{"id":"https://openalex.org/W2291266724","doi":"https://doi.org/10.1109/lra.2016.2528292","title":"Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles","display_name":"Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles","publication_year":2016,"publication_date":"2016-02-11","ids":{"openalex":"https://openalex.org/W2291266724","doi":"https://doi.org/10.1109/lra.2016.2528292","mag":"2291266724"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2528292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2528292","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5050145080","display_name":"Fangde Liu","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":"Fangde Liu","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028755469","display_name":"Arnau Garriga-Casanovas","orcid":"https://orcid.org/0000-0003-4569-5566"},"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":"Arnau Garriga-Casanovas","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043403460","display_name":"Riccardo Secoli","orcid":"https://orcid.org/0000-0003-4688-2494"},"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":"Riccardo Secoli","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"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":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8592,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.90060558,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"1","issue":"2","first_page":"601","last_page":"608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10868","display_name":"Soft Robotics and Applications","score":0.9761000275611877,"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/computer-science","display_name":"Computer science","score":0.6997535228729248},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6784470081329346},{"id":"https://openalex.org/keywords/fractal","display_name":"Fractal","score":0.535514771938324},{"id":"https://openalex.org/keywords/bevel","display_name":"Bevel","score":0.4904877841472626},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4810481369495392},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.4503830075263977},{"id":"https://openalex.org/keywords/quadtree","display_name":"Quadtree","score":0.4169781804084778},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38301390409469604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3467819392681122},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.31606677174568176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1839410662651062},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13306409120559692},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10496225953102112}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6997535228729248},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6784470081329346},{"id":"https://openalex.org/C40636538","wikidata":"https://www.wikidata.org/wiki/Q81392","display_name":"Fractal","level":2,"score":0.535514771938324},{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.4904877841472626},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4810481369495392},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.4503830075263977},{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.4169781804084778},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38301390409469604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3467819392681122},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31606677174568176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1839410662651062},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13306409120559692},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10496225953102112},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2016.2528292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2528292","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/33050","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/33050","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"608","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1816994784","display_name":null,"funder_award_id":"FP7/2007-2013","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G3126396155","display_name":"STING - A Soft Tissue Intervention and Neurosurgical Probe","funder_award_id":"258642","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3829048491","display_name":null,"funder_award_id":"FP7/2007-2013","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5593277320","display_name":null,"funder_award_id":"2007-2013","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5702163051","display_name":null,"funder_award_id":"FP7/2007","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8218970283","display_name":null,"funder_award_id":"258642-STING","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320320283","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10"},{"id":"https://openalex.org/F4320320288","display_name":"Rolls-Royce","ror":"https://ror.org/04h08p482"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320333065","display_name":"Seventh