{"id":"https://openalex.org/W4411019111","doi":"https://doi.org/10.1109/robosoft63089.2025.11020882","title":"3D-Printed Variable-Length Magnetically Steered Catheter Tip for Enhanced Access in Aneurysm Interventions","display_name":"3D-Printed Variable-Length Magnetically Steered Catheter Tip for Enhanced Access in Aneurysm Interventions","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019111","doi":"https://doi.org/10.1109/robosoft63089.2025.11020882"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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/A5108132814","display_name":"Muhammad Naveed Khalid","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":true,"raw_author_name":"Muhammad A. Khalid","raw_affiliation_strings":["University of Leeds,STORM Lab, School of Electronic and Electrical Engineering,Leeds,U.K.,LS2 9JT"],"affiliations":[{"raw_affiliation_string":"University of Leeds,STORM Lab, School of Electronic and Electrical Engineering,Leeds,U.K.,LS2 9JT","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","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":["University of Leeds,STORM Lab, School of Electronic and Electrical Engineering,Leeds,U.K.,LS2 9JT"],"affiliations":[{"raw_affiliation_string":"University of Leeds,STORM Lab, School of Electronic and Electrical Engineering,Leeds,U.K.,LS2 9JT","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","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":["University of Leeds,STORM Lab, School of Electronic and Electrical Engineering,Leeds,U.K.,LS2 9JT"],"affiliations":[{"raw_affiliation_string":"University of Leeds,STORM Lab, School of Electronic and Electrical Engineering,Leeds,U.K.,LS2 9JT","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5108132814"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":4.0289,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93463256,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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/T11055","display_name":"Cardiac and Coronary Surgery Techniques","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.6021397113800049},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5584043860435486},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.5398151278495789},{"id":"https://openalex.org/keywords/aneurysm","display_name":"Aneurysm","score":0.46840283274650574},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4301230311393738},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.393582820892334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.340604692697525},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2898496389389038},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.2793978154659271},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16556882858276367}],"concepts":[{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.6021397113800049},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5584043860435486},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.5398151278495789},{"id":"https://openalex.org/C2776098176","wikidata":"https://www.wikidata.org/wiki/Q189389","display_name":"Aneurysm","level":2,"score":0.46840283274650574},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4301230311393738},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.393582820892334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.340604692697525},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2898496389389038},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.2793978154659271},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16556882858276367},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:227519","is_oa":false,"landing_page_url":"https://orcid.org/0000-0001-9232-4966>","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":null,"raw_type":"NonPeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"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"},{"id":"https://openalex.org/F4320336708","display_name":"Leeds Biomedical Research Centre","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2026752076","https://openalex.org/W2038029104","https://openalex.org/W2078436397","https://openalex.org/W2167480813","https://openalex.org/W2575426328","https://openalex.org/W2603661388","https://openalex.org/W2788817381","https://openalex.org/W2896049741","https://openalex.org/W2916953966","https://openalex.org/W2969603631","https://openalex.org/W2971278234","https://openalex.org/W3015147753","https://openalex.org/W3043636492","https://openalex.org/W3090235105","https://openalex.org/W3162127210","https://openalex.org/W3194891815","https://openalex.org/W4221032282","https://openalex.org/W4312331824","https://openalex.org/W4319843090","https://openalex.org/W4378697327","https://openalex.org/W4385306835","https://openalex.org/W4391807372","https://openalex.org/W4396875095","https://openalex.org/W4399343961","https://openalex.org/W4401414038","https://openalex.org/W4401711897","https://openalex.org/W6803145991","https://openalex.org/W6865840590"],"related_works":["https://openalex.org/W2050736209","https://openalex.org/W4293440023","https://openalex.org/W2248024246","https://openalex.org/W2374334911","https://openalex.org/W2064079700","https://openalex.org/W4245356627","https://openalex.org/W2758528125","https://openalex.org/W4051540","https://openalex.org/W4226136229","https://openalex.org/W2734402711"],"abstract_inverted_index":{"Recent":[0],"catheter":[1,91],"designs":[2],"have":[3,20,47],"considered":[4],"the":[5,69,74,80,139,213],"use":[6],"of":[7,79,117,200],"magnetically":[8],"active":[9],"soft":[10,30,97],"continuum":[11],"robots":[12],"controlled":[13],"via":[14],"external":[15],"magnetic":[16,44,63,153,193,218],"actuation":[17,154,158,168,194,219],"systems.":[18],"These":[19],"proven":[21],"effective":[22],"for":[23,101,110,128],"minimally":[24],"invasive":[25],"applications":[26],"due":[27],"to":[28,50,72,145,174,179,227],"their":[29],"structure,":[31],"high":[32],"dexterity,":[33],"and":[34,42,76,122,149,162,182,188,217,235],"wireless":[35],"actuation,":[36],"all":[37,206],"at":[38,155],"small":[39],"scales.":[40],"Single":[41],"multiple":[43],"segment":[45],"configurations":[46],"been":[48],"proposed":[49,214],"allow":[51],"tip-only":[52],"control":[53],"or":[54],"full":[55],"shape-forming,":[56],"respectively.":[57,190],"However,":[58],"these":[59],"approaches":[60],"utilize":[61],"fixed-length":[62,229],"segments,":[64],"which":[65],"require":[66],"advancement":[67],"from":[68,170],"proximal":[70],"end":[71],"enhance":[73],"reachability":[75],"workspace":[77,223],"coverage":[78],"steerable":[81],"tip.":[82],"To":[83],"address":[84],"this":[85],"limitation,":[86],"we":[87],"propose":[88],"a":[89,95,106,114,171,175,196,228],"dual-actuated":[90],"tip":[92,147,150,166],"design":[93,116],"comprising":[94],"3D-printed":[96],"tendon-driven":[98],"helical":[99],"body":[100],"length":[102,167,207],"adaptability":[103],"coupled":[104],"with":[105,202],"tip-mounted":[107],"permanent":[108],"magnet":[109],"steering.":[111],"We":[112,164,209],"achieve":[113],"compact":[115],"2.4":[118],"mm":[119,124,181,184],"outer":[120],"diameter":[121],"18":[123],"nominal":[125],"length,":[126],"suitable":[127],"carotid":[129],"artery":[130],"aneurysm":[131,238],"intervention.":[132],"An":[133],"existing":[134],"analytical":[135],"model":[136],"based":[137],"on":[138],"Euler-Bernoulli":[140],"beam":[141],"theory":[142],"is":[143],"adapted":[144],"predict":[146],"deflection":[148,198],"angle":[151,199],"under":[152],"three":[156],"different":[157],"lengths:":[159],"contracted,":[160],"normal,":[161],"extended.":[163],"demonstrate":[165,211],"spanning":[169],"37.2%":[172],"reduction":[173],"35.6%":[176],"extension,":[177],"corresponding":[178],"11.3":[180],"24.4":[183],"when":[185,225],"fully":[186],"contracted":[187],"extended,":[189],"The":[191],"experimental":[192],"shows":[195],"maximum":[197],"89.5\u00b0":[201],">68\u00b0":[203],"achievable":[204],"across":[205],"configurations.":[208],"subsequently":[210],"how":[212],"hybrid":[215],"tendon":[216],"approach":[220],"enables":[221],"enhanced":[222],"access":[224,232],"compared":[226],"design,":[230],"improving":[231],"within":[233],"simple":[234],"more":[236],"complex":[237],"phantoms.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
