{"id":"https://openalex.org/W4285744207","doi":"https://doi.org/10.1109/lra.2022.3191552","title":"Magnetic Soft Continuum Robots With Braided Reinforcement","display_name":"Magnetic Soft Continuum Robots With Braided Reinforcement","publication_year":2022,"publication_date":"2022-07-18","ids":{"openalex":"https://openalex.org/W4285744207","doi":"https://doi.org/10.1109/lra.2022.3191552"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3191552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3191552","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/A5053415083","display_name":"Peter Lloyd","orcid":"https://orcid.org/0000-0002-4927-071X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Peter Lloyd","raw_affiliation_strings":["Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066110513","display_name":"Onaizah Onaizah","orcid":"https://orcid.org/0000-0003-0842-1179"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Onaizah Onaizah","raw_affiliation_strings":["Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049921916","display_name":"Giovanni Pittiglio","orcid":"https://orcid.org/0000-0002-0714-5267"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giovanni Pittiglio","raw_affiliation_strings":["Department of Cardiovascular Surgery, Boston Children&#x0027;s Hospital, Harvard Medical School, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children&#x0027;s Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109581243","display_name":"Damith Katudampe Vithanage","orcid":null},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Damith Katudampe Vithanage","raw_affiliation_strings":["Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018926020","display_name":"James H. Chandler","orcid":"https://orcid.org/0000-0001-9232-4966"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James H. Chandler","raw_affiliation_strings":["Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Storm Lab, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5053415083"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":2.2885,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.87917716,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"7","issue":"4","first_page":"9770","last_page":"9777"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11486","display_name":"Micro and Nano Robotics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9700000286102295,"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/catheter","display_name":"Catheter","score":0.5970275402069092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5626081228256226},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.5357903838157654},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5291581153869629},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5225733518600464},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.4779669940471649},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.43487516045570374},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4173704981803894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4161222279071808},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4120790958404541},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38589999079704285},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3843774199485779},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.3462004065513611},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2630673348903656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23146015405654907},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22170841693878174},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1652410626411438},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1513049602508545},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11726579070091248}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.5970275402069092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5626081228256226},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.5357903838157654},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5291581153869629},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5225733518600464},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.4779669940471649},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.43487516045570374},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4173704981803894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4161222279071808},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4120790958404541},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38589999079704285},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3843774199485779},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.3462004065513611},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2630673348903656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23146015405654907},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22170841693878174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1652410626411438},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1513049602508545},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11726579070091248},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3191552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3191552","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":"pmh:oai:eprints.whiterose.ac.uk:188723","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G3835379126","display_name":"Surgery enabled by ultrasonics","funder_award_id":"EP/R045291/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5198520588","display_name":"New minimally invasive technologies for the treatment of pancreatic cancer","funder_award_id":"EP/V009818/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5602145593","display_name":null,"funder_award_id":"EP/R045291/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7729546050","display_name":null,"funder_award_id":"818045","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"},{"id":"https://openalex.org/G7828888678","display_name":null,"funder_award_id":"EP/V009818/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1970565122","https://openalex.org/W2014029898","https://openalex.org/W2029702180","https://openalex.org/W2039225116","https://openalex.org/W2079151876","https://openalex.org/W2101667962","https://openalex.org/W2113265921","https://openalex.org/W2126052881","https://openalex.org/W2165479823","https://openalex.org/W2184993170","https://openalex.org/W2526011581","https://openalex.org/W2575426328","https://openalex.org/W2734045341","https://openalex.org/W2734643885","https://openalex.org/W2897346547","https://openalex.org/W2957461748","https://openalex.org/W2971278234","https://openalex.org/W3003639106","https://openalex.org/W3015147753","https://openalex.org/W3037426978","https://openalex.org/W3104421688","https://openalex.org/W3118427713","https://openalex.org/W3179383631","https://openalex.org/W3211763588","https://openalex.org/W4210818687","https://openalex.org/W4214667492","https://openalex.org/W4221032282","https://openalex.org/W4224238243"],"related_works":["https://openalex.org/W2348807422","https://openalex.org/W2361025757","https://openalex.org/W2050837474","https://openalex.org/W4241592276","https://openalex.org/W2926730772","https://openalex.org/W1532462972","https://openalex.org/W2049043962","https://openalex.org/W1985414612","https://openalex.org/W1655828763","https://openalex.org/W2568758138"],"abstract_inverted_index":{"Flexible":[0],"catheters":[1,68],"are":[2],"used":[3],"in":[4,30,62,159],"a":[5,19,99,118,140,160,171],"wide":[6],"variety":[7],"of":[8,21,33,59,98,114,129,131],"surgical":[9],"interventions":[10],"including":[11],"neurological,":[12],"pancreatic":[13],"and":[14,23,80,144,178],"cardiovascular.":[15],"In":[16,91],"many":[17],"cases":[18],"lack":[20],"dexterity":[22],"miniaturization":[24],"along":[25,152],"with":[26,139,170,179],"excessive":[27],"stiffness":[28],"results":[29],"large":[31,76],"regions":[32],"the":[34,43,96,127],"anatomy":[35],"being":[36],"deemed":[37],"inaccessible.":[38],"Soft":[39],"continuum":[40],"robots":[41],"have":[42],"potential":[44,53],"to":[45,50,74,117,149],"mitigate":[46],"these":[47],"issues.":[48],"Due":[49],"its":[51,145],"enormous":[52],"for":[54,81],"miniaturization,":[55],"magnetic":[56,67,111,135,176],"actuation":[57],"is":[58,137],"particular":[60],"interest":[61],"this":[63,85,92],"field.":[64],"Currently,":[65],"flexible":[66],"often":[69],"rely":[70],"on":[71],"interactive":[72],"forces":[73,130],"generate":[75],"deformations":[77],"during":[78],"navigation":[79],"soft":[82,110],"anatomical":[83,132],"structures":[84],"could":[86],"be":[87],"considered":[88],"potentially":[89],"damaging.":[90],"study":[93],"we":[94],"demonstrate":[95,156],"insertion":[97],"high":[100],"aspect":[101],"ratio,":[102],"50":[103],"mm":[104,108],"long":[105],"by":[106],"2":[107],"diameter,":[109],"catheter":[112,136,177],"capable":[113],"navigating":[115],"up":[116],"180":[119],"<inline-formula":[120],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[122],"notation=\"LaTeX\">$^{\\circ":[123],"}$</tex-math></inline-formula>":[124],"bend":[125],"without":[126],"aid":[128],"interaction.":[133],"This":[134],"reinforced":[138],"lengthwise":[141],"braided":[142],"structure":[143],"magnetization":[146],"allows":[147],"it":[148],"shape":[150],"form":[151],"tortuous":[153],"paths.":[154],"We":[155,165],"our":[157,168],"innovation":[158],"planar":[161],"silicone":[162],"pancreas":[163],"phantom.":[164],"also":[166],"compare":[167],"approach":[169],"mechanically":[172],"equivalent":[173],"tip":[174],"driven":[175],"an":[180],"identically":[181],"magnetized,":[182],"unreinforced":[183],"catheter.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
