{"id":"https://openalex.org/W2789767748","doi":"https://doi.org/10.1142/s2424905x18420047","title":"Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework","display_name":"Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework","publication_year":2018,"publication_date":"2018-03-19","ids":{"openalex":"https://openalex.org/W2789767748","doi":"https://doi.org/10.1142/s2424905x18420047","mag":"2789767748"},"language":"en","primary_location":{"id":"doi:10.1142/s2424905x18420047","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x18420047","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/A5029594819","display_name":"Jay Carriere","orcid":"https://orcid.org/0000-0003-4686-4704"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jay Carriere","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4686-4704","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057363853","display_name":"Mohsen Khadem","orcid":"https://orcid.org/0000-0002-6873-273X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohsen Khadem","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076465575","display_name":"Carlos Rossa","orcid":"https://orcid.org/0000-0002-5879-1752"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Carlos Rossa","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007616360","display_name":"Nawaid Usmani","orcid":"https://orcid.org/0000-0003-1298-4636"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nawaid Usmani","raw_affiliation_strings":["Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB T6G 1Z2, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB T6G 1Z2, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ronald Sloboda","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ronald Sloboda","raw_affiliation_strings":["Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB T6G 1Z2, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB T6G 1Z2, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB T6G 1H9, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.6493,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.65634728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"04","issue":"01","first_page":"1842004","last_page":"1842004"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9886999726295471,"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":0.7818987369537354},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5978644490242004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.506318211555481},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.46935635805130005},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.43866002559661865},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4380573034286499},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4208434224128723},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4199884831905365},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.34001076221466064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25033479928970337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20508265495300293},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.19339331984519958},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1780068278312683},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16747620701789856},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.12931355834007263}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.7818987369537354},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5978644490242004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.506318211555481},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.46935635805130005},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.43866002559661865},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4380573034286499},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4208434224128723},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4199884831905365},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.34001076221466064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25033479928970337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20508265495300293},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.19339331984519958},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1780068278312683},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16747620701789856},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.12931355834007263},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2424905x18420047","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x18420047","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":[],"awards":[{"id":"https://openalex.org/G3258182903","display_name":null,"funder_award_id":"CHRP 446520","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G4126700459","display_name":null,"funder_award_id":"CPG 127768","funder_id":"https://openalex.org/F4320319927","funder_display_name":"Alberta Innovates - Health Solutions"},{"id":"https://openalex.org/G5949840312","display_name":null,"funder_award_id":"CPG 127768","funder_id":"https://openalex.org/F4320334506","funder_display_name":"Canadian Institutes of Health Research"}],"funders":[{"id":"https://openalex.org/F4320319927","display_name":"Alberta Innovates - Health Solutions","ror":"https://ror.org/00ynafe15"},{"id":"https://openalex.org/F4320319946","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27"},{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320337512","display_name":"Nuclear Physics","ror":"https://ror.org/02atag894"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1568404366","https://openalex.org/W1978518835","https://openalex.org/W1985235885","https://openalex.org/W1987164933","https://openalex.org/W2038132330","https://openalex.org/W2040709641","https://openalex.org/W2056206824","https://openalex.org/W2081984806","https://openalex.org/W2097202674","https://openalex.org/W2101817128","https://openalex.org/W2107550832","https://openalex.org/W2118877769","https://openalex.org/W2128339709","https://openalex.org/W2146761577","https://openalex.org/W2180065899","https://openalex.org/W2320728951","https://openalex.org/W2408215011","https://openalex.org/W2424613788","https://openalex.org/W2522393237","https://openalex.org/W2546479081","https://openalex.org/W2601771264","https://openalex.org/W2604443115","https://openalex.org/W4237084318"],"related_works":["https://openalex.org/W2389281101","https://openalex.org/W3107042173","https://openalex.org/W2411709837","https://openalex.org/W4240628612","https://openalex.org/W3193651683","https://openalex.org/W2016426829","https://openalex.org/W2407572472","https://openalex.org/W2413279076","https://openalex.org/W2057864422","https://openalex.org/W2022724431"],"abstract_inverted_index":{"Long":[0],"flexible":[1],"needles":[2],"used":[3,58,110],"in":[4,153,163],"percutaneous":[5],"procedures":[6],"such":[7,122],"as":[8],"biopsy":[9],"and":[10,35,97,134,144],"brachytherapy":[11],"deflect":[12],"during":[13,32],"insertion,":[14],"thus":[15],"reducing":[16],"needle":[17,31,38,50,66,100,105,124,147,172,177,186],"tip":[18,51,101,106],"placement":[19],"accuracy.":[20],"This":[21],"paper":[22],"presents":[23],"a":[24,88,154,170],"surgeon-in-the-loop":[25,171],"system":[26,159],"to":[27,59,64,74,82,112,182],"automatically":[28],"steer":[29],"the":[30,75,92,114,131,135,142,184,197],"manual":[33],"insertion":[34,115,173,199],"compensate":[36],"for":[37,99,119,140],"deflection":[39,125,187],"using":[40],"an":[41,71],"event-triggered":[42,136],"controller.":[43],"A":[44],"reduced-order":[45,76],"kinematic":[46],"bicycle":[47,77],"model":[48,133],"incorporating":[49],"measurement":[52],"data":[53],"from":[54],"ultrasound":[55],"images":[56],"is":[57,80,95,126],"determine":[60],"steering":[61,120,178],"actions":[62,121],"required":[63],"minimize":[65],"deflection.":[67],"To":[68],"this":[69],"end,":[70],"analytic":[72,132],"solution":[73],"model,":[78,94],"which":[79],"shown":[81,181],"be":[83],"more":[84],"computationally":[85],"efficient":[86],"than":[87],"discrete-step":[89],"implementation":[90],"of":[91,130,146,201],"same":[93],"derived":[96],"utilized":[98],"trajectory":[102,107],"prediction.":[103],"These":[104],"predictions":[108],"are":[109],"online":[111],"optimize":[113],"depths":[116],"(event-trigger":[117],"points)":[118],"that":[123],"minimized.":[127],"The":[128,158,175],"use":[129],"controller":[137,179],"also":[138],"allows":[139],"limiting":[141],"number":[143],"extent":[145],"rotations":[148],"(to":[149],"reduce":[150],"tissue":[151,167],"trauma)":[152],"constrained":[155],"optimization":[156],"framework.":[157],"was":[160,180],"tested":[161],"experimentally":[162],"three":[164],"different":[165],"ex-vivo":[166],"phantoms":[168],"with":[169],"device.":[174],"proposed":[176],"keep":[183],"average":[185],"within":[188],"0.47":[189],"[Formula:":[190],"see":[191,194,203],"text]":[192],"0.21[Formula:":[193],"text]mm":[195],"at":[196],"final":[198],"depth":[200],"120[Formula:":[202],"text]mm.":[204]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}