{"id":"https://openalex.org/W2097202674","doi":"https://doi.org/10.1109/tro.2008.2010357","title":"Image Guidance of Flexible Tip-Steerable Needles","display_name":"Image Guidance of Flexible Tip-Steerable Needles","publication_year":2009,"publication_date":"2009-01-20","ids":{"openalex":"https://openalex.org/W2097202674","doi":"https://doi.org/10.1109/tro.2008.2010357","mag":"2097202674","pmid":"https://pubmed.ncbi.nlm.nih.gov/20431694"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2008.2010357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2010357","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/2860577","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018993753","display_name":"Vinutha Kallem","orcid":null},"institutions":[{"id":"https://openalex.org/I1293796582","display_name":"Seat (Spain)","ror":"https://ror.org/024kx0v68","country_code":"ES","type":"company","lineage":["https://openalex.org/I1293796582"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["ES","US"],"is_corresponding":false,"raw_author_name":"V. Kallem","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania vkallem@seas.upenn.edu","Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania vkallem@seas.upenn.edu","institution_ids":["https://openalex.org/I1293796582"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"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"]},{"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":"N.J. Cowan","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Laurel, MD, USA","Dept. of Mech. Eng., Johns Hopkins Univ., Laurel, MD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Laurel, MD, USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Johns Hopkins Univ., Laurel, MD","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.6655,"has_fulltext":false,"cited_by_count":136,"citation_normalized_percentile":{"value":0.97266291,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"25","issue":"1","first_page":"191","last_page":"196"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9793999791145325,"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/bevel","display_name":"Bevel","score":0.7377025485038757},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6803427338600159},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5254082679748535},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5238633155822754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5096893310546875},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.49434399604797363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43884673714637756},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.42614224553108215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4035879969596863},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3017406761646271},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1553162932395935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1452682614326477},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1326325237751007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13100481033325195}],"concepts":[{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.7377025485038757},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6803427338600159},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5254082679748535},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5238633155822754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5096893310546875},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.49434399604797363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43884673714637756},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.42614224553108215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4035879969596863},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3017406761646271},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1553162932395935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1452682614326477},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1326325237751007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13100481033325195},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2008.2010357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2010357","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmid:20431694","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/20431694","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 robotics : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:2860577","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/2860577","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 Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:2860577","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/2860577","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 Robot","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16"}],"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/G8972736158","display_name":null,"funder_award_id":"R21 EB003452","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":32,"referenced_works":["https://openalex.org/W1526676349","https://openalex.org/W1557278351","https://openalex.org/W1564897360","https://openalex.org/W1987164933","https://openalex.org/W1996842604","https://openalex.org/W2015812850","https://openalex.org/W2028539056","https://openalex.org/W2036471941","https://openalex.org/W2069619466","https://openalex.org/W2090415875","https://openalex.org/W2097442662","https://openalex.org/W2100890205","https://openalex.org/W2101817128","https://openalex.org/W2102729693","https://openalex.org/W2107550832","https://openalex.org/W2118152376","https://openalex.org/W2123228603","https://openalex.org/W2132167838","https://openalex.org/W2138475205","https://openalex.org/W2144707556","https://openalex.org/W2154353809","https://openalex.org/W2154598371","https://openalex.org/W2156701162","https://openalex.org/W2157758913","https://openalex.org/W2168278516","https://openalex.org/W2180065899","https://openalex.org/W2306839918","https://openalex.org/W2754300823","https://openalex.org/W4285719527","https://openalex.org/W6631594624","https://openalex.org/W6674461316","https://openalex.org/W6683148708"],"related_works":["https://openalex.org/W2426053110","https://openalex.org/W2086122296","https://openalex.org/W2889396517","https://openalex.org/W2504405770","https://openalex.org/W2995048226","https://openalex.org/W2403450558","https://openalex.org/W2356745748","https://openalex.org/W3194069628","https://openalex.org/W4226151521","https://openalex.org/W2077058165"],"abstract_inverted_index":{"Image":[0],"guidance":[1,25,181],"promises":[2],"to":[3,70,94,112,130],"improve":[4],"targeting":[5],"accuracy":[6],"and":[7,63,151,162],"broaden":[8],"the":[9,24,56,87,107,110,119,124,154,157,183],"scope":[10],"of":[11,26,46,76,98,118,126,149,153,159,185],"medical":[12],"procedures":[13],"performed":[14],"with":[15,167],"needles.":[16],"This":[17],"paper":[18],"takes":[19],"a":[20,27,41,79,95,146,173],"step":[21,81],"toward":[22],"automating":[23],"flexible":[28],"tip-steerable":[29,168],"needle":[30,60,88,120],"as":[31,100],"it":[32,72,101],"is":[33,61,102,128,139],"inserted":[34,62,171],"into":[35,172],"human":[36],"tissue.":[37],"We":[38],"build":[39],"upon":[40],"previously":[42],"proposed":[43],"nonholonomic":[44],"model":[45],"needles":[47,170],"that":[48,86],"derive":[49],"steering":[50],"from":[51,123],"asymmetric":[52],"bevel":[53],"forces":[54],"at":[55,65],"tip.":[57],"The":[58,116],"bevel-tip":[59],"rotated":[64],"its":[66],"base":[67],"in":[68,73,109,156],"order":[69],"steer":[71],"six":[74],"degrees":[75],"freedom.":[77],"As":[78],"first":[80],"for":[82],"control,":[83],"we":[84,137],"show":[85],"tip":[89,121],"can":[90],"be":[91],"automatically":[92],"guided":[93],"planar":[96],"slice":[97],"tissue":[99,176],"inserted.":[103],"Our":[104],"approach":[105],"keeps":[106],"physician":[108],"loop":[111],"control":[113],"insertion":[114],"speed.":[115],"distance":[117],"position":[122],"plane":[125],"interest":[127],"used":[129],"drive":[131],"an":[132],"observer-based":[133],"feedback":[134],"controller":[135,155],"which":[136],"prove":[138],"locally":[140],"asymptotically":[141],"stable.":[142],"Numerical":[143],"simulations":[144],"demonstrate":[145],"large":[147],"domain":[148],"attraction":[150],"robustness":[152],"face":[158],"parametric":[160],"uncertainty":[161],"measurement":[163],"noise.":[164],"Physical":[165],"experiments":[166],"Nitinol":[169],"transparent":[174],"plastisol":[175],"phantom":[177],"under":[178],"stereo":[179],"image":[180],"validate":[182],"effectiveness":[184],"our":[186],"approach.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":13}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
