{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T15:21:15Z","timestamp":1774365675015,"version":"3.50.1"},"reference-count":25,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8967593","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"2197-2204","source":"Crossref","is-referenced-by-count":16,"title":["Autonomous Steering of Concentric Tube Robots for Enhanced Force\/Velocity Manipulability"],"prefix":"10.1109","author":[{"given":"Mohsen","family":"Khadem","sequence":"first","affiliation":[{"name":"University of Edinburgh,School of Informatics,UK"}]},{"given":"John","family":"O\u2019Neill","sequence":"additional","affiliation":[{"name":"King&#x2019;s College London,School of Biomedical Engineering and Imaging Sciences,London,UK"}]},{"given":"Zisos","family":"Mitros","sequence":"additional","affiliation":[{"name":"King&#x2019;s College London,School of Biomedical Engineering and Imaging Sciences,London,UK"}]},{"given":"Lyndon da","family":"Cruz","sequence":"additional","affiliation":[{"name":"UCL Wellcome\/EPSRC Centre for Interventional and Surgical Engineering Sciences, UCL"}]},{"given":"Christos","family":"Bergeles","sequence":"additional","affiliation":[{"name":"King&#x2019;s College London,School of Biomedical Engineering and Imaging Sciences,London,UK"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2622278"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2017.2680546"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2394331"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907496"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICInfA.2017.8078923"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2807592"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2105410"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759195"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/BF00126069"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620080206"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006868"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2035740"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651240"},{"key":"ref5","doi-asserted-by":"crossref","first-page":"769","DOI":"10.1109\/TRO.2010.2062570","article-title":"A geometrically exact model for externally loaded concentric-tube continuum robots","volume":"26","author":"rucker","year":"2010","journal-title":"IEEE Transactions on Robotics"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2014.6913770"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2500422"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593874"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2664879"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2378431"},{"key":"ref20","first-page":"144","article-title":"A new metric on the manifold of kernel matrices with application to matrix geometric means","volume":"25","author":"sra","year":"2012","journal-title":"Advances in neural information processing systems"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202157"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-40065-5_6"},{"key":"ref24","first-page":"5","article-title":"Ros: an open-source robot operating system","volume":"3","author":"quigley","year":"2009","journal-title":"ICRA Workshop on Open Source Software"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/87.294335"},{"key":"ref25","article-title":"Opencv","volume":"3","author":"bradski","year":"2000","journal-title":"Dr Dobb&#x2019;s J Softw Tools"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08967593.pdf?arnumber=8967593","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T18:23:54Z","timestamp":1755800634000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8967593\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":25,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8967593","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}