{"id":"https://openalex.org/W4312988243","doi":"https://doi.org/10.1109/iros47612.2022.9982174","title":"Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement","display_name":"Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312988243","doi":"https://doi.org/10.1109/iros47612.2022.9982174"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982174","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/41070463-3625-4372-816e-5423f5b8fdd7","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006159602","display_name":"Emil\u0117 Mackut\u0117","orcid":"https://orcid.org/0009-0004-4535-4619"},"institutions":[{"id":"https://openalex.org/I4210151647","display_name":"Centre for Inflammation Research","ror":"https://ror.org/05wcr1b38","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210087105","https://openalex.org/I4210151647","https://openalex.org/I90344618","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I4210164624","display_name":"The Queen's Medical Research Institute","ror":"https://ror.org/059zxg644","country_code":"GB","type":"government","lineage":["https://openalex.org/I4210164624","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Emile Mackute","raw_affiliation_strings":["School of Informatics, University of Edinburgh,UK","School of Informatics, University of Edinburgh, UK","The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen's Medical Research Institute, University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen's Medical Research Institute, University of Edinburgh, UK","institution_ids":["https://openalex.org/I4210151647","https://openalex.org/I4210164624","https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043247359","display_name":"Balint Thamo","orcid":"https://orcid.org/0000-0002-2199-2761"},"institutions":[{"id":"https://openalex.org/I4210151647","display_name":"Centre for Inflammation Research","ror":"https://ror.org/05wcr1b38","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210087105","https://openalex.org/I4210151647","https://openalex.org/I90344618","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I4210164624","display_name":"The Queen's Medical Research Institute","ror":"https://ror.org/059zxg644","country_code":"GB","type":"government","lineage":["https://openalex.org/I4210164624","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Balint Thamo","raw_affiliation_strings":["School of Informatics, University of Edinburgh,UK","School of Informatics, University of Edinburgh, UK","The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen's Medical Research Institute, University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen's Medical Research Institute, University of Edinburgh, UK","institution_ids":["https://openalex.org/I4210151647","https://openalex.org/I4210164624","https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053576296","display_name":"Kevin Dhaliwal","orcid":"https://orcid.org/0000-0002-3925-3174"},"institutions":[{"id":"https://openalex.org/I4210151647","display_name":"Centre for Inflammation Research","ror":"https://ror.org/05wcr1b38","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210087105","https://openalex.org/I4210151647","https://openalex.org/I90344618","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kevin Dhaliwal","raw_affiliation_strings":["The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen&#x0027;s Medical Research Institute, University of Edinburgh,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen&#x0027;s Medical Research Institute, University of Edinburgh,UK","institution_ids":["https://openalex.org/I4210151647","https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057363853","display_name":"Mohsen Khadem","orcid":"https://orcid.org/0000-0002-6873-273X"},"institutions":[{"id":"https://openalex.org/I4210151647","display_name":"Centre for Inflammation Research","ror":"https://ror.org/05wcr1b38","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210087105","https://openalex.org/I4210151647","https://openalex.org/I90344618","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I4210164624","display_name":"The Queen's Medical Research Institute","ror":"https://ror.org/059zxg644","country_code":"GB","type":"government","lineage":["https://openalex.org/I4210164624","https://openalex.org/I98677209"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohsen Khadem","raw_affiliation_strings":["School of Informatics, University of Edinburgh,UK","School of Informatics, University of Edinburgh, UK","The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen's Medical Research Institute, University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"The Translational Healthcare Technologies Group in Centre for Inflammation Research, The Queen's Medical Research Institute, University of