{"id":"https://openalex.org/W2771781405","doi":"https://doi.org/10.1109/lra.2017.2779273","title":"A Loop-Shaped Flexible Mechanism for Robotic Needle Steering","display_name":"A Loop-Shaped Flexible Mechanism for Robotic Needle Steering","publication_year":2017,"publication_date":"2017-12-04","ids":{"openalex":"https://openalex.org/W2771781405","doi":"https://doi.org/10.1109/lra.2017.2779273","mag":"2771781405"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2779273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2779273","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/A5031173892","display_name":"Atsushi Yamada","orcid":"https://orcid.org/0000-0002-5493-5085"},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Atsushi Yamada","raw_affiliation_strings":["Biomedical Innovation Center, Shiga University of Medical Science, Otsu, Japan"],"affiliations":[{"raw_affiliation_string":"Biomedical Innovation Center, Shiga University of Medical Science, Otsu, Japan","institution_ids":["https://openalex.org/I160046202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111233652","display_name":"Shigeyuki Naka","orcid":null},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeyuki Naka","raw_affiliation_strings":["Department of Surgery, Shiga University of Medical Science, Otsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, Shiga University of Medical Science, Otsu, Japan","institution_ids":["https://openalex.org/I160046202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103897031","display_name":"Norihisa Nitta","orcid":"https://orcid.org/0000-0003-0874-834X"},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Norihisa Nitta","raw_affiliation_strings":["Department of Radiology, Shiga University of Medical Science, Otsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Radiology, Shiga University of Medical Science, Otsu, Japan","institution_ids":["https://openalex.org/I160046202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112267469","display_name":"Shigehiro Morikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I171494771","display_name":"Shiga University","ror":"https://ror.org/01vvhy971","country_code":"JP","type":"education","lineage":["https://openalex.org/I171494771"]},{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigehiro Morikawa","raw_affiliation_strings":["Molecular Neuroscience Research Center, Shiga University of Medical Science, Otsu, Japan"],"affiliations":[{"raw_affiliation_string":"Molecular Neuroscience Research Center, Shiga University of Medical Science, Otsu, Japan","institution_ids":["https://openalex.org/I171494771","https://openalex.org/I160046202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101059335","display_name":"Tohru Tani","orcid":null},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tohru Tani","raw_affiliation_strings":["Biomedical Innovation Center, Shiga University of Medical Science, Otsu, Japan"],"affiliations":[{"raw_affiliation_string":"Biomedical Innovation Center, Shiga University of Medical Science, Otsu, Japan","institution_ids":["https://openalex.org/I160046202"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031173892"],"corresponding_institution_ids":["https://openalex.org/I160046202"],"apc_list":null,"apc_paid":null,"fwci":0.7874,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.71637395,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":"2","first_page":"648","last_page":"655"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9818000197410583,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bevel","display_name":"Bevel","score":0.9429056644439697},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7084192633628845},{"id":"https://openalex.org/keywords/conical-surface","display_name":"Conical surface","score":0.6657662987709045},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5466012954711914},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5432641506195068},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5392261147499084},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.49648743867874146},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.48892417550086975},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.4762328267097473},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.45786574482917786},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.45130762457847595},{"id":"https://openalex.org/keywords/hypodermic-needle","display_name":"Hypodermic needle","score":0.43135398626327515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39536988735198975},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3055896759033203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2657066285610199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2366257607936859},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.231808602809906},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22653505206108093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1684054434299469},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1619415581226349},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.16165068745613098},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.12436577677726746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10087922215461731}],"concepts":[{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.9429056644439697},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7084192633628845},{"id":"https://openalex.org/C124961601","wikidata":"https://www.wikidata.org/wiki/Q2518149","display_name":"Conical