{"id":"https://openalex.org/W2126239496","doi":"https://doi.org/10.1109/icra.2012.6225050","title":"Improvements in the control of a flexible endoscopic system","display_name":"Improvements in the control of a flexible endoscopic system","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2126239496","doi":"https://doi.org/10.1109/icra.2012.6225050","mag":"2126239496"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225050","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074156888","display_name":"B\u00e9reng\u00e8re Bardou","orcid":null},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Berengere Bardou","raw_affiliation_strings":["LSIIT laboratory, University of Strasbourg and CNRS, France","LSIIT laboratory - University of Strasbourg, CNRS - France"],"affiliations":[{"raw_affiliation_string":"LSIIT laboratory, University of Strasbourg and CNRS, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LSIIT laboratory - University of Strasbourg, CNRS - France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080665291","display_name":"Florent Nageotte","orcid":"https://orcid.org/0000-0002-9267-3792"},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florent Nageotte","raw_affiliation_strings":["LSIIT laboratory, University of Strasbourg and CNRS, France","LSIIT laboratory - University of Strasbourg, CNRS - France"],"affiliations":[{"raw_affiliation_string":"LSIIT laboratory, University of Strasbourg and CNRS, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LSIIT laboratory - University of Strasbourg, CNRS - France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047460293","display_name":"Philippe Zanne","orcid":"https://orcid.org/0000-0002-5904-6498"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Zanne","raw_affiliation_strings":["LSIIT laboratory, University of Strasbourg and CNRS, France","LSIIT laboratory - University of Strasbourg, CNRS - France"],"affiliations":[{"raw_affiliation_string":"LSIIT laboratory, University of Strasbourg and CNRS, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LSIIT laboratory - University of Strasbourg, CNRS - France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076594666","display_name":"Michel de Mathelin","orcid":"https://orcid.org/0000-0002-8422-572X"},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michel de Mathelin","raw_affiliation_strings":["LSIIT laboratory, University of Strasbourg and CNRS, France","LSIIT laboratory - University of Strasbourg, CNRS - France"],"affiliations":[{"raw_affiliation_string":"LSIIT laboratory, University of Strasbourg and CNRS, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LSIIT laboratory - University of Strasbourg, CNRS - France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074156888"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I68947357"],"apc_list":null,"apc_paid":null,"fwci":10.6975,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.98240835,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3725","last_page":"3732"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9922999739646912,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9830999970436096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.789025604724884},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7229248881340027},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5751327276229858},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5360636115074158},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5289331078529358},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5063213109970093},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5015647411346436},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4694155156612396},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4604452848434448},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40967854857444763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3845028877258301},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22130286693572998},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21297773718833923},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15642085671424866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12104761600494385},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08766224980354309}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.789025604724884},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7229248881340027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5751327276229858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5360636115074158},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5289331078529358},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5063213109970093},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5015647411346436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4694155156612396},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4604452848434448},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40967854857444763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3845028877258301},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22130286693572998},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21297773718833923},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15642085671424866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12104761600494385},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08766224980354309},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225050","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1988273910","https://openalex.org/W1989552041","https://openalex.org/W2025123020","https://openalex.org/W2058905057","https://openalex.org/W2063367762","https://openalex.org/W2099125645","https://openalex.org/W2104767879","https://openalex.org/W2119343887","https://openalex.org/W2122562287","https://openalex.org/W2130055765","https://openalex.org/W2133076227","https://openalex.org/W2133450663","https://openalex.org/W2136170256","https://openalex.org/W2137803878","https://openalex.org/W2150205249","https://openalex.org/W2151037347","https://openalex.org/W2156084549","https://openalex.org/W2161681721","https://openalex.org/W2170090733","https://openalex.org/W6679454051"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W2369073421","https://openalex.org/W45990023","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W4400901371","https://openalex.org/W1551453979","https://openalex.org/W2370149162","https://openalex.org/W4388298450"],"abstract_inverted_index":{"The":[0,75],"use":[1],"of":[2,61,92,121],"flexible":[3,65],"cable-driven":[4],"systems":[5,27],"is":[6,77,95],"common":[7],"in":[8],"medicine":[9],"(endoscope,":[10],"catheter...).":[11],"Their":[12],"flexiblity":[13],"allows":[14],"surgeons":[15],"to":[16,30,33,56,97,105],"reach":[17],"internal":[18,35],"organs":[19],"through":[20],"sinuous":[21],"and":[22,45,70,118],"constrained":[23],"ways.":[24],"Unfortunately":[25],"these":[26],"are":[28],"subject":[29],"backlash":[31],"due":[32],"their":[34],"mechanism.":[36],"These":[37],"non":[38,73],"linearities":[39],"raise":[40],"many":[41],"difficulties":[42],"when":[43],"robotizing":[44],"controlling":[46],"such":[47],"systems.":[48],"In":[49],"this":[50],"article":[51],"we":[52],"propose":[53],"an":[54,80],"approach":[55],"improve":[57,106],"the":[58,101,116,119,122],"cartesian":[59,107],"control":[60],"a":[62,111],"four":[63],"ways":[64],"endoscopic":[66,113],"system":[67,114],"with":[68],"strong":[69],"unknown":[71],"backlash-like":[72],"linearities.":[74],"method":[76],"based":[78],"on":[79,110],"automatic":[81],"off-line":[82],"hystereses":[83,102],"learning.":[84],"We":[85],"show":[86,115],"that,":[87],"despite":[88],"coupling":[89],"between":[90],"degrees":[91],"freedom,":[93],"it":[94],"possible":[96],"extract":[98],"information":[99],"from":[100],"which":[103],"allow":[104],"control.":[108],"Experiments":[109],"real":[112],"validity":[117],"interest":[120],"approach.":[123]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}