{"id":"https://openalex.org/W2884089971","doi":"https://doi.org/10.1109/lra.2018.2858001","title":"Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation","display_name":"Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation","publication_year":2018,"publication_date":"2018-07-20","ids":{"openalex":"https://openalex.org/W2884089971","doi":"https://doi.org/10.1109/lra.2018.2858001","mag":"2884089971"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2858001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2858001","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/A5070793109","display_name":"Thomas Lehmann","orcid":"https://orcid.org/0000-0001-7688-3514"},"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":"Thomas Lehmann","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7688-3514","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, 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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ronald Sloboda","raw_affiliation_strings":["Division of Medical Physics, Cross Cancer Institute, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7701-8805","affiliations":[{"raw_affiliation_string":"Division of Medical Physics, Cross Cancer Institute, Edmonton, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007616360","display_name":"Nawaid Usmani","orcid":"https://orcid.org/0000-0003-1298-4636"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nawaid Usmani","raw_affiliation_strings":["Department of Oncology, Cross Cancer Institute, Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Oncology, Cross Cancer Institute, Edmonton, Canada","institution_ids":[]}]},{"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, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7427-6961","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6452,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.64098172,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"3","issue":"4","first_page":"3930","last_page":"3936"},"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":0.9954000115394592,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9857000112533569,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bevel","display_name":"Bevel","score":0.8514546155929565},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.59791100025177},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.526653528213501},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.4542522728443146},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.44683837890625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.424582302570343},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22554168105125427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2207995355129242},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.21749022603034973},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1706969141960144},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12875548005104065},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.11671146750450134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11564862728118896}],"concepts":[{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.8514546155929565},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.59791100025177},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.526653528213501},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.4542522728443146},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.44683837890625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.424582302570343},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22554168105125427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2207995355129242},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.21749022603034973},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1706969141960144},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12875548005104065},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.11671146750450134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11564862728118896},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2858001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2858001","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":0.7799999713897705,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"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"},{"id":"https://openalex.org/G3258182903","display_name":null,"funder_award_id":"CHRP 446520","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G4896119932","display_name":null,"funder_award_id":"LOF 28241","funder_id":"https://openalex.org/F4320319952","funder_display_name":"Canada Foundation for Innovation"},{"id":"https://openalex.org/G5949840312","display_name":null,"funder_award_id":"CPG 127768","funder_id":"https://openalex.org/F4320334506","funder_display_name":"Canadian Institutes of Health Research"}],"funders":[{"id":"https://openalex.org/F4320319927","display_name":"Alberta Innovates - Health Solutions","ror":"https://ror.org/00ynafe15"},{"id":"https://openalex.org/F4320319952","display_name":"Canada Foundation for Innovation","ror":"https://ror.org/000az4664"},{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1591462533","https://openalex.org/W1945096518","https://openalex.org/W1975059652","https://openalex.org/W1980940328","https://openalex.org/W1997526618","https://openalex.org/W2004661871","https://openalex.org/W2009396276","https://openalex.org/W2040709641","https://openalex.org/W2068785581","https://openalex.org/W2081984806","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2110459384","https://openalex.org/W2111267573","https://openalex.org/W2111362408","https://openalex.org/W2115650576","https://openalex.org/W2118152376","https://openalex.org/W2123873601","https://openalex.org/W2128339709","https://openalex.org/W2132929497","https://openalex.org/W2152710595","https://openalex.org/W2161481046","https://openalex.org/W2180065899","https://openalex.org/W2207592786","https://openalex.org/W2228799617","https://openalex.org/W2316658738","https://openalex.org/W2323973715","https://openalex.org/W2327864658","https://openalex.org/W2399007842","https://openalex.org/W2408215011","https://openalex.org/W2512402456","https://openalex.org/W2527580702","https://openalex.org/W2586399947","https://openalex.org/W2765951814","https://openalex.org/W2767602403","https://openalex.org/W6640489664","https://openalex.org/W6712535776"],"related_works":["https://openalex.org/W2389281101","https://openalex.org/W2426053110","https://openalex.org/W2086122296","https://openalex.org/W2889396517","https://openalex.org/W2504405770","https://openalex.org/W4226151521","https://openalex.org/W2995048226","https://openalex.org/W3107042173","https://openalex.org/W2403450558","https://openalex.org/W2356745748"],"abstract_inverted_index":{"Needle":[0],"insertion":[1,177],"is":[2,19,58,81,124,162,216],"a":[3,20,49,158],"minimally":[4],"invasive":[5],"procedure":[6,22],"finding":[7],"applications":[8],"in":[9,94],"biopsy,":[10],"ablation,":[11],"drug":[12],"delivery,":[13],"and":[14,117,148,190],"cancer":[15,38],"therapy.":[16],"Prostate":[17],"brachytherapy":[18],"therapeutic":[21],"where":[23],"radioactive":[24],"agents":[25],"are":[26],"implanted":[27],"within":[28],"the":[29,35,63,74,86,129,144,150,153,175,206,214,220,223],"prostate":[30],"using":[31,228],"long":[32],"needles":[33,79],"for":[34,73],"purpose":[36],"of":[37,152,182],"irradiation.":[39],"During":[40],"insertion,":[41],"each":[42],"inserted":[43],"needle":[44,65,68,98,109,113,126,168,172,221,230],"needs":[45],"to":[46,53,60,76,143,170,204,218],"remain":[47],"on":[48],"straight":[50],"path":[51],"due":[52],"dosage":[54],"distribution":[55],"requirements.":[56],"This":[57],"difficult":[59],"achieve":[61],"as":[62,232],"beveled":[64],"tip":[66],"causes":[67],"deflection.":[69],"A":[70,111],"common":[71,102],"method":[72],"surgeon":[75],"steer":[77,219],"beveled-tip":[78],"manually":[80],"intermittent":[82],"axial":[83,108],"rotation.":[84,110],"Over":[85],"last":[87],"decade,":[88],"substantial":[89],"advancements":[90],"have":[91,137],"been":[92,107],"made":[93],"robotic":[95],"assistance":[96],"during":[97],"steering.":[99],"The":[100,135,179,210],"most":[101],"steering":[103,114,146,233],"input":[104,115],"has,":[105],"however,":[106],"novel":[112],"proposed":[116,207],"investigated":[118],"recently":[119],"by":[120],"our":[121],"research":[122],"group":[123],"lateral":[125,167,229],"actuation":[127,169,231],"near":[128],"needle's":[130],"entry":[131],"point":[132],"into":[133,198],"tissue.":[134],"investigations":[136],"yielded":[138],"promising":[139],"results":[140,211],"with":[141],"respect":[142],"overall":[145],"potential":[147],"improving":[149],"steerability":[151],"needle.":[154],"In":[155],"this":[156],"letter,":[157],"model-based":[159],"control":[160,208],"algorithm":[161,180,215],"presented":[163],"that":[164,213],"uses":[165],"only":[166,227],"minimize":[171],"deflection":[173],"at":[174],"final":[176],"depth.":[178],"consists":[181],"two":[183],"stages:":[184],"an":[185,191],"off-line":[186],"trajectory":[187,193],"planning":[188],"stage":[189],"on-line":[192],"adjustment":[194],"stage.":[195],"Insertion":[196],"experiments":[197],"phantom":[199],"tissue":[200],"were":[201],"carried":[202],"out":[203],"validate":[205],"algorithm.":[209],"show":[212],"able":[217],"toward":[222],"desired":[224],"target":[225],"whereas":[226],"input.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
