{"id":"https://openalex.org/W2168278516","doi":"https://doi.org/10.1109/robot.2005.1570829","title":"Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model","display_name":"Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2168278516","doi":"https://doi.org/10.1109/robot.2005.1570829","mag":"2168278516"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5075962780","display_name":"Wooram Park","orcid":"https://orcid.org/0000-0002-4614-0530"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wooram Park","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015341073","display_name":"Jin Seob Kim","orcid":"https://orcid.org/0000-0001-5091-2014"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jin Seob Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101815945","display_name":"Zhou Yu","orcid":"https://orcid.org/0000-0002-1524-5890"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Zhou","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071685265","display_name":"Noah J. Cowan","orcid":"https://orcid.org/0000-0003-2502-3770"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N.J. Cowan","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.S. Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":166,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4600","last_page":"4605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10288","display_name":"Fractional Differential Equations Solutions","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2611","display_name":"Modeling and Simulation"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10288","display_name":"Fractional Differential Equations Solutions","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2611","display_name":"Modeling and Simulation"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12061","display_name":"Axon Guidance and Neuronal Signaling","score":0.965399980545044,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9627000093460083,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8175740242004395},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6534578204154968},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5547180771827698},{"id":"https://openalex.org/keywords/stochastic-differential-equation","display_name":"Stochastic differential equation","score":0.5514565110206604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45276370644569397},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.44970792531967163},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.4206874370574951},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40382811427116394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38185057044029236},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3767964541912079},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.31623274087905884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23973414301872253},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2319827377796173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22313115000724792},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1852950155735016},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14018097519874573}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8175740242004395},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6534578204154968},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5547180771827698},{"id":"https://openalex.org/C51955184","wikidata":"https://www.wikidata.org/wiki/Q1545585","display_name":"Stochastic differential equation","level":2,"score":0.5514565110206604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45276370644569397},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.44970792531967163},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.4206874370574951},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40382811427116394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38185057044029236},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3767964541912079},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.31623274087905884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23973414301872253},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2319827377796173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22313115000724792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1852950155735016},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14018097519874573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.672.7452","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.672.7452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://limbs.lcsr.jhu.edu/wp-content/uploads/2013/05/Parkdiffusion-based2005.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1526676349","https://openalex.org/W1564897360","https://openalex.org/W1566463023","https://openalex.org/W1945096518","https://openalex.org/W2013452693","https://openalex.org/W2031911714","https://openalex.org/W2097442662","https://openalex.org/W2104899284","https://openalex.org/W2113706627","https://openalex.org/W2118346296","https://openalex.org/W2124657508","https://openalex.org/W2132167838","https://openalex.org/W2145137020","https://openalex.org/W2146716210","https://openalex.org/W2150717389","https://openalex.org/W2170354816","https://openalex.org/W2172227356","https://openalex.org/W2180065899","https://openalex.org/W2503996919","https://openalex.org/W2754300823","https://openalex.org/W3122956633","https://openalex.org/W3215797190","https://openalex.org/W3217246742","https://openalex.org/W6631594624","https://openalex.org/W6674461316","https://openalex.org/W6676043936","https://openalex.org/W6803643041"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1563391512","https://openalex.org/W2794789911","https://openalex.org/W2383775285"],"abstract_inverted_index":{"Fine":[0],"needles":[1],"facilitate":[2],"diagnosis":[3],"and":[4,32,58,99,108,138],"therapy":[5],"because":[6],"they":[7],"enable":[8],"minimally":[9],"invasive":[10],"surgical":[11],"interventions.":[12],"This":[13],"paper":[14],"formulates":[15],"the":[16,44,49,52,67,84,96,122,128,156],"problem":[17],"of":[18,66,83,124,127],"steering":[19],"a":[20,28,72,80],"very":[21],"flexible":[22],"needle":[23,68,129,151],"through":[24],"firm":[25],"tissue":[26,53],"as":[27,56,71,79,95],"nonholonomic":[29,73],"kinematics":[30,132],"problem,":[31],"demonstrates":[33],"how":[34],"planning":[35,42],"can":[36,76],"be":[37,77],"accomplished":[38],"using":[39],"diffusion-based":[40],"motion":[41],"on":[43],"Euclidean":[45],"group,":[46],"SE(3).":[47],"In":[48],"present":[50],"formulation,":[51],"is":[54,69,93,118],"treated":[55,70],"isotropic":[57],"no":[59],"obstacles":[60],"are":[61,102,113,147],"present.":[62],"The":[63,115],"bevel":[64],"tip":[65,152],"constraint":[74],"that":[75,141,154],"viewed":[78],"3D":[81],"extension":[82],"standard":[85],"kinematic":[86],"cart":[87],"or":[88],"unicycle.":[89],"A":[90,104],"deterministic":[91],"model":[92],"used":[94,119],"starting":[97],"point,":[98],"reachability":[100],"criteria":[101],"established.":[103],"stochastic":[105],"differential":[106],"equation":[107,112],"its":[109],"corresponding":[110],"Fokker-Planck":[111],"derived.":[114],"Euler-Maruyama":[116],"method":[117],"to":[120,149],"generate":[121,150],"ensemble":[123],"reachable":[125],"states":[126],"tip.":[130],"Inverse":[131],"methods":[133],"developed":[134],"previously":[135],"for":[136],"hyper-redundant":[137],"binary":[139],"manipulators":[140],"use":[142],"this":[143],"probability":[144],"density":[145],"information":[146],"applied":[148],"paths":[153],"reach":[155],"desired":[157],"targets.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":9}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}