1109/ismr48346.2021.9661574","title":"Image-Guided Optimization of Robotic Catheters for Patient-Specific Endovascular Intervention","display_name":"Image-Guided Optimization of Robotic Catheters for Patient-Specific Endovascular Intervention","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W4205472344","doi":"https://doi.org/10.1109/ismr48346.2021.9661574"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48346.2021.9661574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","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/A5029612683","display_name":"Colette Abah","orcid":"https://orcid.org/0000-0003-0268-2714"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colette Abah","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067563099","display_name":"Rohan Chitale","orcid":"https://orcid.org/0000-0001-8591-8854"},"institutions":[{"id":"https://openalex.org/I4210157890","display_name":"Neurological Surgery","ror":"https://ror.org/04r0gp612","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210157890"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Chitale","raw_affiliation_strings":["Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585","https://openalex.org/I4210157890"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007822020","display_name":"Nabil Simaan","orcid":"https://orcid.org/0000-0002-6125-3891"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nabil Simaan","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6108,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.70040507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10227","display_name":"Acute Ischemic Stroke Management","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10227","display_name":"Acute Ischemic Stroke Management","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"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/T10816","display_name":"Cerebrovascular and Carotid Artery Diseases","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory 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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9781000018119812,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/kinematics","display_name":"Kinematics","score":0.6112707257270813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5756781697273254},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5649685263633728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.55621737241745},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.5481087565422058},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5426498055458069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5185925960540771},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.45736226439476013},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4571738839149475},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44139623641967773},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3483736217021942},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22994562983512878},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1478467881679535},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14268717169761658},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08548960089683533}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6112707257270813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5756781697273254},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5649685263633728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.55621737241745},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.5481087565422058},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5426498055458069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5185925960540771},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.45736226439476013},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4571738839149475},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44139623641967773},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3483736217021942},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22994562983512878},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1478467881679535},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14268717169761658},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08548960089683533},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48346.2021.9661574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1967489513","https://openalex.org/W1988000217","https://openalex.org/W2002091296","https://openalex.org/W2005335573","https://openalex.org/W2021393572","https://openalex.org/W2029779080","https://openalex.org/W2037399775","https://openalex.org/W2072577625","https://openalex.org/W2095590702","https://openalex.org/W2096328612","https://openalex.org/W2118430975","https://openalex.org/W2119542322","https://openalex.org/W2137670317","https://openalex.org/W2139621750","https://openalex.org/W2143237216","https://openalex.org/W2148368094","https://openalex.org/W2162612257","https://openalex.org/W2170597216","https://openalex.org/W2171058244","https://openalex.org/W2261751601","https://openalex.org/W2277258071","https://openalex.org/W2285850020","https://openalex.org/W2582740614","https://openalex.org/W2594220915","https://openalex.org/W2749495089","https://openalex.org/W2761465452","https://openalex.org/W2774767442","https://openalex.org/W2786614813","https://openalex.org/W2890182857","https://openalex.org/W2910318708","https://openalex.org/W2941460562","https://openalex.org/W2948106961","https://openalex.org/W3037285193","https://openalex.org/W6685167001"],"related_works":["https://openalex.org/W170547082","https://openalex.org/W2136735429","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W4301044568","https://openalex.org/W1587123803","https://openalex.org/W2128075414","https://openalex.org/W2952867832","https://openalex.org/W2571039174"],"abstract_inverted_index":{"Endovascular":[0],"intervention":[1],"for":[2,65,146,159],"ischemic":[3],"stroke":[4],"requires":[5],"dexterous":[6],"manipulation":[7],"of":[8,38,50,62,67,84,111,129,143,149,152,186],"catheters":[9,153],"and":[10,21,74,132],"guidewires.":[11],"Robot-assisted":[12],"steerable":[13],"microcatheters":[14],"can":[15,174],"facilitate":[16],"navigation":[17],"along":[18,79],"tortuous":[19],"vasculature":[20],"bifurcation":[22],"selection,":[23],"thereby":[24],"reducing":[25],"the":[26,35,39,47,127,130,140,147,171,179],"surgical":[27],"skill":[28],"demands.":[29],"To":[30],"achieve":[31],"effective":[32],"catheter":[33,40,63,181],"deployment,":[34],"kinematic":[36,82,93],"parameters":[37,64],"should":[41],"ideally":[42],"be":[43,156,175],"selected":[44],"to":[45,107,177],"minimize":[46],"passive":[48],"deflection":[49],"a":[51,57,68,81,98,103,108,112,121,150,184],"given":[52],"catheter.":[53],"This":[54],"paper":[55],"presents":[56],"first-step":[58],"towards":[59],"automated":[60],"selection":[61],"traversal":[66],"target":[69],"anatomical":[70,160,167],"vessel.":[71],"The":[72,91,115,136],"image-segmentation":[73],"vessel":[75],"skeletonisation":[76],"are":[77],"presented":[78],"with":[80],"model":[83,94],"an":[85],"antagonistic":[86],"pair":[87],"two-segment":[88],"continuum":[89],"robot.":[90],"nonlinear":[92,122],"is":[95,118],"captured":[96],"using":[97],"sparse":[99],"representation":[100],"achieved":[101],"via":[102],"Kr\u00f6necker":[104],"product":[105],"solution":[106],"least-squares":[109],"formulation":[110],"matrix":[113],"equation.":[114],"path":[116],"planning":[117],"cast":[119],"as":[120],"parameter":[123],"optimization":[124],"that":[125,154],"includes":[126],"lengths":[128],"segments":[131],"their":[133],"relative":[134],"angles.":[135],"initial":[137],"results":[138],"suggest":[139],"possible":[141],"utility":[142],"this":[144],"approach":[145],"development":[148],"library":[151,185],"may":[155],"designed":[157],"a-priori":[158],"regions":[161],"while":[162],"taking":[163],"into":[164],"account":[165],"across-patient":[166],"variabilities.":[168],"For":[169],"clinical-deployment,":[170],"same":[172],"methods":[173],"used":[176],"select":[178],"best":[180],"candidate":[182],"from":[183],"catheters.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
