Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W2144709180', 'doi': 'https://doi.org/10.1109/tro.2011.2151350', 'title': 'Modeling and Control of a Continuum Style Microrobot for Endovascular Surgery', 'display_name': 'Modeling and Control of a Continuum Style Microrobot for Endovascular Surgery', 'publication_year': 2011, 'publication_date': '2011-06-10', 'ids': {'openalex': 'https://openalex.org/W2144709180', 'doi': 'https://doi.org/10.1109/tro.2011.2151350', 'mag': '2144709180'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/tro.2011.2151350', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S144620930', 'display_name': 'IEEE Transactions on Robotics', 'issn_l': '1552-3098', 'issn': ['1552-3098', '1941-0468'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': False, 'oa_status': 'closed', 'oa_url': None, 'any_repository_has_fulltext': False}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5081531063', 'display_name': 'Yan Bailly', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I9341345', 'display_name': 'University of Lübeck', 'ror': 'https://ror.org/00t3r8h32', 'country_code': 'DE', 'type': 'education', 'lineage': ['https://openalex.org/I9341345']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Yan Bailly', 'raw_affiliation_strings': ['University of Lübeck, Lübeck ,Germany'], 'affiliations': [{'raw_affiliation_string': 'University of Lübeck, Lübeck ,Germany', 'institution_ids': ['https://openalex.org/I9341345']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5104085722', 'display_name': 'Yacine Amirat', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I197681013', 'display_name': 'Université Paris-Est Créteil', 'ror': 'https://ror.org/05ggc9x40', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I197681013']}, {'id': 'https://openalex.org/I2800365227', 'display_name': 'Paris-Est Sup', 'ror': 'https://ror.org/0268ecp52', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I2800365227']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'Yacine Amirat', 'raw_affiliation_strings': ['Lab. Images, Signaux et Syst. Intelligents (LISSI) Lab., Univ. of Paris Est Creteil-UPEC, Vitry-sur-Seine, France'], 'affiliations': [{'raw_affiliation_string': 'Lab. Images, Signaux et Syst. Intelligents (LISSI) Lab., Univ. of Paris Est Creteil-UPEC, Vitry-sur-Seine, France', 'institution_ids': ['https://openalex.org/I197681013', 'https://openalex.org/I2800365227']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5043818498', 'display_name': 'Georges Fried', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I197681013', 'display_name': 'Université Paris-Est Créteil', 'ror': 'https://ror.org/05ggc9x40', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I197681013']}, {'id': 'https://openalex.org/I2800365227', 'display_name': 'Paris-Est Sup', 'ror': 'https://ror.org/0268ecp52', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I2800365227']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'Georges Fried', 'raw_affiliation_strings': ['Lab. Images, Signaux et Syst. Intelligents (LISSI) Lab., Univ. of Paris Est Creteil-UPEC, Vitry-sur-Seine, France'], 'affiliations': [{'raw_affiliation_string': 'Lab. Images, Signaux et Syst. Intelligents (LISSI) Lab., Univ. of Paris Est Creteil-UPEC, Vitry-sur-Seine, France', 'institution_ids': ['https://openalex.org/I197681013', 'https://openalex.org/I2800365227']}]}], 'institution_assertions': [], 'countries_distinct_count': 2, 'institutions_distinct_count': 3, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 1.547, 'has_fulltext': True, 'fulltext_origin': 'ngrams', 'cited_by_count': 62, 'citation_normalized_percentile': {'value': 0.923182, 'is_in_top_1_percent': False, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 96, 'max': 97}, 'biblio': {'volume': '27', 'issue': '5', 'first_page': '1024', 