{"id":"https://openalex.org/W2148809837","doi":"https://doi.org/10.1109/robot.2009.5152749","title":"Controlling a robotically steered needle in the presence of torsional friction","display_name":"Controlling a robotically steered needle in the presence of torsional friction","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2148809837","doi":"https://doi.org/10.1109/robot.2009.5152749","mag":"2148809837","pmid":"https://pubmed.ncbi.nlm.nih.gov/21461175"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152749","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 Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3040793","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037529252","display_name":"Kyle B. Reed","orcid":"https://orcid.org/0000-0003-0848-8971"},"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"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]},{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K.B. Reed","raw_affiliation_strings":["Department of Mechanical Engineering at The Johns Hopkins University","Department of Mechanical Engineering, Johns Hopkins University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering at The Johns Hopkins University","institution_ids":["https://openalex.org/I2802946424","https://openalex.org/I2799853436","https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, 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, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","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, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9187,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.77255389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3476","last_page":"3481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9894999861717224,"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"}},{"id":"https://openalex.org/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9811000227928162,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6877319812774658},{"id":"https://openalex.org/keywords/bevel","display_name":"Bevel","score":0.6478970050811768},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6473069787025452},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5750201344490051},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5322456359863281},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4977412521839142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4472714364528656},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42794668674468994},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.32282009720802307},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27011212706565857},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2513279616832733},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.18305236101150513},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15264317393302917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08469399809837341}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6877319812774658},{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.6478970050811768},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6473069787025452},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5750201344490051},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5322456359863281},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4977412521839142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4472714364528656},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42794668674468994},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.32282009720802307},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27011212706565857},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2513279616832733},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.18305236101150513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15264317393302917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08469399809837341},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/robot.2009.5152749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152749","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 Automation","raw_type":"proceedings-article"},{"id":"pmid:21461175","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/21461175","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":null},{"id":"pmh:oai:scholarcommons.usf.edu:egr_facpub-1115","is_oa":false,"landing_page_url":"https://scholarcommons.usf.edu/egr_facpub/115","pdf_url":null,"source":{"id":"https://openalex.org/S4377196272","display_name":"Digital Commons - University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.664.7800","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.664.7800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://reedlab.eng.usf.edu/publications/reed2009controlling.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.671.5936","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.671.5936","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/Reedcontrolling2009.pdf","raw_type":"text"},{"id":"pmh:oai:digitalcommons.usf.edu:egr_facpub-1115","is_oa":false,"landing_page_url":"https://digitalcommons.usf.edu/egr_facpub/115","pdf_url":null,"source":{"id":"https://openalex.org/S4377196272","display_name":"Digital Commons - University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"conference"},{"id":"pmh:oai:pubmedcentral.nih.gov:3040793","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3040793","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:3040793","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3040793","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6100000143051147,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G657347399","display_name":null,"funder_award_id":"R01 EB006435","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W111160664","https://openalex.org/W2015812850","https://openalex.org/W2024888248","https://openalex.org/W2036471941","https://openalex.org/W2069619466","https://openalex.org/W2090415875","https://openalex.org/W2097202674","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2115650576","https://openalex.org/W2123228603","https://openalex.org/W2138475205","https://openalex.org/W2146175757","https://openalex.org/W2154598371","https://openalex.org/W2156701162","https://openalex.org/W2157758913","https://openalex.org/W2180065899","https://openalex.org/W6604486413"],"related_works":["https://openalex.org/W2426053110","https://openalex.org/W2086122296","https://openalex.org/W2889396517","https://openalex.org/W2504405770","https://openalex.org/W2052402682","https://openalex.org/W2403450558","https://openalex.org/W2356745748","https://openalex.org/W3194069628","https://openalex.org/W4226151521","https://openalex.org/W2995048226"],"abstract_inverted_index":{"A":[0],"flexible":[1,34],"needle":[2,18,35,51,61,74,83,114,167],"can":[3,41],"be":[4],"accurately":[5,146],"steered":[6],"by":[7],"robotically":[8],"controlling":[9],"the":[10,13,17,26,32,38,47,50,54,57,60,82,133,148,154,162,184],"orientation":[11,48,55],"of":[12,29,49,56,89,126,165],"bevel":[14],"tip":[15,52,149],"as":[16],"is":[19,62,179],"inserted":[20,170],"into":[21,171],"tissue.":[22],"Here,":[23],"we":[24,157],"demonstrate":[25],"significant":[27,44],"effect":[28],"friction":[30],"between":[31,46],"long,":[33],"shaft":[36],"and":[37,53,129,173],"tissue,":[39],"which":[40],"cause":[42,110],"a":[43,87,93,159,166,176],"discrepancy":[45],"base":[58],"where":[59],"controlled.":[63],"Our":[64],"experiments":[65,76],"show":[66,174],"that":[67],"several":[68],"common":[69],"phantom":[70],"tissues":[71],"used":[72,135],"in":[73,86,98,121,136],"steering":[75],"impart":[77],"substantial":[78],"frictional":[79],"forces":[80],"to":[81,108,145,181],"shaft,":[84],"resulting":[85],"lag":[88],"over":[90],"45\u00b0":[91],"for":[92,142,153,161,183],"10":[94],"cm":[95],"insertion":[96],"depth":[97],"some":[99],"phantoms;":[100],"clinical":[101],"studies":[102],"have":[103],"reported":[104],"torques":[105],"large":[106],"enough":[107],"could":[109],"similar":[111],"errors":[112],"during":[113],"insertions.":[115],"Such":[116],"angle":[117,155],"discrepancies":[118],"will":[119],"result":[120],"poor":[122],"performance":[123],"or":[124],"failure":[125],"path":[127],"planners":[128],"image-guided":[130],"controllers,":[131],"since":[132],"needles":[134],"percutaneous":[137],"procedures":[138],"are":[139],"too":[140],"small":[141],"state-of-the-art":[143],"imaging":[144],"measure":[147],"angle.":[150],"To":[151],"compensate":[152,182],"discrepancy,":[156],"develop":[158],"model":[160],"rotational":[163,185],"dynamics":[164],"being":[168],"continuously":[169],"tissue":[172],"how":[175],"PD":[177],"controller":[178],"sufficient":[180],"dynamics.":[186]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
