{"id":"https://openalex.org/W2329446256","doi":"https://doi.org/10.1109/lra.2016.2528293","title":"Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue","display_name":"Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue","publication_year":2016,"publication_date":"2016-02-11","ids":{"openalex":"https://openalex.org/W2329446256","doi":"https://doi.org/10.1109/lra.2016.2528293","mag":"2329446256"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2528293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2528293","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5011230052","display_name":"Bita Fallahi","orcid":"https://orcid.org/0000-0001-8114-4660"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bita Fallahi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076465575","display_name":"Carlos Rossa","orcid":"https://orcid.org/0000-0002-5879-1752"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Carlos Rossa","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069784123","display_name":"Ron S. Sloboda","orcid":"https://orcid.org/0000-0001-7701-8805"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ron S. Sloboda","raw_affiliation_strings":["Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007616360","display_name":"Nawaid Usmani","orcid":"https://orcid.org/0000-0003-1298-4636"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nawaid Usmani","raw_affiliation_strings":["Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":1.8021,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.83522691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":"1","issue":"2","first_page":"860","last_page":"867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9921000003814697,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9860000014305115,"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/bevel","display_name":"Bevel","score":0.7601561546325684},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6115733981132507},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.51148521900177},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.503257691860199},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4770343005657196},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4569573402404785},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4312499165534973},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.41281771659851074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4031801223754883},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.35341668128967285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24223169684410095},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24095562100410461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20418211817741394},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.18566513061523438},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14597651362419128}],"concepts":[{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.7601561546325684},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6115733981132507},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.51148521900177},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.503257691860199},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4770343005657196},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4569573402404785},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4312499165534973},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.41281771659851074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4031801223754883},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.35341668128967285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24223169684410095},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24095562100410461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20418211817741394},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.18566513061523438},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14597651362419128},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/lra.2016.2528293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2528293","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1987276752","display_name":null,"funder_award_id":"CRIO 201201232","funder_id":"https://openalex.org/F4320319927","funder_display_name":"Alberta Innovates - Health Solutions"}],"funders":[{"id":"https://openalex.org/F4320319927","display_name":"Alberta Innovates - Health Solutions","ror":"https://ror.org/00ynafe15"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1576048652","https://openalex.org/W1581322187","https://openalex.org/W2016997157","https://openalex.org/W2029990316","https://openalex.org/W2036471941","https://openalex.org/W2046317094","https://openalex.org/W2069675112","https://openalex.org/W2081984806","https://openalex.org/W2093664976","https://openalex.org/W2097280364","https://openalex.org/W2098306053","https://openalex.org/W2102729693","https://openalex.org/W2107550832","https://openalex.org/W2111362408","https://openalex.org/W2113520545","https://openalex.org/W2115650576","https://openalex.org/W2116134138","https://openalex.org/W2118149985","https://openalex.org/W2121939955","https://openalex.org/W2133420155","https://openalex.org/W2138475205","https://openalex.org/W2139647997","https://openalex.org/W2140749079","https://openalex.org/W2141933910","https://openalex.org/W2146593008","https://openalex.org/W2168278516","https://openalex.org/W2180065899","https://openalex.org/W6670718136","https://openalex.org/W6675216798","https://openalex.org/W6684910095"],"related_works":["https://openalex.org/W2426053110","https://openalex.org/W2086122296","https://openalex.org/W2889396517","https://openalex.org/W2504405770","https://openalex.org/W2077058165","https://openalex.org/W2052402682","https://openalex.org/W2403450558","https://openalex.org/W2356745748","https://openalex.org/W3194069628","https://openalex.org/W4226151521"],"abstract_inverted_index":{"This":[0],"letter":[1],"represents":[2],"a":[3,17,65],"sliding-based":[4],"controller":[5,63,127],"for":[6,106],"steering":[7],"beveled-tip":[8,107],"needles":[9],"to":[10,41,47,144],"stationary":[11],"locations":[12],"in":[13,16,110,128],"soft":[14,111],"tissue":[15,112,151],"2-D":[18],"environment":[19],"by":[20,27,71],"performing":[21],"appropriate":[22],"switches":[23,137],"of":[24,52,55,99,125,131,136],"bevel":[25],"orientation":[26],"180\u00b0":[28],"axial":[29],"rotations":[30],"while":[31],"the":[32,38,50,56,72,86,90,95,100,102,116,126,129,146],"needle":[33,57,73,108,147],"is":[34,69,113,138],"being":[35],"inserted.":[36],"Assuming":[37],"rotation":[39],"velocity":[40],"be":[42,59],"large":[43],"enough":[44],"with":[45],"respect":[46],"insertion":[48],"velocity,":[49],"out":[51],"plane":[53],"motions":[54],"can":[58],"neglected.":[60],"The":[61,123],"proposed":[62],"has":[64],"nonmodel-based":[66],"structure,":[67],"which":[68],"fed":[70],"tip":[74],"deflection":[75],"error":[76,133],"and":[77,84,97,115,134,152],"its":[78],"derivative":[79],"obtained":[80],"from":[81],"ultrasound":[82],"images":[83],"outputs":[85],"switching":[87,119],"pattern":[88],"as":[89],"control":[91],"law.":[92],"To":[93],"analyze":[94],"stability":[96],"convergence":[98],"error,":[101],"kinematic":[103],"unicycle":[104],"model":[105],"motion":[109],"employed":[114],"constraints":[117],"on":[118],"parameters":[120],"are":[121],"derived.":[122],"performance":[124],"sense":[130],"targeting":[132],"number":[135],"verified":[139],"using":[140],"an":[141],"experimental":[142],"setup":[143],"insert":[145],"into":[148],"gelatin":[149],"phantom":[150],"ex-vivo":[153],"biological":[154],"tissue.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}