Edinburgh, UK","institution_ids":["https://openalex.org/I4210151647","https://openalex.org/I4210164624","https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4644,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82698629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3972","last_page":"3978"},"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":0.9990000128746033,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.995199978351593,"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/robot","display_name":"Robot","score":0.7895927429199219},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6847366690635681},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6382704377174377},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.5955153107643127},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5712495446205139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5482105612754822},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.47208163142204285},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46485698223114014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4184657335281372},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2096177041530609},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14609295129776}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7895927429199219},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6847366690635681},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6382704377174377},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.5955153107643127},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5712495446205139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5482105612754822},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.47208163142204285},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46485698223114014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4184657335281372},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2096177041530609},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14609295129776},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9982174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982174","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/41070463-3625-4372-816e-5423f5b8fdd7","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/41070463-3625-4372-816e-5423f5b8fdd7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Mackute, E, Thamo, B, Dhaliwal, K & Khadem, M 2022, Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement. in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 3972-3978, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9982174","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/41070463-3625-4372-816e-5423f5b8fdd7","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/41070463-3625-4372-816e-5423f5b8fdd7","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/41070463-3625-4372-816e-5423f5b8fdd7","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/41070463-3625-4372-816e-5423f5b8fdd7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Mackute, E, Thamo, B, Dhaliwal, K & Khadem, M 2022, Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement. in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 3972-3978, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9982174","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1607264454","display_name":"A Cyber-Physical System for Unified Diagnosis and Treatment of Lung Diseases","funder_award_id":"MR/T023252/1","funder_id":"https://openalex.org/F4320334626","funder_display_name":"Medical Research Council"}],"funders":[{"id":"https://openalex.org/F4320334626","display_name":"Medical Research Council","ror":"https://ror.org/03x94j517"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1981787495","https://openalex.org/W1996967464","https://openalex.org/W2023419272","https://openalex.org/W2036915629","https://openalex.org/W2037290941","https://openalex.org/W2069675112","https://openalex.org/W2131150943","https://openalex.org/W2134091699","https://openalex.org/W2138564331","https://openalex.org/W2147404381","https://openalex.org/W2184993170","https://openalex.org/W2207285180","https://openalex.org/W2296757716","https://openalex.org/W2328731921","https://openalex.org/W2607662405","https://openalex.org/W2890184628","https://openalex.org/W2982459439","https://openalex.org/W3023974143","https://openalex.org/W3037426978","https://openalex.org/W3138014265"],"related_works":["https://openalex.org/W2032745795","https://openalex.org/W4241659117","https://openalex.org/W2042569643","https://openalex.org/W4252230788","https://openalex.org/W2254998354","https://openalex.org/W4235256213","https://openalex.org/W2048369647","https://openalex.org/W1535456929","https://openalex.org/W2061842045","https://openalex.org/W2186444269"],"abstract_inverted_index":{"Accurate":[0],"shape":[1,24,40,90],"estimation":[2],"of":[3,26,46,52,56,88,95,100],"concentric":[4],"tube":[5],"robots":[6],"(CTRs)":[7],"using":[8,60],"mathematical":[9,44],"models":[10],"remains":[11],"a":[12,33,43,50],"challenge,":[13],"reinforcing":[14],"the":[15,38,47,53,57,82,86,101,119],"need":[16],"to":[17,98,116],"develop":[18,32],"techniques":[19],"for":[20],"accurate":[21],"and":[22,71,75,123],"real-time":[23,115],"sensing":[25],"CTRs.":[27],"In":[28],"this":[29],"paper,":[30],"we":[31,106],"fusion":[34,83],"algorithm":[35,84],"that":[36,81,108],"predicts":[37],"robot's":[39,58,102,120],"by":[41,92],"combining":[42],"model":[45],"CTR":[48],"with":[49,74],"measurement":[51],"Cartesian":[54],"coordinates":[55],"tip":[59,121],"an":[61,93],"electro-magnetic":[62],"sensor.":[63],"We":[64],"experimentally":[65],"validated":[66],"our":[67,109],"method":[68,110],"in":[69,114],"static":[70],"dynamic":[72],"scenarios":[73],"without":[76],"external":[77],"loading.":[78],"Results":[79],"demonstrated":[80],"improves":[85],"error":[87],"model-based":[89],"prediction":[91],"average":[94],"44.3%,":[96],"corresponding":[97],"2.43%":[99],"arc":[103],"length.":[104],"Furthermore,":[105],"demonstrate":[107],"can":[111],"be":[112],"used":[113],"simultaneously":[117],"track":[118],"position":[122],"predict":[124],"its":[125],"shape.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
