{"id":"https://openalex.org/W2530266826","doi":"https://doi.org/10.1142/s2424905x17500027","title":"Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks","display_name":"Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks","publication_year":2016,"publication_date":"2016-10-10","ids":{"openalex":"https://openalex.org/W2530266826","doi":"https://doi.org/10.1142/s2424905x17500027","mag":"2530266826"},"language":"en","primary_location":{"id":"doi:10.1142/s2424905x17500027","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x17500027","pdf_url":null,"source":{"id":"https://openalex.org/S4210232911","display_name":"Journal of Medical Robotics Research","issn_l":"2424-905X","issn":["2424-905X","2424-9068"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Medical Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016697264","display_name":"Jake Sganga","orcid":"https://orcid.org/0000-0002-1464-5219"},"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":"Jake A. Sganga","raw_affiliation_strings":["Department of Bioengineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051027391","display_name":"David B. Camarillo","orcid":"https://orcid.org/0000-0003-4965-2977"},"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":"David B. Camarillo","raw_affiliation_strings":["Department of Bioengineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5054598974"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":1.1966,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.79161073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"02","issue":"01","first_page":"1750002","last_page":"1750002"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9878000020980835,"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/kinematics","display_name":"Kinematics","score":0.5788776278495789},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5400870442390442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5272026658058167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5105181932449341},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4562798738479614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4418865442276001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42016202211380005},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3409423530101776},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2880924344062805},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22644367814064026},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21416258811950684},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1377308964729309}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5788776278495789},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5400870442390442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5272026658058167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5105181932449341},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4562798738479614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4418865442276001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42016202211380005},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3409423530101776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2880924344062805},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22644367814064026},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21416258811950684},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1377308964729309},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2424905x17500027","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x17500027","pdf_url":null,"source":{"id":"https://openalex.org/S4210232911","display_name":"Journal of Medical Robotics Research","issn_l":"2424-905X","issn":["2424-905X","2424-9068"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Medical Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W1503317857","https://openalex.org/W1541798791","https://openalex.org/W1558901143","https://openalex.org/W1560270123","https://openalex.org/W1563706362","https://openalex.org/W1601695141","https://openalex.org/W1869209982","https://openalex.org/W1962883659","https://openalex.org/W1969604763","https://openalex.org/W1984408657","https://openalex.org/W1988000217","https://openalex.org/W1988003703","https://openalex.org/W1989604948","https://openalex.org/W1997060717","https://openalex.org/W2006573361","https://openalex.org/W2012342762","https://openalex.org/W2016958754","https://openalex.org/W2018071836","https://openalex.org/W2020409524","https://openalex.org/W2023419272","https://openalex.org/W2035298084","https://openalex.org/W2036915629","https://openalex.org/W2037290941","https://openalex.org/W2041046512","https://openalex.org/W2042010963","https://openalex.org/W2046394217","https://openalex.org/W2053265216","https://openalex.org/W2056391249","https://openalex.org/W2057785338","https://openalex.org/W2060978823","https://openalex.org/W2061243203","https://openalex.org/W2065682774","https://openalex.org/W2067190982","https://openalex.org/W2096645690","https://openalex.org/W2096867256","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2103710021","https://openalex.org/W2105125913","https://openalex.org/W2106190443","https://openalex.org/W2110062942","https://openalex.org/W2113163946","https://openalex.org/W2113411470","https://openalex.org/W2115960395","https://openalex.org/W2117470639","https://openalex.org/W2119343887","https://openalex.org/W2119531408","https://openalex.org/W2121744551","https://openalex.org/W2121817652","https://openalex.org/W2131150943","https://openalex.org/W2132505348","https://openalex.org/W2133231729","https://openalex.org/W2134178143","https://openalex.org/W2139470902","https://openalex.org/W2142828858","https://openalex.org/W2146673314","https://openalex.org/W2147492425","https://openalex.org/W2151030903","https://openalex.org/W2151675019","https://openalex.org/W2160249763","https://openalex.org/W2164013717","https://openalex.org/W2164630694","https://openalex.org/W2166401133","https://openalex.org/W2169748775","https://openalex.org/W2318613964","https://openalex.org/W3020993982","https://openalex.org/W4234891227"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W2145980196","https://openalex.org/W2018238589","https://openalex.org/W1486373823","https://openalex.org/W1984283682","https://openalex.org/W2235865024","https://openalex.org/W1965257389","https://openalex.org/W3145558417","https://openalex.org/W4240233348"],"abstract_inverted_index":{"Continuum":[0],"manipulators":[1,68],"enable":[2],"minimally-invasive":[3],"surgery":[4],"on":[5,112],"the":[6,10,16,24,64,76,82,85,129,138,141,158,163],"beating":[7,52,115],"heart,":[8],"but":[9],"challenges":[11],"involved":[12],"in":[13,27,50,84,93],"manually":[14,161],"controlling":[15],"manipulator\u2019s":[17,46,77],"tip":[18,65],"position":[19,47],"and":[20,30,48,90,132,192],"contact":[21,120],"force":[22,49],"with":[23,69],"tissue":[25],"result":[26],"failed":[28],"procedures":[29],"complications.":[31],"The":[32,79],"objective":[33],"of":[34,43,67,87,140,160,190],"this":[35,100],"work":[36],"is":[37,125],"to":[38,127],"achieve":[39],"autonomous":[40],"robotic":[41,105],"control":[42,60,102],"a":[44,51,57,104,113],"continuum":[45],"heart":[53,116],"model.":[54],"We":[55],"present":[56],"model-less":[58,101],"hybrid":[59],"approach":[61],"that":[62],"regulates":[63],"position/force":[66],"unknown":[70,73],"kinematics/mechanics,":[71],"under":[72],"constraints":[74],"along":[75],"body.":[78],"algorithms":[80],"estimate":[81],"Jacobian":[83],"presence":[86],"heartbeat":[88],"disturbances":[89],"sensor":[91],"noise":[92],"real":[94],"time,":[95],"enabling":[96],"closed-loop":[97],"control.":[98],"Using":[99],"approach,":[103],"catheter":[106],"autonomously":[107],"traced":[108],"clinically":[109],"relevant":[110],"paths":[111],"simulated":[114],"environment":[117],"while":[118,154],"regulating":[119],"force.":[121],"A":[122],"gating":[123],"procedure":[124],"used":[126],"tighten":[128],"treatment":[130],"margins":[131],"improve":[133,188,194],"precision.":[134],"Experimental":[135],"results":[136],"demonstrate":[137],"capabilities":[139],"robot":[142],"([Formula:":[143,166],"see":[144,146,148,150,167,169,171,173],"text][Formula:":[145,149,168,172],"text]mm\u2013[Formula:":[147,170],"text]mm":[151,174],"tracking":[152,175],"error)":[153],"user":[155],"demonstrations":[156],"show":[157],"difficulty":[159],"performing":[162],"same":[164],"task":[165],"error).":[176],"This":[177],"new,":[178],"robotically-enabled":[179],"contiguous":[180],"ablation":[181,185],"method":[182],"could":[183],"reduce":[184],"path":[186],"discontinuities,":[187],"consistency":[189],"treatment,":[191],"therefore":[193],"clinical":[195],"outcomes.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}