Can I get inspired from Patented Algorithm? I read an algorithm that is patented, I was inspired in one part of it and applied something similar (not exact) to my algorithm (e.g one step they applied out of their 10 steps algorithm I used in my algorithm not exactly identical but similar notion). Will there be any issue?

Can I simply say, this step was inspired from [ ]
If your question is whether you can cite the patent in a research paper, then yes, absolutely: patents are fully citable sources, and patents don't protect publication of related ideas.

If, on the other hand, you want to use your related algorithm commercially, you'd better get legal advice on that...