{"id":"https://openalex.org/W7125804687","doi":"https://doi.org/10.3389/frobt.2025.1705142","title":"Robotic transesophageal echocardiography: system design and deep learning-based kinematic modeling","display_name":"Robotic transesophageal echocardiography: system design and deep learning-based kinematic modeling","publication_year":2026,"publication_date":"2026-01-27","ids":{"openalex":"https://openalex.org/W7125804687","doi":"https://doi.org/10.3389/frobt.2025.1705142","pmid":"https://pubmed.ncbi.nlm.nih.gov/41675306"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1705142","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1705142","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2025.1705142","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071676666","display_name":"Seyed MohammadReza Sajadi","orcid":null},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Seyed MohammadReza Sajadi","raw_affiliation_strings":["Department of Informatics, University of Oslo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124041999","display_name":"Abbas Tariverdi","orcid":null},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Abbas Tariverdi","raw_affiliation_strings":["Department of Physics, University of Oslo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physics, University of Oslo","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039898582","display_name":"Henrik Brun","orcid":"https://orcid.org/0000-0002-0432-1907"},"institutions":[{"id":"https://openalex.org/I1281400175","display_name":"Oslo University Hospital","ror":"https://ror.org/00j9c2840","country_code":"NO","type":"healthcare","lineage":["https://openalex.org/I1281400175"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Henrik Brun","raw_affiliation_strings":["Department for Pediatric Cardiology, Oslo University Hospital","The Intervention Center, Oslo University Hospital"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department for Pediatric Cardiology, Oslo University Hospital","institution_ids":["https://openalex.org/I1281400175"]},{"raw_affiliation_string":"The Intervention Center, Oslo University Hospital","institution_ids":["https://openalex.org/I1281400175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008014984","display_name":"Ole Jakob Elle","orcid":"https://orcid.org/0000-0003-2359-1272"},"institutions":[{"id":"https://openalex.org/I1281400175","display_name":"Oslo University Hospital","ror":"https://ror.org/00j9c2840","country_code":"NO","type":"healthcare","lineage":["https://openalex.org/I1281400175"]},{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Ole Jakob Elle","raw_affiliation_strings":["Department of Informatics, University of Oslo","The Intervention Center, Oslo University Hospital"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo","institution_ids":["https://openalex.org/I184942183"]},{"raw_affiliation_string":"The Intervention Center, Oslo University Hospital","institution_ids":["https://openalex.org/I1281400175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087782212","display_name":"Kim Mathiassen","orcid":"https://orcid.org/0000-0003-3747-5934"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kim Mathiassen","raw_affiliation_strings":["Department of Technology Systems, University of Oslo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Technology Systems, University of Oslo","institution_ids":["https://openalex.org/I184942183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5071676666"],"corresponding_institution_ids":["https://openalex.org/I184942183"],"apc_list":{"value":1950,"currency":"CHF","value_usd":2353},"apc_paid":{"value":1950,"currency":"CHF","value_usd":2353},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0570604,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1705142","last_page":"1705142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9918000102043152,"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":0.9918000102043152,"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":0.0012000000569969416,"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/T11055","display_name":"Cardiac and Coronary Surgery Techniques","score":0.0006000000284984708,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6815999746322632},{"id":"https://openalex.org/keywords/systems-design","display_name":"Systems design","score":0.5342000126838684},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.486299991607666},{"id":"https://openalex.org/keywords/systems-modeling","display_name":"Systems modeling","score":0.4399999976158142},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.4284999966621399},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41350001096725464},{"id":"https://openalex.org/keywords/system-integration","display_name":"System integration","score":0.40709999203681946}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7739999890327454},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6815999746322632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5788000226020813},{"id":"https://openalex.org/C31352089","wikidata":"https://www.wikidata.org/wiki/Q3750474","display_name":"Systems design","level":2,"score":0.5342000126838684},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.486299991607666},{"id":"https://openalex.org/C110963975","wikidata":"https://www.wikidata.org/wiki/Q12070446","display_name":"Systems modeling","level":2,"score":0.4399999976158142},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4325999915599823},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41350001096725464},{"id":"https://openalex.org/C19527686","wikidata":"https://www.wikidata.org/wiki/Q1665453","display_name":"System integration","level":2,"score":0.40709999203681946},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37470000982284546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3515999913215637},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3343000113964081},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3328000009059906},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.31769999861717224},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.28279998898506165},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C33276779","wikidata":"https://www.wikidata.org/wiki/Q1943363","display_name":"Design