{"id":"https://openalex.org/W2128339709","doi":"https://doi.org/10.1177/0278364910369714","title":"Mechanics of Flexible Needles Robotically Steered through Soft Tissue","display_name":"Mechanics of Flexible Needles Robotically Steered through Soft Tissue","publication_year":2010,"publication_date":"2010-06-03","ids":{"openalex":"https://openalex.org/W2128339709","doi":"https://doi.org/10.1177/0278364910369714","mag":"2128339709","pmid":"https://pubmed.ncbi.nlm.nih.gov/21170164"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910369714","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910369714","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3002232","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050730423","display_name":"Sarthak Misra","orcid":"https://orcid.org/0000-0003-4961-0144"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"S. Misra","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands,","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037529252","display_name":"Kyle B. Reed","orcid":"https://orcid.org/0000-0003-0848-8971"},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K.B. Reed","raw_affiliation_strings":["University of South Florida, Tampa, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of South Florida, Tampa, USA","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102804369","display_name":"B.W. Schafer","orcid":"https://orcid.org/0000-0002-1507-0111"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B.W. Schafer","raw_affiliation_strings":["The Johns Hopkins University, Baltimore, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033981216","display_name":"K.T. Ramesh","orcid":"https://orcid.org/0000-0003-2659-4698"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K.T. Ramesh","raw_affiliation_strings":["The Johns Hopkins University, Baltimore, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.M. Okamura","raw_affiliation_strings":["The Johns Hopkins University, Baltimore, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.9585,"has_fulltext":false,"cited_by_count":306,"citation_normalized_percentile":{"value":0.99058552,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"29","issue":"13","first_page":"1640","last_page":"1660"},"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":0.9976000189781189,"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":0.9746000170707703,"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":0.8405143022537231},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6157715320587158},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5732200145721436},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5493587255477905},{"id":"https://openalex.org/keywords/radius-of-curvature","display_name":"Radius of curvature","score":0.43486201763153076},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3971821665763855},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3443988561630249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3258250951766968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2936669588088989},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19181525707244873},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16559192538261414},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1334606111049652},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13165459036827087},{"id":"https://openalex.org/keywords/mean-curvature","display_name":"Mean curvature","score":0.07806804776191711}],"concepts":[{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.8405143022537231},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6157715320587158},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5732200145721436},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5493587255477905},{"id":"https://openalex.org/C11665553","wikidata":"https://www.wikidata.org/wiki/Q1136069","display_name":"Radius of curvature","level":5,"score":0.43486201763153076},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3971821665763855},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3443988561630249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3258250951766968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2936669588088989},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19181525707244873},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16559192538261414},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1334606111049652},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13165459036827087},{"id":"https://openalex.org/C175017881","wikidata":"https://www.wikidata.org/wiki/Q1318998","display_name":"Mean curvature","level":3,"score":0.07806804776191711},{"id":"https://openalex.org/C127813850","wikidata":"https://www.wikidata.org/wiki/Q6803617","display_name":"Mean curvature flow","level":4,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1177/0278364910369714","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910369714","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"},{"id":"pmid:21170164","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/21170164","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":"The International journal of robotics research","raw_type":null},{"id":"pmh:oai:ris.utwente.nl:publications/d9748d7f-9c08-446e-8fa3-f252e587f1dd","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/d9748d7f-9c08-446e-8fa3-f252e587f1dd","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Misra, S, Reed, K B, Schafer, B