{"id":"https://openalex.org/W4401811894","doi":"https://doi.org/10.1109/lra.2024.3447466","title":"Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot","display_name":"Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot","publication_year":2024,"publication_date":"2024-08-23","ids":{"openalex":"https://openalex.org/W4401811894","doi":"https://doi.org/10.1109/lra.2024.3447466","pmid":"https://pubmed.ncbi.nlm.nih.gov/40799344"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3447466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3447466","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/PMC12338331/pdf/nihms-2022639.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086808827","display_name":"Timothy A. Brumfiel","orcid":"https://orcid.org/0000-0002-7623-9849"},"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":"Timothy A. Brumfiel","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/0000-0002-7623-9849","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":"middle","author":{"id":"https://openalex.org/A5106693688","display_name":"Jared Grinberg","orcid":null},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jared Grinberg","raw_affiliation_strings":["RoboMed Laboratory at the Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0009-0004-3789-8050","affiliations":[{"raw_affiliation_string":"RoboMed Laboratory at the Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106693689","display_name":"Betina Siopongco","orcid":null},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Betina Siopongco","raw_affiliation_strings":["RoboMed Laboratory at the Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0009-0007-1455-5663","affiliations":[{"raw_affiliation_string":"RoboMed Laboratory at the Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["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":1.091,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75478078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"10","first_page":"8874","last_page":"8880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"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/mechanism","display_name":"Mechanism (biology)","score":0.7638142108917236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5543637275695801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5138528347015381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19458383321762085},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11142528057098389}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7638142108917236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5543637275695801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5138528347015381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19458383321762085},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11142528057098389},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2024.3447466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3447466","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:40799344","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40799344","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:12338331","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12338331","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12338331/pdf/nihms-2022639.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:12338331","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12338331","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12338331/pdf/nihms-2022639.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":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14","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"},{"id":"https://openalex.org/G8856922600","display_name":null,"funder_award_id":"R01HL144714","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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401811894.pdf","grobid_xml":"https://content.openalex.org/works/W4401811894.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W2070990785","https://openalex.org/W2080846822","https://openalex.org/W2094904022","https://openalex.org/W2129534965","https://openalex.org/W2207568557","https://openalex.org/W2738181984","https://openalex.org/W2811467139","https://openalex.org/W2890182857","https://openalex.org/W2896049741","https://openalex.org/W2947074529","https://openalex.org/W3000400585","https://openalex.org/W3034436867","https://openalex.org/W3037285193","https://openalex.org/W3045935638","https://openalex.org/W3094717733","https://openalex.org/W3103268178","https://openalex.org/W3113578006","https://openalex.org/W3122226502","https://openalex.org/W4205388067","https://openalex.org/W4283706124","https://openalex.org/W4285028846","https://openalex.org/W4285792016","https://openalex.org/W4288064817","https://openalex.org/W4296913183","https://openalex.org/W4309676043","https://openalex.org/W4322773318","https://openalex.org/W4362714938","https://openalex.org/W4365790336","https://openalex.org/W4366351615","https://openalex.org/W4380607160","https://openalex.org/W4386379576","https://openalex.org/W4386736620","https://openalex.org/W4390576530"],"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":{"The":[0,142,159,178],"treatment":[1],"of":[2,34,42,61,129,135,138,155,161,181,191,202],"many":[3],"intravascular":[4],"procedures":[5],"begins":[6],"with":[7,147],"a":[8,12,109,131,145],"clinician":[9],"manually":[10],"placing":[11,21],"guidewire":[13,27,51,68,126,164,193],"to":[14,18,31,76,83,96,151],"the":[15,26,32,39,59,115,139,156,162,176,182,189,192],"target":[16],"lesion":[17],"aid":[19],"in":[20,47,197],"other":[22],"devices.":[23],"Manually":[24],"steering":[25],"is":[28],"challenging":[29],"due":[30,82,95],"lack":[33],"direct":[35],"tip":[36,69],"control":[37],"and":[38,188],"high":[40],"tortuosity":[41],"vessel":[43,48],"structures,":[44],"potentially":[45],"resulting":[46,196],"perforation":[49],"or":[50,100],"fracture.":[52],"These":[53],"challenges":[54],"can":[55,66],"be":[56],"alleviated":[57],"through":[58],"use":[60],"robotically":[62],"steerable":[63],"guidewires":[64,89],"that":[65],"improve":[67],"control,":[70],"provide":[71],"force":[72],"feedback,":[73],"and,":[74],"similar":[75],"commercial":[77],"guidewires,":[78],"are":[79,90,165,186,194],"inherently":[80],"safe":[81],"their":[84],"compliant":[85],"structure.":[86],"However,":[87],"robotic":[88,140,163],"not":[91],"yet":[92],"clinically":[93,132],"viable":[94,133],"small":[97],"robot":[98],"lengths":[99],"large":[101],"actuation":[102],"systems.":[103],"In":[104],"this":[105],"letter,":[106],"we":[107],"develop":[108],"highly":[110],"compact":[111,183],"spooling":[112,184],"mechanism":[113,143,185],"for":[114],"<underline":[116,119,122],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[117,120,123,205],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">CO</u>axially":[118],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">A</u>ligned":[121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ST</u>eerable":[124],"(COAST)":[125],"robot,":[127],"capable":[128],"dispensing":[130],"length":[134],"1.5":[136],"m":[137],"guidewire.":[141,158],"utilizes":[144],"spool":[146],"several":[148],"interior":[149],"armatures":[150],"actuate":[152],"each":[153],"component":[154],"COAST":[157],"kinematics":[160,190],"then":[166],"modeled":[167],"considering":[168],"additional":[169],"friction":[170],"forces":[171],"caused":[172],"by":[173],"interactions":[174],"within":[175],"mechanism.":[177],"actuating":[179],"mechanisms":[180],"calibrated":[187],"validated":[195],"an":[198],"average":[199],"curvature":[200],"RMSE":[201],"0.24":[203],"m<inline-formula":[204],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[206],"notation=\"LaTeX\">$^{-1}$</tex-math></inline-formula>.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