elements and principles","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2025.1705142","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1705142","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41675306","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41675306","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":"Frontiers in robotics and AI","raw_type":"Journal Article"},{"id":"pmh:oai:europepmc.org:11695282","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12887703","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:e21d5b7ffbb345dcbfadcdbbd7180ee6","is_oa":true,"landing_page_url":"https://doaj.org/article/e21d5b7ffbb345dcbfadcdbbd7180ee6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2026)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:12887703","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12887703/","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1705142","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1705142","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7280006408691406,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1497562417","https://openalex.org/W1968600609","https://openalex.org/W1972608743","https://openalex.org/W1996807154","https://openalex.org/W2026682580","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2103591967","https://openalex.org/W2114941718","https://openalex.org/W2143138411","https://openalex.org/W2254101695","https://openalex.org/W2464801492","https://openalex.org/W2541954607","https://openalex.org/W2555681516","https://openalex.org/W2750702681","https://openalex.org/W2791338031","https://openalex.org/W2901175355","https://openalex.org/W2910046083","https://openalex.org/W2913446864","https://openalex.org/W3129115645","https://openalex.org/W3132721098","https://openalex.org/W3139037440","https://openalex.org/W4282938042","https://openalex.org/W4284666080","https://openalex.org/W4321792810","https://openalex.org/W4323767279","https://openalex.org/W4386415038","https://openalex.org/W4401872751","https://openalex.org/W4409992738","https://openalex.org/W4410582051"],"related_works":[],"abstract_inverted_index":{"Introduction:":[0],"This":[1,240,264],"paper":[2],"presents":[3],"a":[4,58,118,274],"robotic":[5,24,267],"transesophageal":[6],"echocardiography":[7],"(TEE)":[8],"system":[9,25,55,81,255,268,282],"that":[10,43,129],"replicates":[11],"all":[12,176],"essential":[13,259],"degrees":[14],"of":[15,76,133,185,266],"freedom":[16],"available":[17],"in":[18,111],"manual":[19],"TEE":[20,46,78,278,287],"procedures.":[21,79],"The":[22,80,114,181,223,280],"developed":[23,281],"advances":[26],"dual-subsystem":[27],"architectures":[28],"through":[29],"enhanced":[30],"mechanical":[31],"design":[32,269],"and":[33,51,66,89,107,162,198,215,237,289],"deep":[34,271],"learning-based":[35],"kinematic":[36,120,243],"modeling.":[37],"Methods:":[38],"Building":[39],"upon":[40],"previous":[41],"designs":[42],"manipulate":[44],"the":[45,73,86,93,155,189,195,202,218,254],"probe":[47,87],"from":[48],"both":[49,64,285],"handle":[50,88],"gastroscope":[52,94,100,148,178],"tube,":[53],"our":[54],"integrates":[56],"with":[57,126,229,270],"teleoperated":[59],"UR5":[60],"manipulator":[61],"to":[62],"accommodate":[63],"supine":[65],"left":[67],"lateral":[68],"decubitus":[69],"patient":[70],"positions,":[71],"addressing":[72],"full":[74],"spectrum":[75],"clinical":[77,261],"features":[82],"6":[83],"DOF":[84,91],"at":[85,92,210,213,217],"2":[90],"tube.":[95],"Together,":[96],"these":[97],"create":[98],"optimal":[99],"tube":[101,149,179],"geometry,":[102],"minimizing":[103],"cable":[104],"tension":[105],"asymmetry":[106],"friction-induced":[108],"nonlinearities":[109],"inherent":[110],"cable-driven":[112],"mechanisms.":[113,167],"primary":[115],"contribution":[116],"is":[117],"data-driven":[119],"model":[121,156,182,224],"using":[122],"recurrent":[123],"neural":[124],"networks":[125],"LSTM":[127],"units":[128],"overcomes":[130],"fundamental":[131],"limitations":[132],"analytical":[134],"approaches":[135],"for":[136,188,194,201,260,276],"continuum":[137],"manipulators.":[138],"Trained":[139],"on":[140],"42,000":[141],"synchronized":[142],"pose-command":[143],"pairs":[144],"collected":[145],"across":[146,175],"three":[147,177],"configurations":[150],"(0\u00b0,":[151],"45\u00b0,":[152,214],"90\u00b0":[153,203,221],"bends),":[154],"effectively":[157],"captures":[158],"dead":[159],"zones,":[160],"hysteresis,":[161],"coupling":[163],"effects":[164],"between":[165,235],"steering":[166],"Results:":[168],"Experimental":[169],"validation":[170],"demonstrates":[171],"strong":[172],"position":[173],"tracking":[174],"configurations.":[180],"achieves":[183,256],"RMSE":[184,233],"1.267":[186],"mm":[187,193,200,232],"0\u00b0":[190],"configuration,":[191,197],"1.209":[192],"45\u00b0":[196],"1.194":[199],"configuration.":[204,222],"Mean":[205],"orientation":[206],"errors":[207],"are":[208],"7.064\u00b0":[209],"0\u00b0,":[211],"8.503\u00b0":[212],"4.947\u00b0":[216],"clinically":[219],"critical":[220],"exhibits":[225],"coordinate":[226],"frame":[227],"independence":[228],"only":[230],"0.06":[231],"difference":[234],"original":[236],"rotated":[238],"datasets.":[239],"confirms":[241],"true":[242],"learning":[244,272],"rather":[245],"than":[246],"coordinate-specific":[247],"patterns.":[248],"With":[249],"1.8":[250],"ms":[251],"inference":[252],"time,":[253],"real-time":[257],"performance":[258],"deployment.":[262],"Discussion:":[263],"integration":[265],"establishes":[273],"foundation":[275],"semi-autonomous":[277],"systems.":[279],"can":[283],"support":[284],"diagnostic":[286],"examinations":[288],"TEE-guided":[290],"structural":[291],"heart":[292],"interventions.":[293]},"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2026-01-28T00:00:00"}