{"id":"https://openalex.org/W2592665943","doi":"https://doi.org/10.1109/lra.2017.2676351","title":"A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation","display_name":"A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2592665943","doi":"https://doi.org/10.1109/lra.2017.2676351","mag":"2592665943"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2676351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2676351","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/A5028361786","display_name":"Anzhu Gao","orcid":"https://orcid.org/0000-0001-8307-4416"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anzhu Gao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082274282","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0002-8278-1263"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liu","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103738307","display_name":"Yun Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I116036724","display_name":"Shenyang Ligong University","ror":"https://ror.org/03m20nr07","country_code":"CN","type":"education","lineage":["https://openalex.org/I116036724"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zou","raw_affiliation_strings":["Shenyang Ligong University, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Ligong University, Shenyang, China","institution_ids":["https://openalex.org/I116036724"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756469","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0002-2107-2009"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210129955","display_name":"General Hospital of Shenyang Military Region","ror":"https://ror.org/0340t0585","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129955"]},{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan","Department of Cardiology, General Hospital of Shenyang Command of Chinese PLA, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Department of Cardiology, General Hospital of Shenyang Command of Chinese PLA, Shenyang, China","institution_ids":["https://openalex.org/I4210129955"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101483830","display_name":"Ming Liang","orcid":"https://orcid.org/0000-0002-9828-5504"},"institutions":[{"id":"https://openalex.org/I4210129955","display_name":"General Hospital of Shenyang Military Region","ror":"https://ror.org/0340t0585","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129955"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Liang","raw_affiliation_strings":["Department of Cardiology, General Hospital of Shenyang Command of Chinese PLA, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cardiology, General Hospital of Shenyang Command of Chinese PLA, Shenyang, China","institution_ids":["https://openalex.org/I4210129955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063167980","display_name":"Zulu Wang","orcid":"https://orcid.org/0000-0002-4719-0564"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210129955","display_name":"General Hospital of Shenyang Military Region","ror":"https://ror.org/0340t0585","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129955"]},{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Zulu Wang","raw_affiliation_strings":["Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan","Department of Cardiology, General Hospital of Shenyang Command of Chinese PLA, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Department of Cardiology, General Hospital of Shenyang Command of Chinese PLA, Shenyang, China","institution_ids":["https://openalex.org/I4210129955"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0192,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.73826913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2","issue":"3","first_page":"1525","last_page":"1531"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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":0.9973000288009644,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9929999709129333,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9882000088691711,"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/bending","display_name":"Bending","score":0.6587618589401245},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5800298452377319},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5793453454971313},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5523364543914795},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4471040368080139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.443013459444046},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.4353305995464325},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.43178868293762207},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.43111470341682434},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.422005832195282},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.4191282391548157},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3716449439525604},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27262628078460693},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21248090267181396},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.20852801203727722},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.162767231464386},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.162703275680542},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14284193515777588},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10143765807151794},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.09937718510627747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08599412441253662},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07838141918182373}],"concepts":[{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6587618589401245},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5800298452377319},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5793453454971313},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5523364543914795},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4471040368080139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.443013459444046},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.4353305995464325},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.43178868293762207},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.43111470341682434},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.422005832195282},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.4191282391548157},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3716449439525604},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27262628078460693},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21248090267181396},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.20852801203727722},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.162767231464386},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.162703275680542},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14284193515777588},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10143765807151794},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.09937718510627747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08599412441253662},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07838141918182373},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/lra.2017.2676351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2676351","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G135508708","display_name":null,"funder_award_id":"61473281","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8890391866","display_name":null,"funder_award_id":"201602744","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1481190075","https://openalex.org/W1489545255","https://openalex.org/W1534290901","https://openalex.org/W1635074837","https://openalex.org/W1650079017","https://openalex.org/W1924098982","https://openalex.org/W1967391620","https://openalex.org/W1974793016","https://openalex.org/W2005284429","https://openalex.org/W2029779080","https://openalex.org/W2040511350","https://openalex.org/W2078157340","https://openalex.org/W2101048958","https://openalex.org/W2167480813","https://openalex.org/W2168630917","https://openalex.org/W2214234935","https://openalex.org/W2276447009","https://openalex.org/W2290611374","https://openalex.org/W2409390816","https://openalex.org/W2521377452","https://openalex.org/W2544641369","https://openalex.org/W6696773452"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4385556839","https://openalex.org/W2734382758","https://openalex.org/W4378746257","https://openalex.org/W2913786724","https://openalex.org/W2109481748","https://openalex.org/W2381719890","https://openalex.org/W2948918209","https://openalex.org/W2040853802","https://openalex.org/W4206096448"],"abstract_inverted_index":{"Electrical":[0],"isolation":[1],"using":[2],"the":[3,11,15,24,28,31,36,43,54,59,83,94,99,111,126,133,145,159,167,174,180,185],"ablation":[4,187],"catheter":[5,41,73,169],"has":[6],"been":[7],"widely":[8],"used":[9],"as":[10],"golden":[12],"standard":[13],"for":[14],"treatment":[16],"of":[17,30,121,138],"atrial":[18],"fibrillation.":[19],"Clinical":[20],"practice":[21],"shows":[22],"that":[23,158],"tip":[25,181],"orientation":[26,50,182],"affects":[27],"formation":[29],"effective":[32],"lesion":[33,55],"size.":[34],"However,":[35],"traditional":[37],"unidirectional":[38],"or":[39],"bidirectional":[40],"with":[42,107,166],"compliant":[44,88,161],"bending":[45,78,104,136,176],"shapes":[46],"cannot":[47],"provide":[48],"great":[49],"capability":[51,183],"to":[52,58,74,80,82,97,131,152,171,184],"target":[53],"paths":[56],"asymmetric":[57,72,95,108,140],"catheter's":[60],"entry":[61],"point.":[62],"In":[63],"this":[64],"letter,":[65],"we":[66],"propose":[67],"a":[68],"two-dimensional":[69],"(2-D)":[70],"tendon-actuated":[71],"render":[75],"two":[76,139],"different":[77,175],"characteristics":[79],"adapt":[81],"special":[84],"anatomy.":[85],"The":[86,119,135],"contact-aided":[87,160],"mechanism":[89,162],"is":[90,129,149],"adopted":[91],"by":[92],"designing":[93],"blocks":[96],"form":[98,173],"self-collision":[100],"in":[101,125],"one":[102],"lateral":[103],"direction.":[105],"Kinematics":[106],"bends":[109,141],"under":[110],"free":[112],"bend":[113,116],"and":[114,144],"constraint":[115],"are":[117,142],"investigated.":[118],"algorithm":[120],"3-D":[122,146],"path":[123],"exploration":[124],"confined":[127],"workspace":[128],"proposed":[130],"validate":[132,153],"reachability.":[134],"angles":[137],"compared":[143],"phantom":[147],"study":[148],"carried":[150],"out":[151],"its":[154],"effectiveness.":[155],"Results":[156],"indicate":[157],"can":[163],"be":[164],"integrated":[165],"steerable":[168],"successfully":[170],"help":[172],"characteristics,":[177],"finally":[178],"improving":[179],"specific":[186],"line":[188],"lesions.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