'last_page': '1030'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T10868', 'display_name': 'Soft Robotics and Applications', 'score': 0.9999, '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': 0.9999, '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': 0.9991, '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/T10420', 'display_name': 'Intracranial Aneurysms: Treatment and Complications', 'score': 0.9734, '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': [], 'concepts': [{'id': 'https://openalex.org/C39920418', 'wikidata': 'https://www.wikidata.org/wiki/Q11476', 'display_name': 'Kinematics', 'level': 2, 'score': 0.8282963}, {'id': 'https://openalex.org/C152124472', 'wikidata': 'https://www.wikidata.org/wiki/Q1204361', 'display_name': 'Redundancy (engineering)', 'level': 2, 'score': 0.5793439}, {'id': 'https://openalex.org/C2781267111', 'wikidata': 'https://www.wikidata.org/wiki/Q652297', 'display_name': 'Catheter', 'level': 2, 'score': 0.520735}, {'id': 'https://openalex.org/C133731056', 'wikidata': 'https://www.wikidata.org/wiki/Q4917288', 'display_name': 'Control engineering', 'level': 1, 'score': 0.47174156}, {'id': 'https://openalex.org/C16345878', 'wikidata': 'https://www.wikidata.org/wiki/Q107472979', 'display_name': 'Orientation (vector space)', 'level': 2, 'score': 0.4533479}, {'id': 'https://openalex.org/C47446073', 'wikidata': 'https://www.wikidata.org/wiki/Q5165890', 'display_name': 'Control theory (sociology)', 'level': 3, 'score': 0.45054683}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.45052135}, {'id': 'https://openalex.org/C192209626', 'wikidata': 'https://www.wikidata.org/wiki/Q190909', 'display_name': 'Focus (optics)', 'level': 2, 'score': 0.41291642}, {'id': 'https://openalex.org/C127413603', 'wikidata': 'https://www.wikidata.org/wiki/Q11023', 'display_name': 'Engineering', 'level': 0, 'score': 0.3367625}, {'id': 'https://openalex.org/C44154836', 'wikidata': 'https://www.wikidata.org/wiki/Q45045', 'display_name': 'Simulation', 'level': 1, 'score': 0.3266682}, {'id': 'https://openalex.org/C2775924081', 'wikidata': 'https://www.wikidata.org/wiki/Q55608371', 'display_name': 'Control (management)', 'level': 2, 'score': 0.2895877}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.26058164}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.2335723}, {'id': 'https://openalex.org/C141071460', 'wikidata': 'https://www.wikidata.org/wiki/Q40821', 'display_name': 'Surgery', 'level': 1, 'score': 0.23018956}, {'id': 'https://openalex.org/C121332964', 'wikidata': 'https://www.wikidata.org/wiki/Q413', 'display_name': 'Physics', 'level': 0, 'score': 0.14287531}, {'id': 'https://openalex.org/C2524010', 'wikidata': 'https://www.wikidata.org/wiki/Q8087', 'display_name': 'Geometry', 'level': 1, 'score': 0.10630271}, {'id': 'https://openalex.org/C71924100', 'wikidata': 'https://www.wikidata.org/wiki/Q11190', 'display_name': 'Medicine', 'level': 0, 'score': 0.094017744}, {'id': 'https://openalex.org/C74650414', 'wikidata': 'https://www.wikidata.org/wiki/Q11397', 'display_name': 'Classical mechanics', 'level': 1, 'score': 0.08717188}, {'id': 'https://openalex.org/C111919701', 'wikidata': 'https://www.wikidata.org/wiki/Q9135', 'display_name': 'Operating system', '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}], 'mesh': [], 'locations_count': 1, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/tro.2011.2151350', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S144620930', 'display_name': 'IEEE Transactions on Robotics', 'issn_l': '1552-3098', 'issn': ['1552-3098', '1941-0468'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}], 'best_oa_location': None, 'sustainable_development_goals': [{'score': 0.79, 'id': 'https://metadata.un.org/sdg/16', 'display_name': 'Peace, justice, and strong