{"id":"https://openalex.org/W3037285193","doi":"https://doi.org/10.1109/lra.2020.3004782","title":"Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot","display_name":"Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot","publication_year":2020,"publication_date":"2020-06-25","ids":{"openalex":"https://openalex.org/W3037285193","doi":"https://doi.org/10.1109/lra.2020.3004782","mag":"3037285193","pmid":"https://pubmed.ncbi.nlm.nih.gov/39183895"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3004782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3004782","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11343510","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017597959","display_name":"Seokhwan Jeong","orcid":"https://orcid.org/0000-0001-9727-7601"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seokhwan Jeong","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":"https://orcid.org/0000-0001-9727-7601","affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]},{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001760308","display_name":"Yash Chitalia","orcid":"https://orcid.org/0000-0002-6291-3492"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Chitalia","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":"https://orcid.org/0000-0002-6291-3492","affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]},{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":"https://orcid.org/0000-0001-8298-2439","affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]},{"raw_affiliation_string":"Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0627,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.86417052,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"5","issue":"3","first_page":"4947","last_page":"4954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9988999962806702,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5009176731109619},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4636228382587433},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45276227593421936},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.40974679589271545},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.357453852891922},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.33495795726776123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3269592225551605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20863628387451172}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5009176731109619},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4636228382587433},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45276227593421936},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40974679589271545},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.357453852891922},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.33495795726776123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3269592225551605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20863628387451172}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2020.3004782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3004782","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":"pmid:39183895","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39183895","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11343510","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11343510","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11343510","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11343510","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8700000047683716,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1882485010","display_name":null,"funder_award_id":"R01HL144714","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G1975573846","display_name":null,"funder_award_id":"R01 HL144714","funder_id":"https://openalex.org/F4320337338","funder_display_name":"National Heart, Lung, and Blood Institute"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337338","display_name":"National Heart, Lung, and Blood Institute","ror":"https://ror.org/012pb6c26"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W3580904","https://openalex.org/W1604037492","https://openalex.org/W2011505588","https://openalex.org/W2018890581","https://openalex.org/W2051053086","https://openalex.org/W2052968412","https://openalex.org/W2074484911","https://openalex.org/W2119531408","https://openalex.org/W2124385942","https://openalex.org/W2156199850","https://openalex.org/W2181520924","https://openalex.org/W2353475157","https://openalex.org/W2578460647","https://openalex.org/W2582740614","https://openalex.org/W2594220915","https://openalex.org/W2791453970","https://openalex.org/W2890182857","https://openalex.org/W2947074529","https://openalex.org/W2971278234","https://openalex.org/W2987061965","https://openalex.org/W3002480759","https://openalex.org/W3003053265","https://openalex.org/W3007536173","https://openalex.org/W4206724062"],"related_works":["https://openalex.org/W2324615561","https://openalex.org/W2086120259","https://openalex.org/W2245170124","https://openalex.org/W2076393078","https://openalex.org/W3186982001","https://openalex.org/W1984402782","https://openalex.org/W2137941439","https://openalex.org/W2004200960","https://openalex.org/W1999891779","https://openalex.org/W2029513011"],"abstract_inverted_index":{"Manual":[0],"navigation":[1],"of":[2,31,54,75,89,95,113,120,159,173,182],"a":[3,32,67,144,165],"guidewire":[4,38,184],"is":[5,15,41],"the":[6,29,55,73,90,96,110,114,121,124,131,149,155,160,170,174,180],"first":[7],"step":[8],"in":[9,44,130],"endovascular":[10],"interventions.":[11],"However,":[12],"this":[13],"procedure":[14],"time":[16],"consuming":[17],"with":[18,66],"uncertain":[19],"results":[20],"due":[21],"to":[22,168,185],"tortuous":[23,193],"vascular":[24],"anatomy.":[25,194],"This":[26],"paper":[27],"introduces":[28],"design":[30,60],"novel":[33],"COaxially":[34],"Aligned":[35],"STeerable":[36],"(COAST)":[37],"robot":[39,91,162],"that":[40],"0.40":[42],"mm":[43],"diameter":[45],"demonstrating":[46],"variable":[47,100],"curvature":[48],"and":[49,123,128,137,163,192],"independently":[50],"controlled":[51],"bending":[52,88,101,111],"length":[53,74,112],"distal":[56,171],"end.":[57],"The":[58,77],"COAST":[59,161,183],"involves":[61],"three":[62],"coaxially":[63],"aligned":[64],"tubes":[65,79,122,158],"single":[68],"tendon":[69,125],"running":[70],"centrally":[71],"through":[72,188],"robot.":[76,115,175],"outer":[78],"are":[80],"made":[81],"from":[82],"micromachined":[83],"nitinol":[84],"allowing":[85],"for":[86],"tendon-driven":[87],"at":[92],"various":[93,134],"segments":[94],"robot,":[97],"thereby":[98],"enabling":[99],"curvatures,":[102],"while":[103],"an":[104],"inner":[105],"stainless":[106],"steel":[107],"tube":[108],"controls":[109],"By":[116],"varying":[117],"relative":[118],"positions":[119],"by":[126],"insertion":[127],"retraction":[129],"entire":[132],"assembly,":[133],"joint":[135],"lengths":[136],"curvatures":[138],"can":[139],"be":[140],"achieved,":[141],"which":[142],"enables":[143],"follow-the-leader":[145],"motion.":[146],"We":[147],"model":[148],"kinematics,":[150],"statics,":[151],"as":[152,154],"well":[153],"coupling":[156],"within":[157],"develop":[164],"simple":[166],"controller":[167],"control":[169],"tip":[172],"Finally,":[176],"we":[177],"experimentally":[178],"demonstrate":[179],"ability":[181],"accurately":[186],"navigate":[187],"phantom":[189],"anatomical":[190],"bifurcations":[191]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}