W, Ramesh, K T & Okamura, A M 2010, 'Mechanics of flexible needles robotically steered through soft tissue', International journal of robotics research, vol. 29, no. 13, pp. 1640-1660. https://doi.org/10.1177/0278364910369714","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:scholarcommons.usf.edu:egr_facpub-1077","is_oa":false,"landing_page_url":"https://scholarcommons.usf.edu/egr_facpub/77","pdf_url":null,"source":{"id":"https://openalex.org/S4377196272","display_name":"Digital Commons - University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.663.393","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.663.393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://reedlab.eng.usf.edu/publications/misra10mechanics.pdf","raw_type":"text"},{"id":"pmh:oai:digitalcommons.usf.edu:egr_facpub-1077","is_oa":false,"landing_page_url":"https://digitalcommons.usf.edu/egr_facpub/77","pdf_url":null,"source":{"id":"https://openalex.org/S4377196272","display_name":"Digital Commons - University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:3002232","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3002232","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":"Int J Rob Res","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:3002232","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3002232","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":"Int J Rob Res","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W192041064","https://openalex.org/W1483356652","https://openalex.org/W1491891466","https://openalex.org/W1513751997","https://openalex.org/W1582311982","https://openalex.org/W1974952341","https://openalex.org/W2089936601","https://openalex.org/W2090415875","https://openalex.org/W2092580797","https://openalex.org/W2097202674","https://openalex.org/W2101817128","https://openalex.org/W2101946278","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2118152376","https://openalex.org/W2118235027","https://openalex.org/W2121272278","https://openalex.org/W2123873601","https://openalex.org/W2132167838","https://openalex.org/W2133812769","https://openalex.org/W2133823800","https://openalex.org/W2137610248","https://openalex.org/W2138475205","https://openalex.org/W2148846037","https://openalex.org/W2150226132","https://openalex.org/W2154353809","https://openalex.org/W2154598371","https://openalex.org/W2157715842","https://openalex.org/W2161481046","https://openalex.org/W2167934753","https://openalex.org/W2180065899","https://openalex.org/W2257682143","https://openalex.org/W2582998992","https://openalex.org/W2754300823","https://openalex.org/W2889408622","https://openalex.org/W4403689548"],"related_works":["https://openalex.org/W2300368007","https://openalex.org/W623713863","https://openalex.org/W2390284659","https://openalex.org/W1634816471","https://openalex.org/W2042360567","https://openalex.org/W4316038845","https://openalex.org/W2801134745","https://openalex.org/W2884014450","https://openalex.org/W2504774151","https://openalex.org/W1980377605"],"abstract_inverted_index":{"The":[0,154,165],"tip":[1],"asymmetry":[2],"of":[3,46,51,60,78,101,123,130,144,162,177,188,196],"a":[4,75,137,145,150],"bevel-tip":[5],"needle":[6,10,23,47,62,80,88,103,147,198],"results":[7,181],"in":[8,29,66,193],"the":[9,102,113,117,121,124,142,172,178],"naturally":[11],"bending":[12],"when":[13],"it":[14],"is":[15,157],"inserted":[16,148],"into":[17],"soft":[18,151],"tissue.":[19,105],"This":[20,72],"enables":[21],"robotic":[22,79,197],"steering,":[24,81],"which":[25,82],"can":[26,83],"be":[27,84],"used":[28,85],"medical":[30],"procedures":[31],"to":[32,68,86,190],"reach":[33],"subsurface":[34],"targets":[35],"inaccessible":[36],"by":[37,159],"straight-line":[38],"trajectories.":[39],"However,":[40],"accurate":[41],"path":[42],"planning":[43],"and":[44,63,90,98,104,127,171,174,186],"control":[45],"steering":[48],"requires":[49],"models":[50,56],"needle-tissue":[52],"interaction.":[53],"Previous":[54],"kinematic":[55],"required":[57],"empirical":[58],"observations":[59,161],"each":[61],"tissue":[64],"combination":[65],"order":[67],"fit":[69],"model":[70,77,111,139,155],"parameters.":[71],"study":[73],"describes":[74],"mechanics-based":[76,138],"predict":[87],"behavior":[89],"optimize":[91],"system":[92],"design":[93,156],"based":[94,119],"on":[95,120],"fundamental":[96],"mechanical":[97],"geometrical":[99],"properties":[100,129,176],"We":[106,134],"first":[107],"present":[108,136],"an":[109],"analytical":[110],"for":[112],"loads":[114],"developed":[115],"at":[116],"tip,":[118],"geometry":[122,173],"bevel":[125],"edge":[126],"material":[128,175],"soft-tissue":[131],"simulants":[132],"(gels).":[133],"then":[135],"that":[140],"calculates":[141],"deflection":[143],"bevel-tipped":[146],"through":[149],"elastic":[152],"medium.":[153],"guided":[158],"microscopic":[160],"needle-gel":[163],"interactions.":[164],"energy-based":[166],"formulation":[167],"incorporates":[168],"tissue-specific":[169],"parameters,":[170],"needle.":[179],"Simulation":[180],"follow":[182],"similar":[183],"trends":[184],"(deflection":[185],"radius":[187],"curvature)":[189],"those":[191],"observed":[192],"experimental":[194],"studies":[195],"insertion.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":24},{"year":2016,"cited_by_count":24},{"year":2015,"cited_by_count":26},{"year":2014,"cited_by_count":27},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":24}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
