{"id":"https://openalex.org/W7163048081","doi":"https://doi.org/10.1109/ismr69606.2026.11536344","title":"Soft Robotic Catheters Enabled by Miniaturized Bending and Torsional Hydraulic Soft Actuators","display_name":"Soft Robotic Catheters Enabled by Miniaturized Bending and Torsional Hydraulic Soft Actuators","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7163048081","doi":"https://doi.org/10.1109/ismr69606.2026.11536344"},"language":null,"primary_location":{"id":"doi:10.1109/ismr69606.2026.11536344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr69606.2026.11536344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 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/A5119218761","display_name":"Parmida AfshariNejad","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parmida AfshariNejad","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109754351","display_name":"Kyungjoon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyungjoon Lee","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137561821","display_name":"Steven Vu","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Vu","raw_affiliation_strings":["University of California,Department of Bioengineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Bioengineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137608983","display_name":"Aadya Penchala","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aadya Penchala","raw_affiliation_strings":["University of California,Department of Bioengineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Bioengineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137605113","display_name":"Sophia Sevic","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]},{"id":"https://openalex.org/I4210140791","display_name":"Irvine University","ror":"https://ror.org/04ysmca02","country_code":"US","type":"education","lineage":["https://openalex.org/I4210140791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sophia Sevic","raw_affiliation_strings":["University of California,Department of Biomedical Engineering,Irvine,CA,USA,92697"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Biomedical Engineering,Irvine,CA,USA,92697","institution_ids":["https://openalex.org/I4210140791","https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034315984","display_name":"V.S. Manian","orcid":null},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vinesh Manian","raw_affiliation_strings":["University of Nebraska,Department of Mechanical and Materials Engineering,Lincoln,NE,USA,68508"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nebraska,Department of Mechanical and Materials Engineering,Lincoln,NE,USA,68508","institution_ids":["https://openalex.org/I114395901"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137539476","display_name":"Jun Sheng","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Sheng","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.83138256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"95","last_page":"101"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9247000217437744,"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":0.9247000217437744,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.03269999846816063,"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"}},{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.012500000186264515,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6003999710083008},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5914999842643738},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.44209998846054077},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.35269999504089355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3292999863624573},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.30059999227523804}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6003999710083008},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5914999842643738},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.489300012588501},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4722999930381775},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.44209998846054077},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3767000138759613},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.35269999504089355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3292999863624573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3012000024318695},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2919999957084656},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.27090001106262207},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.27059999108314514},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.26019999384880066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr69606.2026.11536344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr69606.2026.11536344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8605659008026123,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2029779080","https://openalex.org/W2052805468","https://openalex.org/W2108558119","https://openalex.org/W2165479823","https://openalex.org/W2293066289","https://openalex.org/W2561609334","https://openalex.org/W2566078647","https://openalex.org/W2566467848","https://openalex.org/W2576361771","https://openalex.org/W2811467139","https://openalex.org/W2903348871","https://openalex.org/W2912609531","https://openalex.org/W2956081327","https://openalex.org/W2967208900","https://openalex.org/W3179842426","https://openalex.org/W3194891815","https://openalex.org/W3213736049","https://openalex.org/W4292641185","https://openalex.org/W4312419730","https://openalex.org/W4312647415","https://openalex.org/W4385162035","https://openalex.org/W4402915934","https://openalex.org/W4413156869"],"related_works":[],"abstract_inverted_index":{"Conventional":[0],"endovascular":[1],"catheters,":[2],"built":[3],"from":[4,58],"semi-rigid":[5],"polymers,":[6],"offer":[7],"limited":[8],"tip":[9,43,116],"steerability":[10],"and":[11,22,52,74,84,100,132,137,145],"rely":[12],"on":[13,134],"base":[14],"manipulation,":[15],"which":[16],"hinders":[17],"navigation":[18,133],"through":[19],"tortuous":[20],"vasculature":[21],"can":[23,78],"compromise":[24],"patient":[25],"safety.":[26],"This":[27],"work":[28],"presents":[29],"a":[30,35,40],"soft":[31,151],"robotic":[32,152],"catheter":[33,76],"combining":[34],"passive":[36],"flexible":[37],"shaft":[38],"with":[39,61,110],"dexterous,":[41],"mesoscale":[42],"composed":[44],"of":[45,149],"two":[46],"hydraulic":[47],"actuators,":[48],"one":[49],"for":[50,55,129],"bending":[51,93],"the":[53,135,143,150],"other":[54],"torsion,":[56],"fabricated":[57],"hyperelastic":[59],"silicone":[60],"fiber/fabric":[62],"reinforcement.":[63],"Independent,":[64],"decoupled":[65],"control":[66],"is":[67],"enabled":[68],"via":[69],"coaxial":[70],"fluid":[71],"supply":[72],"tubes,":[73],"module":[75],"design":[77],"be":[79],"reconfigured":[80],"to":[81,91],"tailor":[82],"workspace":[83],"task":[85],"performance.":[86],"Motion":[87],"characterization":[88],"shows":[89],"up":[90],"90\u00b0":[92],"at":[94,104],"0.25":[95],"mL":[96,106],"injected":[97,107],"water":[98,108],"volume":[99],"360\u00b0":[101],"axial":[102],"rotation":[103],"0.30":[105],"volume,":[109],"block":[111],"tests":[112],"measuring":[113],"53.8":[114],"mN":[115],"force":[117],"(bending)":[118],"and$1.3":[119],"\\text{mN}":[120],"\\cdot":[121],"\\mathrm{m}$torque":[122],"(torsion).":[123],"Decoupled,":[124],"multi-DOF":[125],"articulation":[126],"was":[127],"demonstrated":[128],"tool":[130],"manipulation":[131],"benchtop":[136],"in":[138],"an":[139],"aortic":[140],"phantom,":[141],"highlighting":[142],"dexterous":[144],"safe":[146],"motion":[147],"capability":[148],"catheters.":[153]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-06-02T00:00:00"}