{"id":"https://openalex.org/W2054928326","doi":"https://doi.org/10.1109/tbme.2014.2326161","title":"Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance","display_name":"Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance","publication_year":2014,"publication_date":"2014-05-21","ids":{"openalex":"https://openalex.org/W2054928326","doi":"https://doi.org/10.1109/tbme.2014.2326161","mag":"2054928326","pmid":"https://pubmed.ncbi.nlm.nih.gov/24860026"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2014.2326161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2014.2326161","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-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/5541402","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026060597","display_name":"John Swensen","orcid":"https://orcid.org/0000-0003-4562-6309"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John P. Swensen","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039776680","display_name":"MingDe Lin","orcid":"https://orcid.org/0000-0001-7641-2595"},"institutions":[{"id":"https://openalex.org/I4210131230","display_name":"Philips (United States)","ror":"https://ror.org/03kw6wr76","country_code":"US","type":"company","lineage":["https://openalex.org/I4210122849","https://openalex.org/I4210131230"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"MingDe Lin","raw_affiliation_strings":["Clinical Informatics, Interventional, and Translational Solutions, Philips Research North America, Briarcliff Manor, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clinical Informatics, Interventional, and Translational Solutions, Philips Research North America, Briarcliff Manor, NY, USA","institution_ids":["https://openalex.org/I4210131230"]}]},{"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/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","Department of Mechanical Engineering, Stanford University, Stanford, CA,#N#USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA,#N#USA","institution_ids":["https://openalex.org/I97018004"]}]},{"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":"Noah J. Cowan","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","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"]},{"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":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5033,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.81713784,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"61","issue":"11","first_page":"2707","last_page":"2717"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.98089998960495,"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"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9805999994277954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5054471492767334},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.45462727546691895},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.440718412399292},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43503713607788086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38306713104248047},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3817110061645508},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3679823875427246},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28359168767929077}],"concepts":[{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5054471492767334},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.45462727546691895},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.440718412399292},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43503713607788086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38306713104248047},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3817110061645508},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3679823875427246},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28359168767929077},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005471","descriptor_name":"Fluoroscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005471","descriptor_name":"Fluoroscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005471","descriptor_name":"Fluoroscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D054159","descriptor_name":"Torsion, Mechanical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D054159","descriptor_name":"Torsion, Mechanical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D054159","descriptor_name":"Torsion, Mechanical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1109/tbme.2014.2326161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2014.2326161","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:24860026","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24860026","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 transactions on bio-medical engineering","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.689.362","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.689.362","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/2014/10/swensentorsional2014.pdf","raw_type":"text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5541402","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5541402","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 Trans Biomed Eng","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:5541402","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5541402","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 Trans Biomed Eng","raw_type":"Text"},"sustainable_development_goals":[],"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"},{"id":"https://openalex.org/G7094454679","display_name":null,"funder_award_id":"R01-EB006435","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G8798754597","display_name":null,"funder_award_id":"R01-EB006435","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"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":47,"referenced_works":["https://openalex.org/W68466776","https://openalex.org/W1543202536","https://openalex.org/W1544433213","https://openalex.org/W1579236455","https://openalex.org/W1966854752","https://openalex.org/W1990000259","https://openalex.org/W1992830199","https://openalex.org/W2004348260","https://openalex.org/W2013506546","https://openalex.org/W2014288873","https://openalex.org/W2018373984","https://openalex.org/W2024456996","https://openalex.org/W2030693114","https://openalex.org/W2043535135","https://openalex.org/W2052459887","https://openalex.org/W2057960800","https://openalex.org/W2085079264","https://openalex.org/W2091504775","https://openalex.org/W2091884377","https://openalex.org/W2092580797","https://openalex.org/W2097202674","https://openalex.org/W2100593987","https://openalex.org/W2104424440","https://openalex.org/W2106934286","https://openalex.org/W2107550832","https://openalex.org/W2118152376","https://openalex.org/W2123269963","https://openalex.org/W2126571428","https://openalex.org/W2131150943","https://openalex.org/W2132167838","https://openalex.org/W2132929497","https://openalex.org/W2138211563","https://openalex.org/W2138475205","https://openalex.org/W2145636008","https://openalex.org/W2155672172","https://openalex.org/W2167654583","https://openalex.org/W2168278516","https://openalex.org/W2170527165","https://openalex.org/W2180065899","https://openalex.org/W2754300823","https://openalex.org/W3024290339","https://openalex.org/W3030577506","https://openalex.org/W4230969005","https://openalex.org/W4239200895","https://openalex.org/W4285719527","https://openalex.org/W6672916498","https://openalex.org/W6684910095"],"related_works":["https://openalex.org/W2724817865","https://openalex.org/W2400992695","https://openalex.org/W2382944939","https://openalex.org/W2771969352","https://openalex.org/W1993066527","https://openalex.org/W4300802590","https://openalex.org/W1508692582","https://openalex.org/W1671315843","https://openalex.org/W2133690079","https://openalex.org/W2111215486"],"abstract_inverted_index":{"Needle":[0],"insertions":[1],"underlie":[2],"a":[3,11,27,49,65,69,76],"diversity":[4],"of":[5,64,135],"medical":[6],"interventions.":[7],"Steerable":[8],"needles":[9,25],"provide":[10],"means":[12],"by":[13,34],"which":[14],"to":[15,90,128],"enhance":[16],"existing":[17],"needle-based":[18],"interventions":[19],"and":[20,30,54,74,101,114],"facilitate":[21],"new":[22,77],"ones.":[23],"Tip-steerable":[24],"follow":[26],"curved":[28],"path":[29],"can":[31],"be":[32],"steered":[33],"twisting":[35,43],"the":[36,52,61,81,92,126,136],"needle":[37,137],"base":[38,53],"during":[39,97],"insertion,":[40],"but":[41],"this":[42],"excites":[44],"torsional":[45,62,84,131],"dynamics":[46,63,132],"that":[47],"introduce":[48],"discrepancy":[50],"between":[51],"tip":[55],"twist":[56],"angles.":[57],"Here,":[58],"we":[59],"model":[60,85],"flexible":[66],"rod-such":[67],"as":[68],"tip-steerable":[70],"needle-during":[71],"subsurface":[72],"insertion":[73],"develop":[75],"controller":[78],"based":[79],"on":[80],"model.":[82],"The":[83],"incorporates":[86],"time-varying":[87],"mode":[88],"shapes":[89],"capture":[91],"changing":[93],"boundary":[94],"conditions":[95],"inherent":[96],"insertion.":[98],"Numerical":[99],"simulations":[100],"physical":[102],"experiments":[103],"using":[104],"two":[105],"distinct":[106],"setups-stereo":[107],"camera":[108],"feedback":[109,115],"in":[110,121,133],"semitransparent":[111],"artificial":[112,124],"tissue":[113],"control":[116,134],"with":[117],"real-time":[118],"X-ray":[119],"imaging":[120],"optically":[122],"opaque":[123],"tissue-demonstrate":[125],"need":[127],"account":[129],"for":[130],"tip.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}