{"id":"https://openalex.org/W2157521920","doi":"https://doi.org/10.1177/0278364909103785","title":"Robot-assisted Active Catheter Insertion: Algorithms and Experiments","display_name":"Robot-assisted Active Catheter Insertion: Algorithms and Experiments","publication_year":2009,"publication_date":"2009-05-19","ids":{"openalex":"https://openalex.org/W2157521920","doi":"https://doi.org/10.1177/0278364909103785","mag":"2157521920"},"language":"en","primary_location":{"id":"doi:10.1177/0278364909103785","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364909103785","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of 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/A5074629957","display_name":"Jagadeesan Jayender","orcid":"https://orcid.org/0000-0002-3308-3012"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"J. Jayender","raw_affiliation_strings":["The University of Western Ontario and Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, Ontario, Canada,"],"affiliations":[{"raw_affiliation_string":"The University of Western Ontario and Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, Ontario, Canada,","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R.V. Patel","raw_affiliation_strings":["The University of Western Ontario and Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, Ontario, Canada,"],"affiliations":[{"raw_affiliation_string":"The University of Western Ontario and Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, Ontario, Canada,","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075821279","display_name":"Suwas Nikumb","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"S. Nikumb","raw_affiliation_strings":["Integrated Manufacturing Technologies Institute (IMTI), National Research Council (NRC), London, Ontario, Canada,"],"affiliations":[{"raw_affiliation_string":"Integrated Manufacturing Technologies Institute (IMTI), National Research Council (NRC), London, Ontario, Canada,","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032056508","https://openalex.org/A5074629957","https://openalex.org/A5075821279"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":2.8905,"has_fulltext":false,"cited_by_count":89,"citation_normalized_percentile":{"value":0.90531051,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"28","issue":"9","first_page":"1101","last_page":"1117"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9919999837875366,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.7024258375167847},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5677809715270996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5378154516220093},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5038153529167175},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49819183349609375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.497740775346756},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4728783965110779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3951888978481293},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37468570470809937},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3713231682777405},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.23259836435317993},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19339391589164734}],"concepts":[{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.7024258375167847},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5677809715270996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5378154516220093},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5038153529167175},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49819183349609375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.497740775346756},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4728783965110779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3951888978481293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37468570470809937},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3713231682777405},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.23259836435317993},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19339391589164734},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364909103785","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364909103785","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W150101478","https://openalex.org/W154941835","https://openalex.org/W1524934791","https://openalex.org/W1559789072","https://openalex.org/W1600321150","https://openalex.org/W1799535672","https://openalex.org/W1925526307","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1979435356","https://openalex.org/W1979568704","https://openalex.org/W1981884638","https://openalex.org/W2013633925","https://openalex.org/W2016958754","https://openalex.org/W2019214176","https://openalex.org/W2033380643","https://openalex.org/W2044316327","https://openalex.org/W2050853936","https://openalex.org/W2059293569","https://openalex.org/W2061140356","https://openalex.org/W2061367821","https://openalex.org/W2064056700","https://openalex.org/W2064068586","https://openalex.org/W2077574715","https://openalex.org/W2085364515","https://openalex.org/W2089048253","https://openalex.org/W2100563249","https://openalex.org/W2105360813","https://openalex.org/W2109315789","https://openalex.org/W2109668146","https://openalex.org/W2112474089","https://openalex.org/W2115070549","https://openalex.org/W2125150316","https://openalex.org/W2125868025","https://openalex.org/W2129417101","https://openalex.org/W2142026613","https://openalex.org/W2142621683","https://openalex.org/W2148021792","https://openalex.org/W2151677602","https://openalex.org/W2156696972","https://openalex.org/W2163711177","https://openalex.org/W2165092969","https://openalex.org/W2169748775","https://openalex.org/W2418494200","https://openalex.org/W3140331270","https://openalex.org/W4231266681","https://openalex.org/W4388823094"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W1572215850","https://openalex.org/W1985775355","https://openalex.org/W2352115286","https://openalex.org/W2084793300","https://openalex.org/W2476350415","https://openalex.org/W599377045"],"abstract_inverted_index":{"Angioplasty":[0],"is":[1,11,36,79],"a":[2,9,14,44,48,82,91,110,140,190,198,210],"frequently":[3],"performed":[4],"clinical":[5],"procedure":[6],"in":[7,163],"which":[8],"catheter":[10,57,92,96,126,160,184,208],"inserted":[12],"into":[13,185],"blood":[15,30],"vessel":[16],"under":[17],"image":[18],"guidance":[19,181],"to":[20,27,32,66,73,84,114,149,168,171,200,218,226],"open":[21],"narrowed":[22],"or":[23,71,99],"blocked":[24],"arteries":[25],"and":[26,52,68,93,139,178,212],"allow":[28],"normal":[29],"flow":[31],"resume.":[33],"This":[34],"paper":[35,107,165],"concerned":[37],"with":[38,128],"the":[39,62,86,95,106,117,121,154,172,183,203,206,228,231],"development":[40],"of":[41,88,90,120,123,153,175,182,205,230],"algorithms":[42,158],"for":[43,47,56,64,81,137,159,197],"robot-assisted":[45],"method":[46],"more":[49,53],"accurate,":[50],"safer":[51],"reliable":[54],"approach":[55,192],"insertion":[58,89,161,204],"that":[59],"can":[60],"reduce":[61],"potential":[63],"injury":[65],"patients":[67],"radiation":[69],"exposure":[70,217],"discomfort":[72],"clinicians.":[74],"A":[75,134],"force":[76,87],"control":[77,85,112,116],"algorithm":[78],"presented":[80,225],"robot":[83],"prevent":[94,169],"from":[97,209],"buckling":[98],"\u201cbunching":[100],"up\u201d":[101],"during":[102],"insertion.":[103],"In":[104,188],"addition,":[105,189],"also":[108],"describes":[109],"master\u2014slave":[111],"strategy":[113],"precisely":[115],"bending":[118],"angle":[119],"tip":[122],"an":[124,176],"active":[125,155,207],"instrumented":[127],"Shape":[129],"Memory":[130],"Alloy":[131],"(SMA)":[132],"actuators.":[133],"novel":[135],"model":[136],"SMAs":[138],"robust":[141,151],"H":[142],"\u221e":[143],"loop-shaping":[144],"controller":[145],"have":[146],"been":[147],"implemented":[148],"guarantee":[150],"performance":[152,229],"catheter.":[156],"The":[157],"developed":[162],"this":[164],"may":[166],"help":[167],"damage":[170],"epithelial":[173],"cells":[174],"artery":[177],"enable":[179],"easier":[180],"appropriate":[186],"branches.":[187],"robotics-based":[191],"could":[193],"make":[194],"it":[195],"possible":[196],"clinician":[199],"remotely":[201],"perform":[202],"safe":[211],"comfortable":[213],"environment,":[214],"thereby":[215],"reducing":[216],"harmful":[219],"X-ray":[220],"radiation.":[221],"Experimental":[222],"results":[223],"are":[224],"illustrate":[227],"algorithms.":[232]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
