{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:36:16Z","timestamp":1766136976986,"version":"3.37.3"},"reference-count":13,"publisher":"World Scientific Pub Co Pte Ltd","issue":"03n04","funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["CHRP 446520"],"award-info":[{"award-number":["CHRP 446520"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000024","name":"Canadian Institutes of Health Research","doi-asserted-by":"publisher","award":["CPG 127768"],"award-info":[{"award-number":["CPG 127768"]}],"id":[{"id":"10.13039\/501100000024","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000145","name":"Alberta Innovates - Health Solutions","doi-asserted-by":"publisher","award":["CRIO 201201232"],"award-info":[{"award-number":["CRIO 201201232"]}],"id":[{"id":"10.13039\/501100000145","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Med. Robot. Res."],"published-print":{"date-parts":[[2018,9]]},"abstract":"<jats:p> In this paper, a duty-cycle-based method is proposed for needle steering in 3D. The paper models the continuous 3D needle steering problem as a four-mode switching system and provides a new average-based formulation to transform the continuous input into a switching sequence. In this structure, the needle tip deflection control system is decomposed to two different 2D subsystems. Each subsystem has its own input, for which a controller can be designed to adjust a switching duty cycle. The duty cycles from the two subsystems are then combined to provide an axial needle rotation command to control the needle deflection in 3D. In order to show the application of the proposed formulation, robust sliding mode technique is employed to design controllers for each subsystem and, thus for the total system in 3D. The controllers are designed to be robust with respect to uncertainties in the value of the needle path curvature and to deal with measurement limitations. The performance of the proposed framework is shown by performing experiments in different scenarios. <\/jats:p>","DOI":"10.1142\/s2424905x18410040","type":"journal-article","created":{"date-parts":[[2018,3,19]],"date-time":"2018-03-19T23:23:57Z","timestamp":1521501837000},"page":"1841004","source":"Crossref","is-referenced-by-count":2,"title":["Model Averaging and Input Transformation for 3D Needle Steering"],"prefix":"10.1142","volume":"03","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8114-4660","authenticated-orcid":false,"given":"Bita","family":"Fallahi","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada T6G 1H9, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ron","family":"Sloboda","sequence":"additional","affiliation":[{"name":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, Canada T6G 1Z2, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nawaid","family":"Usmani","sequence":"additional","affiliation":[{"name":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, Canada T6G 1Z2, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mahdi","family":"Tavakoli","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada T6G 1H9, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2018,12,11]]},"reference":[{"key":"S2424905X18410040BIB002","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369714"},{"key":"S2424905X18410040BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2307633"},{"key":"S2424905X18410040BIB006","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914526627"},{"key":"S2424905X18410040BIB008","doi-asserted-by":"publisher","DOI":"10.1007\/s40313-013-0104-4"},{"key":"S2424905X18410040BIB012","doi-asserted-by":"publisher","DOI":"10.1115\/1.2232689"},{"key":"S2424905X18410040BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2528293"},{"key":"S2424905X18410040BIB015","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065388"},{"key":"S2424905X18410040BIB016","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2010357"},{"key":"S2424905X18410040BIB017","doi-asserted-by":"publisher","DOI":"10.1201\/b16096"},{"key":"S2424905X18410040BIB019","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-6675-7"},{"key":"S2424905X18410040BIB021","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X16400018"},{"key":"S2424905X18410040BIB022","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-3016(98)00459-3"},{"key":"S2424905X18410040BIB023","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-014-1203-5"}],"container-title":["Journal of Medical Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S2424905X18410040","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,21]],"date-time":"2019-09-21T02:40:34Z","timestamp":1569033634000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S2424905X18410040"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9]]},"references-count":13,"journal-issue":{"issue":"03n04","published-online":{"date-parts":[[2018,12,11]]},"published-print":{"date-parts":[[2018,9]]}},"alternative-id":["10.1142\/S2424905X18410040"],"URL":"https:\/\/doi.org\/10.1142\/s2424905x18410040","relation":{},"ISSN":["2424-905X","2424-9068"],"issn-type":[{"type":"print","value":"2424-905X"},{"type":"electronic","value":"2424-9068"}],"subject":[],"published":{"date-parts":[[2018,9]]}}}