{"id":"https://openalex.org/W2005284429","doi":"https://doi.org/10.1109/tbme.2015.2389615","title":"Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters","display_name":"Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters","publication_year":2015,"publication_date":"2015-01-09","ids":{"openalex":"https://openalex.org/W2005284429","doi":"https://doi.org/10.1109/tbme.2015.2389615","mag":"2005284429","pmid":"https://pubmed.ncbi.nlm.nih.gov/25585409"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2015.2389615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2015.2389615","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049373738","display_name":"Mahta Khoshnam","orcid":"https://orcid.org/0000-0003-3185-0182"},"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":"Mahta Khoshnam","raw_affiliation_strings":["Canadian Surgical Technologies and Advanced Robotics, London, ON, Canada","Department of Electrical and Computer Engineering, Western University, London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics, London, ON, Canada","institution_ids":[]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012672874","display_name":"Allan C. Skanes","orcid":"https://orcid.org/0000-0001-8332-8551"},"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"]},{"id":"https://openalex.org/I2800925808","display_name":"London Health Sciences Centre","ror":"https://ror.org/037tz0e16","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2800925808"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Allan C. Skanes","raw_affiliation_strings":["Director of the Electrophysiology Laboratory at University Hospital, London Health Sciences Centre","Schulich School of Medicine and Dentistry, Western University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Director of the Electrophysiology Laboratory at University Hospital, London Health Sciences Centre","institution_ids":["https://openalex.org/I2800925808"]},{"raw_affiliation_string":"Schulich School of Medicine and Dentistry, Western University","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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rajni V. Patel","raw_affiliation_strings":["Canadian Surgical Technologies and Advanced Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049373738"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":3.8178,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.93222031,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"62","issue":"5","first_page":"1404","last_page":"1415"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7828999757766724,"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":0.7828999757766724,"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/T11366","display_name":"Elasticity and Material Modeling","score":0.035999998450279236,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.009999999776482582,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.6224756836891174},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5046497583389282},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4815114438533783},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.44869306683540344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2008609175682068},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12262359261512756},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0950990617275238}],"concepts":[{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.6224756836891174},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5046497583389282},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4815114438533783},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.44869306683540344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2008609175682068},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12262359261512756},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0950990617275238},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","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":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017115","descriptor_name":"Catheter Ablation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D017115","descriptor_name":"Catheter Ablation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D017115","descriptor_name":"Catheter Ablation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D017115","descriptor_name":"Catheter Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D017115","descriptor_name":"Catheter Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D017115","descriptor_name":"Catheter Ablation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D062906","descriptor_name":"Cardiac Catheters","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D062906","descriptor_name":"Cardiac Catheters","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D062906","descriptor_name":"Cardiac Catheters","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2015.2389615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2015.2389615","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:25585409","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25585409","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}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320319952","display_name":"Canada Foundation for Innovation","ror":"https://ror.org/000az4664"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1682603","https://openalex.org/W158039134","https://openalex.org/W1546066142","https://openalex.org/W1663973292","https://openalex.org/W1957254518","https://openalex.org/W2014057017","https://openalex.org/W2022157658","https://openalex.org/W2025939589","https://openalex.org/W2031788367","https://openalex.org/W2058004183","https://openalex.org/W2088823887","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2104767879","https://openalex.org/W2122748217","https://openalex.org/W2130349647","https://openalex.org/W2134523479","https://openalex.org/W2146630054","https://openalex.org/W2147492425","https://openalex.org/W2160825462","https://openalex.org/W4212863985","https://openalex.org/W6653736356","https://openalex.org/W6672757769","https://openalex.org/W6681890687","https://openalex.org/W6683611959"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2016187641","https://openalex.org/W2805339068","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W2898370298","https://openalex.org/W2137437058","https://openalex.org/W4390401159","https://openalex.org/W2744391499","https://openalex.org/W2800070131"],"abstract_inverted_index":{"OBJECTIVE:":[0],"The":[1,241],"efficacy":[2],"of":[3,60,65,82,148,159,174,199,208,232,268,278,286],"catheter-based":[4],"cardiac":[5,25],"ablation":[6,31,180,188,295],"procedures":[7],"can":[8,163,195,250],"be":[9,164,251],"significantly":[10],"improved":[11],"if":[12],"real-time":[13],"information":[14,154,222],"is":[15,97,102,118,127,135,143,238],"available":[16],"concerning":[17],"contact":[18,47,137,175,201,220,269],"forces":[19,48,176,202],"between":[20],"the":[21,28,46,55,58,61,72,76,80,83,91,95,112,121,124,130,133,139,146,149,156,160,172,179,192,197,209,213,225,235,246,256,266,276,279,288,294],"catheter":[22,69,161],"tip":[23,96,134],"and":[24,104,141,162,245,264],"tissue.":[26],"However,":[27],"widely":[29],"used":[30,165],"catheters":[32,189],"are":[33],"not":[34],"equipped":[35],"for":[36,44,111,170,218],"force":[37,51,221,247,289],"sensing.":[38],"This":[39,272],"paper":[40],"proposes":[41],"a":[42,66,108,216,229,284],"technique":[43,249],"estimating":[45,287],"without":[49],"direct":[50],"measurements":[52],"by":[53,178,223,293],"studying":[54],"changes":[56],"in":[57,85,99,115,129,136,204],"shape":[59,126],"deflectable":[62,113,150,236],"distal":[63,74,281],"section":[64],"conventional":[67],"7-Fr":[68],"(henceforth":[70],"called":[71],"\"deflectable":[73,77],"shaft,\"":[75,78],"or":[79],"\"shaft\"":[81],"catheter)":[84],"different":[86,186],"loading":[87,157],"situations.":[88],"METHOD:":[89],"First,":[90],"shaft":[92,114,125,151,226,237,282],"curvature":[93,147,227],"when":[94],"moving":[98],"free":[100,116],"space":[101,117],"studied":[103],"based":[105],"on":[106,212,291],"that,":[107],"kinematic":[109,243],"model":[110,244],"proposed.":[119],"In":[120],"next":[122],"step,":[123],"analyzed":[128],"case":[131],"where":[132],"with":[138,184],"environment,":[140],"it":[142],"shown":[144],"that":[145,191,275],"provides":[152,283],"useful":[153],"about":[155],"status":[158],"to":[166,254],"define":[167],"an":[168],"index":[169,194],"determining":[171],"range":[173,198,267],"exerted":[177,290],"tip.":[181,296],"RESULTS:":[182],"Experiments":[183],"two":[185],"steerable":[187],"show":[190],"defined":[193],"detect":[196,261],"applied":[200],"correctly":[203],"more":[205],"than":[206],"80%":[207],"cases.":[210],"Based":[211],"proposed":[214,242],"technique,":[215],"framework":[217],"obtaining":[219],"using":[224],"at":[228],"limited":[230],"number":[231],"points":[233],"along":[234],"constructed.":[239],"CONCLUSION:":[240],"estimation":[248],"implemented":[252],"together":[253],"describe":[255],"catheter's":[257,280],"behavior":[258],"before":[259],"contact,":[260,263],"tip/tissue":[262],"determine":[265],"forces.":[270],"SIGNIFICANCE:":[271],"study":[273],"proves":[274],"flexibility":[277],"means":[285],"tissue":[292]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}
