{"id":"https://openalex.org/W2789905203","doi":"https://doi.org/10.1109/tbme.2018.2800639","title":"Design and Development of Surgeon Augmented Endovascular Robotic System","display_name":"Design and Development of Surgeon Augmented Endovascular Robotic System","publication_year":2018,"publication_date":"2018-01-31","ids":{"openalex":"https://openalex.org/W2789905203","doi":"https://doi.org/10.1109/tbme.2018.2800639","mag":"2789905203","pmid":"https://pubmed.ncbi.nlm.nih.gov/29993507"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2018.2800639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2018.2800639","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/A5035329722","display_name":"Naveen Sankaran","orcid":"https://orcid.org/0000-0003-3318-4443"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naveen Kumar Sankaran","raw_affiliation_strings":["Health Care Engineering System Center, University of Illinois at Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-3318-4443","affiliations":[{"raw_affiliation_string":"Health Care Engineering System Center, University of Illinois at Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004475884","display_name":"Pramod Chembrammel","orcid":"https://orcid.org/0000-0001-6445-7542"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pramod Chembrammel","raw_affiliation_strings":["Health Care Engineering System Center, University of Illinois at Urbana-Champaign"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Health Care Engineering System Center, University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037816826","display_name":"Adnan H. Siddiqui","orcid":"https://orcid.org/0000-0002-9519-0059"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adnan Siddiqui","raw_affiliation_strings":["Department of Neurosurgery, The State University of New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery, The State University of New York","institution_ids":["https://openalex.org/I1327163397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045616278","display_name":"Kenneth V. Snyder","orcid":"https://orcid.org/0000-0002-0842-9026"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenneth Snyder","raw_affiliation_strings":["Department of Neurosurgery, The State University of New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery, The State University of New York","institution_ids":["https://openalex.org/I1327163397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054200420","display_name":"Thenkurussi Kesavadas","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thenkurussi Kesavadas","raw_affiliation_strings":["Health Care Engineering System Center, University of Illinois at Urbana-Champaign"],"raw_orcid":"https://orcid.org/0000-0002-3770-9756","affiliations":[{"raw_affiliation_string":"Health Care Engineering System Center, University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2299,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.87266696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"65","issue":"11","first_page":"2483","last_page":"2493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8816999793052673,"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":0.8816999793052673,"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":0.09529999643564224,"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/T10916","display_name":"Surgical Simulation and Training","score":0.002199999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6362284421920776},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5398176908493042},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.529224157333374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.519790530204773},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.47740307450294495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4384686350822449},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4317779242992401},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.41074106097221375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33993804454803467},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33874693512916565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2354167103767395}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6362284421920776},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5398176908493042},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.529224157333374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.519790530204773},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.47740307450294495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4384686350822449},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4317779242992401},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.41074106097221375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33993804454803467},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33874693512916565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2354167103767395},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[{"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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057510","descriptor_name":"Endovascular Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D057510","descriptor_name":"