surface","level":2,"score":0.6657662987709045},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5466012954711914},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5432641506195068},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5392261147499084},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.49648743867874146},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.48892417550086975},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.4762328267097473},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.45786574482917786},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.45130762457847595},{"id":"https://openalex.org/C2780853383","wikidata":"https://www.wikidata.org/wiki/Q1165892","display_name":"Hypodermic needle","level":3,"score":0.43135398626327515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39536988735198975},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3055896759033203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2657066285610199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2366257607936859},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.231808602809906},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22653505206108093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1684054434299469},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1619415581226349},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.16165068745613098},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.12436577677726746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10087922215461731},{"id":"https://openalex.org/C2778571141","wikidata":"https://www.wikidata.org/wiki/Q273318","display_name":"Syringe","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},{"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/lra.2017.2779273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2779273","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1888911814","https://openalex.org/W2037000753","https://openalex.org/W2048688754","https://openalex.org/W2057271741","https://openalex.org/W2088865132","https://openalex.org/W2101667962","https://openalex.org/W2107550832","https://openalex.org/W2117212572","https://openalex.org/W2117772657","https://openalex.org/W2119531408","https://openalex.org/W2121939955","https://openalex.org/W2131150943","https://openalex.org/W2132167838","https://openalex.org/W2134555091","https://openalex.org/W2147492425","https://openalex.org/W2154632987","https://openalex.org/W2156199850","https://openalex.org/W2160825462","https://openalex.org/W2180065899","https://openalex.org/W2315389370","https://openalex.org/W2400840419","https://openalex.org/W2567794413","https://openalex.org/W4245630123","https://openalex.org/W6677763916"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2335749609","https://openalex.org/W2226244482","https://openalex.org/W1971795557","https://openalex.org/W2144351094","https://openalex.org/W2766783419","https://openalex.org/W1991664829","https://openalex.org/W2044807443"],"abstract_inverted_index":{"The":[0,181,209],"ability":[1],"to":[2,80,86,118,133,221],"steer":[3],"a":[4,32,52,63,75,108,170,176,186,191],"needle":[5,12,27,54,84,132,174,184,204,216,229],"around":[6],"delicate":[7],"or":[8],"bony":[9],"structures":[10],"during":[11,228],"insertion":[13,207],"for":[14,41],"targeting":[15],"tumors":[16],"is":[17,39,66,78,116,137],"promising":[18],"from":[19],"the":[20,24,70,82,87,105,120,125,127,131,134,140,148,152,155,200,214,219],"viewpoint":[21],"of":[22,26,59,101,130,154,169,194,197,199],"improving":[23],"effectiveness":[25],"insertion.":[28,230],"In":[29,73,124],"this":[30],"letter,":[31],"novel":[33],"flexible":[34,49,178,202,211],"mechanism":[35,212],"called":[36],"\u201cActive":[37],"Sheath\u201d":[38],"proposed":[40,71,83,210],"realizing":[42],"shape-controllable":[43],"cannulas":[44],"by":[45,91],"using":[46,92,104,147],"only":[47,93],"two":[48],"elements.":[50],"Then,":[51],"steerable":[53,183,215],"with":[55,113,144,167,185],"an":[56,160],"outer":[57],"diameter":[58],"1.3":[60],"mm":[61],"and":[62,89,139,165,175,213],"conical":[64,187],"tip":[65,188],"presented":[67,79],"based":[68],"on":[69,98],"mechanism.":[72],"addition,":[74],"robotic":[76],"manipulator":[77],"control":[81],"precisely":[85],"right":[88],"left":[90],"one":[94],"translational":[95],"joint.":[96],"Based":[97],"numerical":[99],"simulations":[100],"Active":[102,121],"Sheath":[103,122],"finite-element":[106],"method,":[107],"dual":[109],"parallel":[110],"curve":[111],"model":[112],"constant":[114],"curvature":[115],"developed":[117],"describe":[119],"system.":[123],"experiments,":[126],"curving":[128],"response":[129],"various":[135],"inputs":[136],"assessed":[138],"results":[141],"are":[142,163],"compared":[143,166],"those":[145,168],"obtained":[146],"kinematic":[149],"model.":[150],"Moreover,":[151],"shapes":[153],"controlled":[156],"needles":[157],"inserted":[158],"into":[159],"agar":[161],"phantom":[162],"investigated":[164],"stainless":[171],"steel":[172],"bevel-tip":[173,179,203],"beta-titanium":[177,201],"needle.":[180],"prototype":[182,217],"can":[189],"bend":[190],"lateral":[192],"distance":[193],"approximately":[195],"91%":[196],"that":[198],"in":[205],"100-mm":[206],"trials.":[208],"have":[218],"potential":[220],"create":[222],"curved":[223],"paths":[224],"through":[225],"shape-control":[226],"commands":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}