institutions'}], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 34, 'referenced_works': ['https://openalex.org/W1504201566', 'https://openalex.org/W1573513254', 'https://openalex.org/W1891615552', 'https://openalex.org/W1965456896', 'https://openalex.org/W1995166423', 'https://openalex.org/W2035228917', 'https://openalex.org/W2063797945', 'https://openalex.org/W2077906073', 'https://openalex.org/W2095999605', 'https://openalex.org/W2096645690', 'https://openalex.org/W2100506272', 'https://openalex.org/W2101377298', 'https://openalex.org/W2101667962', 'https://openalex.org/W2101797976', 'https://openalex.org/W2108558119', 'https://openalex.org/W2108770432', 'https://openalex.org/W2112248299', 'https://openalex.org/W2117162300', 'https://openalex.org/W2117212572', 'https://openalex.org/W2119343887', 'https://openalex.org/W2119531408', 'https://openalex.org/W2122398245', 'https://openalex.org/W2122748217', 'https://openalex.org/W2133997127', 'https://openalex.org/W2137670317', 'https://openalex.org/W2147492425', 'https://openalex.org/W2151098082', 'https://openalex.org/W2152205882', 'https://openalex.org/W2152687880', 'https://openalex.org/W2161409436', 'https://openalex.org/W2164587356', 'https://openalex.org/W2170597216', 'https://openalex.org/W2182391488', 'https://openalex.org/W2242288742'], 'related_works': ['https://openalex.org/W4244295168', 'https://openalex.org/W3185180338', 'https://openalex.org/W3033677963', 'https://openalex.org/W2889348933', 'https://openalex.org/W2789522126', 'https://openalex.org/W2753351751', 'https://openalex.org/W2368363778', 'https://openalex.org/W2351643838', 'https://openalex.org/W2066693961', 'https://openalex.org/W122584421'], 'abstract_inverted_index': {'This': [0], 'paper': [1], 'presents': [2], 'a': [3, 31, 51, 65], 'microrobot': [4, 67, 88], 'of': [5, 13, 15, 75, 86, 92], 'continuum': [6], 'type': [7], 'that': [8], 'satisfies': [9], 'constraints': [10], 'in': [11], 'terms': [12], 'degrees': [14], 'freedom,': [16], 'size,': [17], 'and': [18, 30, 46, 68, 82, 112], 'safety': [19], 'for': [20], 'endovascular': [21], 'surgery.': [22], 'The': [23, 80], 'proposed': [24, 111], 'instrument,': [25], 'which': [26, 48], 'integrates': [27], 'multiple': [28], 'microrobots': [29], 'catheter,': [32], 'is': [33, 43, 99, 110], 'called': [34], 'the': [35, 56, 73, 76, 87, 96], 'Multi': [36], 'Active': [37], 'LInk': [38], 'CAtheter': [39], '(MALICA).': [40], 'Its': [41], 'structure': [42], 'redundant,': [44], 'compliant,': [45], 'compact,': [47], 'makes': [49], 'it': [50], 'well-suited': [52], 'solution': [53], 'to': [54, 71], 'control': [55, 72, 98, 108], 'catheter': [57], 'shape.': [58], 'In': [59], 'this': [60], 'paper,': [61], 'we': [62], 'focus': [63], 'on': [64], 'single': [66], 'its': [69, 93], 'actuation': [70], 'orientation': [74, 97], "catheter's": [77], 'distal': [78], 'extremity.': [79], 'kinematic': [81, 84, 94], 'differential': [83, 106], 'models': [85], 'are': [89], 'developed.': [90], 'Because': [91], 'redundancy,': [95], 'formulated': [100], 'as': [101], 'an': [102], 'optimization': [103], 'problem.': [104], 'A': [105], 'model-based': [107], 'scheme': [109], 'experimentally': [113], 'validated.': [114]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2144709180', 'counts_by_year': [{'year': 2024, 'cited_by_count': 5}, {'year': 2023, 'cited_by_count': 7}, {'year': 2022, 'cited_by_count': 3}, {'year': 2021, 'cited_by_count': 8}, {'year': 2020, 'cited_by_count': 6}, {'year': 2019, 'cited_by_count': 8}, {'year': 2018, 'cited_by_count': 4}, {'year': 2017, 'cited_by_count': 3}, {'year': 2016, 'cited_by_count': 3}, {'year': 2015, 'cited_by_count': 7}, {'year': 2014, 'cited_by_count': 4}, {'year': 2013, 'cited_by_count': 3}, {'year': 2012, 'cited_by_count': 1}], 'updated_date': '2025-01-09T23:46:55.210204', 'created_date': '2016-06-24'}