{"id":"https://openalex.org/W2146702216","doi":"https://doi.org/10.1109/robio.2009.5420395","title":"A guaranteed approach for kinematic analysis of continuum robot based catheter","display_name":"A guaranteed approach for kinematic analysis of continuum robot based catheter","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2146702216","doi":"https://doi.org/10.1109/robio.2009.5420395","mag":"2146702216"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5036558418","display_name":"Sohail Iqbal","orcid":"https://orcid.org/0000-0002-5255-6532"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]},{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Sohail Iqbal","raw_affiliation_strings":["LISSI, University of Paris XII, Vitry sur Seine, France","LISSI, University of Paris XII, 122 rue Paul Armangot, 94400, Vitry Sur Seine, France"],"affiliations":[{"raw_affiliation_string":"LISSI, University of Paris XII, Vitry sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI, University of Paris XII, 122 rue Paul Armangot, 94400, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011742024","display_name":"Samer Mohammed","orcid":"https://orcid.org/0000-0001-6738-4529"},"institutions":[{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]},{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Samer Mohammed","raw_affiliation_strings":["LISSI, University of Paris XII, Vitry sur Seine, France","LISSI, University of Paris XII, 122 rue Paul Armangot, 94400, Vitry Sur Seine, France"],"affiliations":[{"raw_affiliation_string":"LISSI, University of Paris XII, Vitry sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI, University of Paris XII, 122 rue Paul Armangot, 94400, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I197681013"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044453604","display_name":"Yacine Amirat","orcid":"https://orcid.org/0000-0002-3238-0517"},"institutions":[{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]},{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yacine Amirat","raw_affiliation_strings":["LISSI, University of Paris XII, Vitry sur Seine, France","LISSI, University of Paris XII, 122 rue Paul Armangot, 94400, Vitry Sur Seine, France"],"affiliations":[{"raw_affiliation_string":"LISSI, University of Paris XII, Vitry sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI, University of Paris XII, 122 rue Paul Armangot, 94400, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I197681013"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036558418"],"corresponding_institution_ids":["https://openalex.org/I197681013","https://openalex.org/I204730241","https://openalex.org/I2800365227"],"apc_list":null,"apc_paid":null,"fwci":0.4447,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.68701492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9922999739646912,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9900000095367432,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7774983644485474},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7226847410202026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6931052803993225},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6724413633346558},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5594714879989624},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5169276595115662},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.49425008893013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4934772253036499},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4447070062160492},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4182947278022766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33034610748291016},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33024632930755615},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2742382287979126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2601296603679657},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13319134712219238},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11038663983345032},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08496546745300293}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7774983644485474},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7226847410202026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6931052803993225},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6724413633346558},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5594714879989624},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5169276595115662},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.49425008893013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4934772253036499},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4447070062160492},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4182947278022766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33034610748291016},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33024632930755615},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2742382287979126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2601296603679657},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13319134712219238},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11038663983345032},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08496546745300293}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1525277457","https://openalex.org/W1534342237","https://openalex.org/W1589859477","https://openalex.org/W1891615552","https://openalex.org/W1907933577","https://openalex.org/W1985060396","https://openalex.org/W2051501000","https://openalex.org/W2063797945","https://openalex.org/W2067648572","https://openalex.org/W2096645690","https://openalex.org/W2097130079","https://openalex.org/W2098596651","https://openalex.org/W2101797976","https://openalex.org/W2104028259","https://openalex.org/W2107614042","https://openalex.org/W2108558119","https://openalex.org/W2117162300","https://openalex.org/W2117212572","https://openalex.org/W2119531408","https://openalex.org/W2142752224","https://openalex.org/W2144166656","https://openalex.org/W2151016008","https://openalex.org/W2151098082","https://openalex.org/W2164278974","https://openalex.org/W2164587356","https://openalex.org/W2170584537","https://openalex.org/W2170597216","https://openalex.org/W2182391488","https://openalex.org/W2483775066","https://openalex.org/W2521415583","https://openalex.org/W2975680001","https://openalex.org/W3146520007","https://openalex.org/W4298255709","https://openalex.org/W4300447397","https://openalex.org/W6631535778","https://openalex.org/W6674476928","https://openalex.org/W6676233781","https://openalex.org/W6677763916","https://openalex.org/W6681418347","https://openalex.org/W6682408911","https://openalex.org/W6685751107","https://openalex.org/W6768254881","https://openalex.org/W6844791740","https://openalex.org/W7047728865"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2355512144","https://openalex.org/W2154286641","https://openalex.org/W339676884","https://openalex.org/W2385860114","https://openalex.org/W2139772866","https://openalex.org/W2304947037","https://openalex.org/W2291700020","https://openalex.org/W3129004068","https://openalex.org/W2172139062"],"abstract_inverted_index":{"Controlling":[0],"a":[1,5,9,33,45,49,58,79,93,145,153],"continuum":[2,50,67,74],"robot":[3,18,51,68,75,83,133],"in":[4,25,88,120],"constrained":[6],"environment":[7],"constitutes":[8],"real":[10],"challenge":[11],"due":[12],"to":[13],"the":[14,37,66,73,82,89,96,103,111,121,139],"nature":[15],"of":[16,36,39,48,65,81,95,105,113],"this":[17,43],"and":[19,86,126,147],"its":[20],"bending":[21],"properties.":[22],"The":[23],"navigation":[24],"un-structured":[26],"environments,":[27],"such":[28,40],"as":[29,78,130],"surgical":[30],"operations,":[31],"presents":[32],"potential":[34],"application":[35],"use":[38,104],"robots.":[41],"In":[42,57],"paper,":[44],"new":[46],"formulation":[47],"forward":[52],"kinematics":[53,64,98,141],"is":[54,69,99],"presented":[55],"firstly.":[56],"second":[59],"step,":[60],"an":[61],"analytical":[62],"inverse":[63,97,140],"developed.":[70],"It":[71],"computes":[72],"bellows":[76],"length":[77],"function":[80],"end-tool":[84],"position":[85],"orientation":[87],"task":[90],"space.":[91],"Then":[92],"resolution":[94],"shown":[100],"based":[101,149],"on":[102],"interval":[106],"analysis.":[107],"This":[108],"technique":[109],"has":[110],"advantage":[112],"dealing":[114],"with":[115],"uncertainties":[116],"that":[117,151],"may":[118],"occur":[119],"system":[122],"modeling,":[123],"parameter":[124],"identification":[125],"could":[127],"be":[128],"used":[129],"well":[131],"for":[132],"control.":[134],"System":[135],"redundancies":[136],"when":[137],"computing":[138],"are":[142],"solved":[143],"by":[144],"branch":[146],"bound":[148],"algorithm":[150],"minimizes":[152],"given":[154],"quadratic":[155],"criterion.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
