{"id":"https://openalex.org/W2128013045","doi":"https://doi.org/10.1109/robot.2008.4543279","title":"Bilateral telemanipulation of a flexible catheter in a constrained environment","display_name":"Bilateral telemanipulation of a flexible catheter in a constrained environment","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2128013045","doi":"https://doi.org/10.1109/robot.2008.4543279","mag":"2128013045"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5074629957","display_name":"Jagadeesan Jayender","orcid":"https://orcid.org/0000-0002-3308-3012"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"J. Jayender","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, Canada","Dept. of Electr. & Comput. Eng., Univ. Of Western Ontario, London, ON"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. Of Western Ontario, London, ON","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002658374","display_name":"Mahdi Azizian","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Azizian","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, Canada","Dept. of Electr. & Comput. Eng., Univ. Of Western Ontario, London, ON"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. Of Western Ontario, London, ON","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"R. V. Patel","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, Canada","Dept. of Electr. & Comput. Eng., Univ. Of Western Ontario, London, ON"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Univ. Of Western Ontario, London, ON","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074629957"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":0.6213,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75087219,"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":"649","last_page":"654"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9919000267982483,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9814000129699707,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.8247187733650208},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8063068985939026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5239850878715515},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.507171630859375},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.479237824678421},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47525903582572937},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4520416855812073},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.41642627120018005},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4107934534549713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3767023980617523},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35347485542297363},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2897130846977234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.258469820022583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24232906103134155},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23130106925964355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19893112778663635},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16935613751411438},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11277207732200623}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.8247187733650208},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8063068985939026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239850878715515},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.507171630859375},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.479237824678421},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47525903582572937},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4520416855812073},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.41642627120018005},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4107934534549713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3767023980617523},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35347485542297363},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2897130846977234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.258469820022583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24232906103134155},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23130106925964355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19893112778663635},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16935613751411438},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11277207732200623},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W83359788","https://openalex.org/W150101478","https://openalex.org/W1490835453","https://openalex.org/W1544686603","https://openalex.org/W1974792822","https://openalex.org/W2019214176","https://openalex.org/W2028033000","https://openalex.org/W2090972408","https://openalex.org/W2125150316","https://openalex.org/W2151677602","https://openalex.org/W2561111412","https://openalex.org/W6603304094","https://openalex.org/W6606124135","https://openalex.org/W6629392098","https://openalex.org/W6632615127"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652"],"abstract_inverted_index":{"This":[0,116],"paper":[1],"describes":[2],"some":[3],"novel":[4],"research":[5],"results":[6,160,242],"on":[7,176,217],"bilateral":[8],"teleoperation":[9,131],"of":[10,20,37,43,47,52,62,71,97,106,153,164,174,196,211,214,220,227],"a":[11,15,24,34,57,87,94,130,143,228],"flexible":[12],"catheter":[13,22,64,73,85,108,140,155,229],"in":[14,23,86,123,142,180,245],"constrained":[16,25,144],"environment.":[17],"The":[18],"dynamics":[19],"the":[21,44,53,59,63,68,72,79,84,103,107,111,124,148,151,154,157,162,169,177,186,194,203,212,218,221,241],"environment":[26,145],"is":[27,31,93,114,118,201],"highly":[28],"nonlinear":[29],"and":[30,50,171,183,188,240],"affected":[32],"by":[33],"large":[35],"number":[36],"factors":[38,166,216],"such":[39,167],"as":[40,168],"friction,":[41],"flexibility":[42],"catheter,":[45,54],"force":[46],"insertion,":[48],"shape":[49,232],"size":[51],"etc.":[55],"As":[56],"result,":[58],"distal":[60,104],"end":[61,70,105,113],"almost":[65],"never":[66],"follows":[67],"actuated":[69],"which":[74],"could":[75],"cause":[76,121],"fatigue":[77],"to":[78,82,99,120,136,156,205,207],"clinician/user":[80],"attempting":[81],"insert":[83],"blood":[88],"vessel.":[89],"In":[90,223],"addition,":[91,224],"there":[92],"time":[95],"delay":[96,117],"up":[98],"0.8":[100],"second":[101],"before":[102],"advances":[109],"after":[110],"near":[112],"actuated.":[115],"sufficient":[119],"instability":[122],"control":[125,181],"loop.":[126],"We":[127],"have":[128],"developed":[129],"framework":[132],"using":[133],"wave":[134],"variables":[135],"perform":[137],"robot-":[138],"assisted":[139],"insertion":[141,175,226],"while":[146],"reflecting":[147],"forces":[149],"at":[150],"tip":[152],"clinician.":[158],"Experimental":[159],"showing":[161],"effect":[163],"different":[165],"velocity":[170],"stroke":[172],"length":[173],"delays":[178],"introduced":[179],"loop":[182],"errors":[184],"between":[185],"master":[187],"slave":[189],"position":[190],"are":[191,243],"included.":[192],"To":[193],"best":[195],"our":[197],"knowledge,":[198],"this":[199,246],"work":[200],"among":[202],"first":[204],"attempt":[206],"provide":[208],"an":[209],"understanding":[210],"effects":[213],"various":[215],"flexing":[219],"catheter.":[222],"master-slave":[225],"instrumented":[230],"with":[231],"memory":[233],"alloys":[234],"(SMA)":[235],"has":[236],"also":[237],"been":[238],"performed":[239],"included":[244],"paper.":[247]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}