Framework Programme","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W198732646","https://openalex.org/W1424654272","https://openalex.org/W1502051703","https://openalex.org/W1516663666","https://openalex.org/W1558122728","https://openalex.org/W1564155246","https://openalex.org/W1564897360","https://openalex.org/W1910109443","https://openalex.org/W1976840175","https://openalex.org/W1977882650","https://openalex.org/W1985036816","https://openalex.org/W1988031530","https://openalex.org/W1993671632","https://openalex.org/W2000335122","https://openalex.org/W2000359213","https://openalex.org/W2023525850","https://openalex.org/W2029990316","https://openalex.org/W2040709641","https://openalex.org/W2057271741","https://openalex.org/W2058107561","https://openalex.org/W2062388571","https://openalex.org/W2070539717","https://openalex.org/W2086600784","https://openalex.org/W2091884377","https://openalex.org/W2097202674","https://openalex.org/W2098306053","https://openalex.org/W2100593987","https://openalex.org/W2104367785","https://openalex.org/W2107550832","https://openalex.org/W2111285461","https://openalex.org/W2117772657","https://openalex.org/W2118152376","https://openalex.org/W2121939955","https://openalex.org/W2131150943","https://openalex.org/W2134558064","https://openalex.org/W2138475205","https://openalex.org/W2149228151","https://openalex.org/W2153612202","https://openalex.org/W2163823715","https://openalex.org/W2164192673","https://openalex.org/W2167549732","https://openalex.org/W2168278516","https://openalex.org/W2180065899","https://openalex.org/W2326691141","https://openalex.org/W2979341060","https://openalex.org/W4247379505","https://openalex.org/W6608150121","https://openalex.org/W6666150991","https://openalex.org/W6675216798","https://openalex.org/W6684910095","https://openalex.org/W6701066308"],"related_works":["https://openalex.org/W2207790469","https://openalex.org/W4253586140","https://openalex.org/W2042588826","https://openalex.org/W2372141727","https://openalex.org/W2388177796","https://openalex.org/W2286458017","https://openalex.org/W2368170224","https://openalex.org/W2078645328","https://openalex.org/W1973301025","https://openalex.org/W3124627721"],"abstract_inverted_index":{"Steerable":[0],"needles":[1],"are":[2,125],"a":[3,43,65,116,135,157,160],"promising":[4],"technology":[5],"for":[6,58,112],"minimally":[7],"invasive":[8],"surgery,":[9],"as":[10,169,171],"they":[11],"can":[12,143,206],"provide":[13],"access":[14],"to":[15,17,27,73,81,92,150,164,185,197],"difficult":[16],"reach":[18],"locations":[19],"while":[20],"avoiding":[21],"delicate":[22],"anatomical":[23],"regions.":[24],"However,":[25],"due":[26],"the":[28,37,85,113,121,152,174,186],"unpredictable":[29],"tissue":[30],"deformation":[31],"associated":[32],"with":[33,48,166],"needle":[34,198],"insertion":[35],"and":[36,96,133],"complexity":[38,180],"of":[39,68,84,87,115,118,141,159,176,178],"many":[40],"surgical":[41],"scenarios,":[42],"real-time":[44,99],"path":[45,56,100,155],"planning":[46,57,101],"algorithm":[47],"high":[49],"update":[50],"frequency":[51],"would":[52],"be":[53,146],"advantageous.":[54],"Real-time":[55],"nonholonomic":[59,167],"systems":[60],"is":[61,183],"commonly":[62],"used":[63],"in":[64,131,144,148,156,173,200,210],"broad":[66],"variety":[67],"fields,":[69],"ranging":[70],"from":[71],"aerospace":[72],"submarine":[74],"navigation.":[75,215],"In":[76],"this":[77],"letter,":[78],"we":[79],"propose":[80],"take":[82],"advantage":[83],"architecture":[86],"graphics":[88],"processing":[89],"units":[90],"(GPUs)":[91],"apply":[93],"fractal":[94,108],"theory":[95],"thus":[97],"parallelize":[98],"computation.":[102],"This":[103],"novel":[104],"approach,":[105,188],"termed":[106],"adaptive":[107],"trees":[109],"(AFT),":[110],"allows":[111],"creation":[114],"database":[117],"paths":[119,142,209],"covering":[120],"entire":[122],"domain,":[123],"which":[124],"dense,":[126],"invariant,":[127],"procedurally":[128],"produced,":[129],"adaptable":[130],"size,":[132],"present":[134],"recursive":[136],"structure.":[137],"The":[138,162],"generated":[139],"cache":[140],"turn":[145],"analyzed":[147],"parallel":[149],"determine":[151],"most":[153],"suitable":[154],"fraction":[158],"second.":[161],"ability":[163],"cope":[165],"constraints,":[168],"well":[170],"constraints":[172],"space":[175],"states":[177],"any":[179],"or":[181],"number,":[182],"intrinsic":[184],"AFT":[187],"rendering":[189],"it":[190],"highly":[191],"versatile.":[192],"Three-dimensional":[193],"(3-D)":[194],"simulations":[195],"applied":[196],"steering":[199],"neurosurgery":[201],"show":[202],"that":[203],"our":[204],"approach":[205],"successfully":[207],"compute":[208],"real-time,":[211],"enabling":[212],"complex":[213],"brain":[214]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
