{"id":"https://openalex.org/W4391813312","doi":"https://doi.org/10.1177/02783649241231600","title":"Magnetic needle steering control using Lyapunov redesign","display_name":"Magnetic needle steering control using Lyapunov redesign","publication_year":2024,"publication_date":"2024-02-14","ids":{"openalex":"https://openalex.org/W4391813312","doi":"https://doi.org/10.1177/02783649241231600"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241231600","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241231600","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/A5007409381","display_name":"Richard L. Pratt","orcid":"https://orcid.org/0000-0003-1982-4993"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Richard L. Pratt","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-1982-4993","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052207185","display_name":"Andrew J. Petruska","orcid":"https://orcid.org/0000-0003-2070-4227"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew J. Petruska","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-2070-4227","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA","institution_ids":["https://openalex.org/I167576493"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5007409381"],"corresponding_institution_ids":["https://openalex.org/I167576493"],"apc_list":null,"apc_paid":null,"fwci":0.4548,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55650172,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"43","issue":"11","first_page":"1676","last_page":"1692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10919","display_name":"Neurological disorders and treatments","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7481003999710083},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7268787026405334},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5986570715904236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5167242884635925},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5062838792800903},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4983222484588623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4601612091064453},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4428193271160126},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4408209025859833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33613502979278564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31559962034225464},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25114017724990845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1978868544101715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10263219475746155},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09196281433105469}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7481003999710083},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7268787026405334},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5986570715904236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5167242884635925},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5062838792800903},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4983222484588623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4601612091064453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4428193271160126},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4408209025859833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33613502979278564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31559962034225464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25114017724990845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1978868544101715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10263219475746155},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09196281433105469},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241231600","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241231600","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":[{"id":"https://metadata.un.org/sdg/14","score":0.5099999904632568,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1506879977","https://openalex.org/W1552376899","https://openalex.org/W1659589685","https://openalex.org/W1800180315","https://openalex.org/W1976840175","https://openalex.org/W1978301848","https://openalex.org/W1981788851","https://openalex.org/W1987524362","https://openalex.org/W2020682883","https://openalex.org/W2036349514","https://openalex.org/W2040709641","https://openalex.org/W2051991099","https://openalex.org/W2055919556","https://openalex.org/W2070539717","https://openalex.org/W2072558512","https://openalex.org/W2091884377","https://openalex.org/W2093664976","https://openalex.org/W2101997070","https://openalex.org/W2104367785","https://openalex.org/W2104424440","https://openalex.org/W2109121052","https://openalex.org/W2117772657","https://openalex.org/W2121939955","https://openalex.org/W2122149458","https://openalex.org/W2124638964","https://openalex.org/W2135072168","https://openalex.org/W2138475205","https://openalex.org/W2140684369","https://openalex.org/W2142146640","https://openalex.org/W2165061586","https://openalex.org/W2168049809","https://openalex.org/W2316658738","https://openalex.org/W2323868350","https://openalex.org/W2327864658","https://openalex.org/W2329446256","https://openalex.org/W2409062594","https://openalex.org/W2414307141","https://openalex.org/W2464056122","https://openalex.org/W2512269685","https://openalex.org/W2522910138","https://openalex.org/W2527320203","https://openalex.org/W2527580702","https://openalex.org/W2601771264","https://openalex.org/W2797315706","https://openalex.org/W2885374219","https://openalex.org/W3003677681","https://openalex.org/W3027998252","https://openalex.org/W3043438200","https://openalex.org/W4224112273","https://openalex.org/W4249491508","https://openalex.org/W4252163577","https://openalex.org/W4296871182"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W4244157427","https://openalex.org/W2368363778","https://openalex.org/W2734382758","https://openalex.org/W4385556839","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W4378746257"],"abstract_inverted_index":{"Using":[0],"steerable":[1],"needles":[2],"to":[3,44,64,149],"enable":[4],"course":[5],"correction":[6],"and":[7,92,145,157],"curved":[8,93],"trajectories":[9],"can":[10,147],"improve":[11],"surgical":[12],"outcomes":[13],"in":[14,41,81,127,138],"numerous":[15],"clinical":[16,129],"interventions":[17],"including":[18,73],"electrode":[19],"placement":[20],"for":[21,33,67,86,120],"deep":[22],"brain":[23,83],"stimulation.":[24],"In":[25],"this":[26,61,134,143],"work,":[27],"a":[28,68,82,128,164],"physically":[29],"motivated":[30],"kinematic":[31],"model":[32,144],"an":[34],"actively":[35],"steered":[36],"magnetic-tipped":[37],"needle":[38,132],"is":[39,52,78],"used":[40],"closed-loop":[42],"control":[43,50,62,111,146],"perform":[45],"insertion":[46],"trajectories.":[47,76,94],"The":[48],"applied":[49],"law":[51],"derived":[53],"using":[54],"the":[55,107,110,117,121],"Lyapunov":[56],"redesign.":[57],"Simulation":[58,104],"results":[59,97,105,115],"show":[60],"method":[63],"be":[65],"accurate":[66],"wide":[69],"range":[70],"of":[71,109],"conditions":[72],"randomized":[74],"target":[75,102,122],"Control":[77],"performed":[79],"experimentally":[80],"tissue":[84],"phantom":[85],"both":[87],"initial":[88],"position":[89],"offset":[90],"recovery":[91],"Converged":[95],"error":[96],"average":[98],"0.52":[99],"mm":[100],"from":[101,163],"trajectory.":[103],"demonstrate":[106],"robustness":[108],"implementation,":[112],"while":[113],"experimental":[114],"exceed":[116],"accuracy":[118],"required":[119],"application,":[123],"encouraging":[124],"future":[125],"use":[126],"setting.":[130],"Beyond":[131],"insertion,":[133],"work":[135],"has":[136],"implications":[137],"general":[139],"vehicle":[140],"steering,":[141],"as":[142,155],"apply":[148],"systems":[150],"with":[151],"similar":[152],"kinematics":[153],"such":[154],"boats":[156],"wheeled":[158],"vehicles":[159],"that":[160],"could":[161],"benefit":[162],"relaxed":[165],"slip":[166],"constraint.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}