{"id":"https://openalex.org/W2001257624","doi":"https://doi.org/10.1109/robio.2013.6739568","title":"Deformation-as-control for a biologically inspired steerable needle","display_name":"Deformation-as-control for a biologically inspired steerable needle","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2001257624","doi":"https://doi.org/10.1109/robio.2013.6739568","mag":"2001257624"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739568","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5050145080","display_name":"Fangde Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Fangde Liu","raw_affiliation_strings":["Mechanical Engineering Department, Imperial College, London, UK","Mech. Eng. Dept., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Imperial College, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Mech. Eng. Dept., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107174665","display_name":"Christopher Burrows","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher Burrows","raw_affiliation_strings":["Mechanical Engineering Department, Imperial College, London, UK","Mech. Eng. Dept., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Imperial College, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Mech. Eng. Dept., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Mechanical Engineering Department, Imperial College, London, UK","Mech. Eng. Dept., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Imperial College, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Mech. Eng. Dept., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050145080"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.39116382,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63673323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"848","last_page":"853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958999752998352,"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/kinematics","display_name":"Kinematics","score":0.6757355332374573},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.610825777053833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5461498498916626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5413311719894409},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5303443670272827},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.47113531827926636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40302568674087524},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3687470555305481},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3260098993778229},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27166420221328735},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2112051248550415},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2044101357460022},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1532561182975769}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6757355332374573},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.610825777053833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5461498498916626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5413311719894409},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5303443670272827},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.47113531827926636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40302568674087524},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3687470555305481},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3260098993778229},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27166420221328735},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2112051248550415},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2044101357460022},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1532561182975769},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739568","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.8299999833106995,"display_name":"Good health and well-being"}],"awards":[{"id":"https://openalex.org/G8996577991","display_name":null,"funder_award_id":"EP/E040918/1","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W343994056","https://openalex.org/W992767084","https://openalex.org/W1556748495","https://openalex.org/W1564897360","https://openalex.org/W1976840175","https://openalex.org/W1985036816","https://openalex.org/W1993671632","https://openalex.org/W2000359213","https://openalex.org/W2053309223","https://openalex.org/W2085490878","https://openalex.org/W2095513092","https://openalex.org/W2104367785","https://openalex.org/W2107550832","https://openalex.org/W2110859964","https://openalex.org/W2116162693","https://openalex.org/W2117772657","https://openalex.org/W2134558064","https://openalex.org/W2147497140","https://openalex.org/W2149228151","https://openalex.org/W2155702744","https://openalex.org/W2157079418","https://openalex.org/W2164429173","https://openalex.org/W2168278516","https://openalex.org/W2169776045","https://openalex.org/W2180065899","https://openalex.org/W3163100926","https://openalex.org/W4247379505","https://openalex.org/W4250589301","https://openalex.org/W4292408540","https://openalex.org/W6611726130","https://openalex.org/W6684910095"],"related_works":["https://openalex.org/W2610147447","https://openalex.org/W4293530535","https://openalex.org/W4236636304","https://openalex.org/W2118575563","https://openalex.org/W2061090284","https://openalex.org/W2125579716","https://openalex.org/W2684384989","https://openalex.org/W2046138130","https://openalex.org/W2169581819","https://openalex.org/W2120846873"],"abstract_inverted_index":{"STING,":[0],"a":[1,42,74],"biologically":[2],"inspired":[3],"steerable":[4,23,84],"needle":[5],"robot,":[6],"has":[7],"the":[8,65],"potential":[9],"to":[10,28,86,96],"improve":[11],"diagnostic":[12],"and":[13,32,57,71],"drug":[14],"delivery":[15],"therapies":[16],"in":[17,59],"neurosurgery.":[18],"Real-time":[19],"path":[20,48],"planning":[21,49],"for":[22,45,80],"needles":[24,85],"remains":[25],"challenging":[26],"due":[27],"complex":[29],"kinematic":[30],"constraints":[31],"tissue":[33,88],"deformation.":[34],"Inspired":[35],"by":[36],"deformation":[37],"theory,":[38],"this":[39],"paper":[40],"introduces":[41],"\"deformation-as-control\"":[43],"method":[44,66],"transforming":[46],"non-linear":[47],"problems":[50],"into":[51],"linear":[52],"formulations.":[53],"Both":[54],"theoretical":[55],"analysis":[56],"simulations":[58],"two-and":[60],"three-dimensional":[61],"space":[62],"confirm":[63],"that":[64],"is":[67],"fast,":[68],"robust,":[69],"smooth":[70],"accurate.":[72],"As":[73],"result,":[75],"it":[76],"can":[77],"be":[78],"used":[79],"real-time":[81],"control":[82],"of":[83],"overcome":[87],"deformation,":[89],"as":[90,92],"well":[91],"being":[93],"easily":[94],"adaptable":[95],"other":[97],"continuum":[98],"style":[99],"or":[100],"nonholonomic":[101],"robots.":[102]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
