{"id":"https://openalex.org/W4400487986","doi":"https://doi.org/10.1109/lra.2024.3426384","title":"Modeling Non-Linear Effects in a 4-DoF Robotic Transcatheter Delivery System","display_name":"Modeling Non-Linear Effects in a 4-DoF Robotic Transcatheter Delivery System","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4400487986","doi":"https://doi.org/10.1109/lra.2024.3426384","pmid":"https://pubmed.ncbi.nlm.nih.gov/40747533"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3426384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3426384","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://pmc.ncbi.nlm.nih.gov/articles/PMC12308731/pdf/nihms-2012461.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080944229","display_name":"Namrata U. Nayar","orcid":"https://orcid.org/0000-0001-8062-0629"},"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":"Namrata U. Nayar","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8062-0629","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"]}]},{"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"],"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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4548,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57673638,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"9","issue":"9","first_page":"7691","last_page":"7698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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":0.9983000159263611,"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/T11138","display_name":"Tribology and Lubrication Engineering","score":0.9672999978065491,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9621000289916992,"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/computer-science","display_name":"Computer science","score":0.4680691957473755},{"id":"https://openalex.org/keywords/delivery-system","display_name":"Delivery system","score":0.42941534519195557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28135353326797485},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.23149847984313965}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4680691957473755},{"id":"https://openalex.org/C2983812674","wikidata":"https://www.wikidata.org/wiki/Q134808","display_name":"Delivery system","level":2,"score":0.42941534519195557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28135353326797485},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.23149847984313965}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2024.3426384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3426384","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:40747533","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40747533","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:12308731","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12308731","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12308731/pdf/nihms-2012461.pdf","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:12308731","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12308731","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12308731/pdf/nihms-2012461.pdf","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/2","score":0.5799999833106995,"display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G5556146753","display_name":null,"funder_award_id":"R01HL140325","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G6814626418","display_name":null,"funder_award_id":"R01 HL140325","funder_id":"https://openalex.org/F4320337338","funder_display_name":"National Heart, Lung, and Blood Institute"},{"id":"https://openalex.org/G8010092406","display_name":null,"funder_award_id":"R01HL140325","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400487986.pdf","grobid_xml":"https://content.openalex.org/works/W4400487986.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1966780058","https://openalex.org/W2100927926","https://openalex.org/W2133450663","https://openalex.org/W2160825462","https://openalex.org/W2527630760","https://openalex.org/W2885248555","https://openalex.org/W2970260848","https://openalex.org/W2980066026","https://openalex.org/W2987061965","https://openalex.org/W3008727743","https://openalex.org/W3081786822","https://openalex.org/W3094186510","https://openalex.org/W3129783109","https://openalex.org/W3132721098","https://openalex.org/W3194369447","https://openalex.org/W3207015144","https://openalex.org/W3208922670","https://openalex.org/W4206331589","https://openalex.org/W4210927443","https://openalex.org/W4309390335","https://openalex.org/W4319461936","https://openalex.org/W4362714938","https://openalex.org/W4383108314","https://openalex.org/W4386280872","https://openalex.org/W6805652152","https://openalex.org/W6849238450"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Transcatheter":[0],"mitral":[1,15],"valve":[2],"repair":[3],"(TMVr),":[4],"a":[5,73,87,152],"minimally":[6],"invasive":[7],"approach,":[8],"is":[9],"becoming":[10],"increasingly":[11],"popular":[12],"for":[13,95,107],"treating":[14],"regurgitation":[16],"(MR)":[17],"since":[18],"nearly":[19],"half":[20],"of":[21,72,113,121],"the":[22,39,67,96,108,111,114,119,122,126,136,141],"MR":[23],"patients":[24],"are":[25,32],"non-surgical":[26],"candidates.":[27],"However,":[28],"current":[29],"TMVr":[30,153],"devices":[31],"operated":[33],"manually,":[34],"increasing":[35],"radiation":[36],"exposure":[37],"to":[38,134,146],"clinical":[40],"staff":[41],"and":[42,62,101,118],"making":[43],"telesurgery":[44],"infeasible.":[45],"A":[46],"robotically":[47,89],"steerable":[48,90,116],"transcatheter":[49,91,143],"delivery":[50,92,144],"system":[51,76,79,145],"can":[52],"alleviate":[53],"these":[54],"issues":[55],"while":[56,139],"also":[57,105],"enhancing":[58],"consistency,":[59],"improving":[60],"precision,":[61],"mitigating":[63],"human":[64],"fatigue":[65],"during":[66,151],"procedure.":[68,154],"Moreover,":[69],"precise":[70],"manipulation":[71],"surgical":[74],"robotic":[75,115,142],"requires":[77],"effective":[78],"modeling.":[80],"Therefore,":[81],"in":[82,131],"this":[83],"work,":[84],"we":[85],"model":[86,138],"full-scale":[88],"system,":[93],"accounting":[94],"hysteresis,":[97],"friction,":[98],"tendon":[99],"elongation,":[100],"catheter":[102,123],"configuration.":[103],"We":[104],"account":[106],"coupling":[109],"between":[110],"joints":[112],"end":[117],"effect":[120],"configuration":[124],"on":[125],"joints.":[127],"Experiments":[128],"were":[129],"conducted":[130],"free":[132],"air":[133],"validate":[135],"proposed":[137],"subjecting":[140],"similar":[147],"tortuosity":[148],"as":[149],"encountered":[150]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}