Endovascular Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D057510","descriptor_name":"Endovascular Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D057510","descriptor_name":"Endovascular Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D057510","descriptor_name":"Endovascular Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D057510","descriptor_name":"Endovascular Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D066231","descriptor_name":"Surgeons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D066231","descriptor_name":"Surgeons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D066231","descriptor_name":"Surgeons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2018.2800639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2018.2800639","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:29993507","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29993507","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1255876741","https://openalex.org/W1448138781","https://openalex.org/W1487127700","https://openalex.org/W1557988442","https://openalex.org/W1578829123","https://openalex.org/W1676470423","https://openalex.org/W1836596504","https://openalex.org/W1965630401","https://openalex.org/W1966531554","https://openalex.org/W1966575367","https://openalex.org/W1967489513","https://openalex.org/W1971504581","https://openalex.org/W1978023077","https://openalex.org/W1980626985","https://openalex.org/W1988622426","https://openalex.org/W1989694608","https://openalex.org/W1999900897","https://openalex.org/W2020955688","https://openalex.org/W2045804775","https://openalex.org/W2053300789","https://openalex.org/W2055211001","https://openalex.org/W2059293569","https://openalex.org/W2060427532","https://openalex.org/W2076522424","https://openalex.org/W2077041534","https://openalex.org/W2082658556","https://openalex.org/W2125868025","https://openalex.org/W2131487501","https://openalex.org/W2136747438","https://openalex.org/W2143473260","https://openalex.org/W2144400435","https://openalex.org/W2146067573","https://openalex.org/W2254936224","https://openalex.org/W2401503529","https://openalex.org/W2413309436","https://openalex.org/W2586205312","https://openalex.org/W4235787840","https://openalex.org/W6713118097"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1923069992","https://openalex.org/W2559957734","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2052890916","https://openalex.org/W4205146758","https://openalex.org/W4312725960"],"abstract_inverted_index":{"OBJECTIVE:":[0],"Inadequate":[1],"visual":[2],"and":[3,42,112,120,215],"force":[4,71,87,171],"feedback":[5,60],"while":[6,189],"navigating":[7],"surgical":[8,54,82,229],"tools":[9,230],"elevate":[10],"the":[11,67,81,131,136,142,149,155,161,165,183,217,228,238],"risk":[12],"of":[13,122,130,160,185,227],"endovascular":[14,45,211],"procedures.":[15],"It":[16,222],"also":[17,236],"poses":[18],"occupational":[19],"hazard":[20],"due":[21,108],"to":[22,25,63,104,109,113,242],"repeated":[23],"exposure":[24],"X-rays.":[26],"A":[27],"teleoperated":[28],"robotic":[29,46],"system":[30,47,124,132,162,166,199],"that":[31,48,79,164,206],"augments":[32,49],"surgeon's":[33,50,232],"actions":[34,51],"is":[35,74,89,96,139,152,167,173,193,200],"a":[36,101,201],"solution.":[37],"METHOD:":[38],"We":[39],"have":[40],"designed":[41],"developed":[43],"an":[44],"using":[52],"conventional":[53],"tools,":[55],"as":[56,58],"well":[57],"generates":[59],"in":[61,98,133,148,182,244],"order":[62],"ensure":[64],"safety":[65,180],"during":[66,210],"procedure.":[68],"The":[69,117,128,169,179],"reaction":[70,170,187],"from":[72,76],"vasculature":[73,192],"estimated":[75],"motor":[77],"current":[78],"drives":[80],"tool.":[83],"Calibration":[84],"required":[85],"for":[86,240],"estimation":[88,172],"based":[90],"on":[91],"bilevel":[92],"optimization.":[93],"Input":[94],"shaping":[95],"used":[97],"conjunction":[99],"with":[100,135,191],"cascaded":[102,156],"controller":[103],"avoid":[105],"large":[106],"responses":[107,129],"faster":[110],"inputs":[111],"track":[114],"tool":[115],"position.":[116],"design,":[118],"realization,":[119],"testing":[121],"our":[123],"are":[125],"presented.":[126],"RESULTS:":[127],"comparison":[134],"dynamics":[137],"model":[138],"similar":[140],"vis-\u00e0-vis":[141],"same":[143],"input":[144],"commands.":[145],"Any":[146],"error":[147],"position":[150],"tracking":[151],"reduced":[153],"by":[154,213],"controller.":[157],"Phase-portrait":[158],"analysis":[159],"showed":[163],"stable.":[168],"validated":[174],"against":[175],"load":[176],"cell":[177],"measurements.":[178],"mechanism":[181],"events":[184],"excessive":[186],"forces":[188],"interacting":[190],"demonstrated.":[194],"CONCLUSION":[195],"AND":[196],"SIGNIFICANCE:":[197],"Our":[198],"step":[202],"toward":[203],"intelligent":[204],"robots":[205],"can":[207],"assist":[208],"surgeons":[209,218,241],"procedures":[212],"monitoring":[214],"alerting":[216],"regarding":[219],"detrimental":[220],"parameters.":[221],"arrests":[223],"any":[224],"unintended":[225],"excursions":[226],"or":[231],"actions.":[233],"This":[234],"will":[235],"eliminate":[237],"need":[239],"be":[243],"radiation":[245],"environment.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}
