{"id":"https://openalex.org/W2905372494","doi":"https://doi.org/10.1109/tro.2018.2879584","title":"A Mechanics-Based Model for 3-D Steering of Programmable Bevel-Tip Needles","display_name":"A Mechanics-Based Model for 3-D Steering of Programmable Bevel-Tip Needles","publication_year":2018,"publication_date":"2018-12-11","ids":{"openalex":"https://openalex.org/W2905372494","doi":"https://doi.org/10.1109/tro.2018.2879584","mag":"2905372494"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2879584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2018.2879584","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/8681206/08572770.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/8681206/08572770.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026946894","display_name":"Thomas Watts","orcid":"https://orcid.org/0000-0001-5270-0859"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thomas Watts","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5270-0859","affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043403460","display_name":"Riccardo Secoli","orcid":"https://orcid.org/0000-0003-4688-2494"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Riccardo Secoli","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4688-2494","affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Mechatronics In Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5199-9083","affiliations":[{"raw_affiliation_string":"Mechatronics In Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":2.3809,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.8884145,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"2","first_page":"371","last_page":"386"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.975600004196167,"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/deflection","display_name":"Deflection (physics)","score":0.6197261810302734},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4824714958667755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4022451341152191},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3943248689174652},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3853136897087097},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34524670243263245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2878567576408386},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2746693193912506},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.16704979538917542}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6197261810302734},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4824714958667755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4022451341152191},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3943248689174652},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3853136897087097},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34524670243263245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2878567576408386},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2746693193912506},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.16704979538917542}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2018.2879584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2018.2879584","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/8681206/08572770.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/65206","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/65206","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"386","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1109/tro.2018.2879584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2018.2879584","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/8681206/08572770.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G155497202","display_name":"DTA - Imperial College London","funder_award_id":"EP/M506345/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4487409002","display_name":"Enhanced Delivery Ecosystem for Neurosurgery in 2020","funder_award_id":"688279","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2905372494.pdf","grobid_xml":"https://content.openalex.org/works/W2905372494.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W289820477","https://openalex.org/W1526676349","https://openalex.org/W1550622122","https://openalex.org/W1862800359","https://openalex.org/W1969971545","https://openalex.org/W2015458098","https://openalex.org/W2057271741","https://openalex.org/W2069868184","https://openalex.org/W2070539717","https://openalex.org/W2090415875","https://openalex.org/W2093974998","https://openalex.org/W2097202674","https://openalex.org/W2097442662","https://openalex.org/W2100593987","https://openalex.org/W2102729693","https://openalex.org/W2104424440","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2117772657","https://openalex.org/W2121939955","https://openalex.org/W2128422212","https://openalex.org/W2132167838","https://openalex.org/W2133823800","https://openalex.org/W2134555091","https://openalex.org/W2134558064","https://openalex.org/W2156199850","https://openalex.org/W2292456824","https://openalex.org/W2293392226","https://openalex.org/W2316658738","https://openalex.org/W2326691141","https://openalex.org/W2479204581","https://openalex.org/W2607154621","https://openalex.org/W2796559078","https://openalex.org/W4247379505","https://openalex.org/W6631594624","https://openalex.org/W6674461316","https://openalex.org/W6697017461","https://openalex.org/W6701066308","https://openalex.org/W6737037416"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036","https://openalex.org/W2271181815"],"abstract_inverted_index":{"We":[0,156],"present":[1],"a":[2,13,23,79,116,137,145,158,163,171],"model":[3,41,139,166],"for":[4,53,141,167],"the":[5,18,42,60,94,98,103,106,133],"steering":[6,20,95,165],"of":[7,15,22,46,78,89,105,120,153,176],"programmable":[8,72],"bevel-tip":[9,73],"needles,":[10],"along":[11],"with":[12,115,144,170],"set":[14,88],"experiments":[16],"demonstrating":[17],"three-dimensional":[19],"performance":[21],"new,":[24],"clinically":[25,65],"viable,":[26],"4-segment,":[27],"preproduction":[28],"prototype.":[29],"A":[30,64],"multibeam":[31,61,134],"approach":[32,135],"based":[33],"on":[34],"Euler-Bernoulli":[35],"beam":[36],"theory":[37],"is":[38,82],"used":[39,57,83],"to":[40,58,84,92,110,161],"novel":[43],"multisegment":[44],"design":[45,109],"these":[47],"needles.":[48],"Finite":[49],"element":[50],"(FE)":[51],"simulations":[52,130],"known":[54],"loads":[55],"are":[56],"validate":[59],"deflection":[62,152],"model.":[63,96],"sized":[66],"(2.5":[67],"mm":[68,124,183],"outer":[69],"diameter),":[70],"4-segment":[71,107],"needle,":[74],"manufactured":[75],"by":[76],"extrusion":[77],"medical-grade":[80],"polymer,":[81],"conduct":[85],"an":[86],"extensive":[87],"experimental":[90,168],"trials":[91,169],"evaluate":[93],"For":[97],"first":[99],"time,":[100],"we":[101],"demonstrate":[102],"ability":[104],"needle":[108],"steer":[111],"in":[112,149,173],"any":[113],"direction":[114],"maximum":[117],"achievable":[118],"curvature":[119,174],"(0.0192":[121],"\u00b1":[122],"0.0014":[123],"<sup":[125,180,184],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[126,181,185],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-1</sup>":[127,186],").":[128],"FE":[129],"confirm":[131],"that":[132],"produces":[136],"good":[138],"fit":[140],"tip":[142,151],"deflections,":[143],"root-mean-square":[146],"deviation":[147],"(RMSD)":[148],"modeled":[150],"0.2636":[154],"mm.":[155],"perform":[157],"parameter":[159],"optimization":[160],"produce":[162],"best-fit":[164],"RMSD":[172],"prediction":[175],"1.12":[177],"\u00d7":[178],"10":[179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-3</sup>":[182],".":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
