{"id":"https://openalex.org/W4389667075","doi":"https://doi.org/10.1109/iros55552.2023.10342414","title":"Model-Based Bending Control of Magnetically-Actuated Robotic Endoscopes for Automatic Retroflexion in Confined Spaces","display_name":"Model-Based Bending Control of Magnetically-Actuated Robotic Endoscopes for Automatic Retroflexion in Confined Spaces","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667075","doi":"https://doi.org/10.1109/iros55552.2023.10342414"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5009033168","display_name":"Yichong Sun","orcid":"https://orcid.org/0000-0001-9813-9702"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yichong Sun","raw_affiliation_strings":["The Chinese University of Hong Kong,Multi-scale Medical Robotic Center,Hong Kong","Multi-scale Medical Robotic Center, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Multi-scale Medical Robotic Center,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Multi-scale Medical Robotic Center, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087490998","display_name":"Yehui Li","orcid":"https://orcid.org/0000-0002-8755-6276"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yehui Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Surgery,Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075128050","display_name":"Jixiu Li","orcid":"https://orcid.org/0009-0005-3257-7239"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jixiu Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Surgery,Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028797524","display_name":"Wing Yin Ng","orcid":"https://orcid.org/0000-0002-4913-8292"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wing Yin Ng","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Surgery,Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082980666","display_name":"Yitian Xian","orcid":"https://orcid.org/0000-0002-3265-0177"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yitian Xian","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Surgery,Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074161936","display_name":"Yisen Huang","orcid":"https://orcid.org/0000-0002-1307-8187"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yisen Huang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Surgery,Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079884638","display_name":"Philip Wai Yan Chiu","orcid":"https://orcid.org/0000-0001-9292-112X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Philip Wai Yan Chiu","raw_affiliation_strings":["The Chinese University of Hong Kong,Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd.,Department of Surgery,Hong Kong","Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd., The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd.,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd., The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100415063","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0003-4455-0808"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd.,Department of Surgery,Hong Kong","Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd., The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd.,Department of Surgery,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd., The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.5286,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64018096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8439","last_page":"8445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6216407418251038},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.6028461456298828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5180968642234802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3647978901863098},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35377568006515503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30423203110694885},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1525420844554901}],"concepts":[{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6216407418251038},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.6028461456298828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5180968642234802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3647978901863098},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35377568006515503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30423203110694885},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1525420844554901}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1993086849","https://openalex.org/W2033315256","https://openalex.org/W2056454342","https://openalex.org/W2059605601","https://openalex.org/W2079866916","https://openalex.org/W2094904022","https://openalex.org/W2236736543","https://openalex.org/W2333051748","https://openalex.org/W2413442240","https://openalex.org/W2557843197","https://openalex.org/W2561962039","https://openalex.org/W2575426328","https://openalex.org/W2588930121","https://openalex.org/W2738944227","https://openalex.org/W2810031855","https://openalex.org/W2890799886","https://openalex.org/W2914578700","https://openalex.org/W2942096073","https://openalex.org/W2951997750","https://openalex.org/W2955862129","https://openalex.org/W2957461748","https://openalex.org/W2969184044","https://openalex.org/W3001194984","https://openalex.org/W3121181889","https://openalex.org/W3132687353","https://openalex.org/W3133705279","https://openalex.org/W3146419220","https://openalex.org/W3186762071","https://openalex.org/W3205641612","https://openalex.org/W3207311111","https://openalex.org/W4225091995","https://openalex.org/W4285120271","https://openalex.org/W4285170385","https://openalex.org/W4285258088","https://openalex.org/W4293150143","https://openalex.org/W4303453504","https://openalex.org/W4378804632","https://openalex.org/W4383220374","https://openalex.org/W4383752712"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,52,63,87,102],"concerned":[3],"with":[4],"the":[5,8,14,26,29,34,37,41,43,48,60,74,92,96,107,113,116,122,127,135,151,156,164,169,174,185,191],"issue":[6],"of":[7,28,40,47,83,98,106,109,115,155,181],"kinematic":[9,45],"model-based":[10,75],"bending":[11,61,84,131],"control":[12,57,71,132],"for":[13,22,59],"magnetically":[15,144],"actuated":[16,145],"robotic":[17,50,146],"endoscope":[18,51,147,170],"and":[19,33,73,91,130,134,153,177,188],"its":[20],"application":[21],"automatic":[23],"retroflexion.":[24],"By":[25],"utilization":[27],"Cosserat":[30],"rod":[31],"theory":[32],"transformation":[35],"in":[36,142,184,190,202],"magnetic":[38,56,117],"tip":[39,118],"endoscope,":[42],"comprehensive":[44],"model":[46],"magnetically-actuated":[49],"established.":[53],"Afterward,":[54],"a":[55,143,179],"scheme":[58,133],"motion":[62],"proposed":[64],"by":[65,104,197],"co-developing":[66],"an":[67],"error":[68],"feedback":[69,76],"PID":[70],"strategy":[72,93,139],"approach.":[77,158],"Moreover,":[78],"as":[79,124],"one":[80],"unique":[81],"kind":[82],"motion,":[85],"retroflexion":[86,101,138,201],"taken":[88],"into":[89],"account,":[90],"aimed":[94],"at":[95],"bid":[97],"compact":[99,136,199],"space":[100,137,200],"presented":[103],"virtue":[105],"introduction":[108],"serial":[110],"waypoints":[111],"pursuing":[112],"position":[114],"being":[119],"close":[120],"to":[121,149,171,173,194,204],"midline":[123,195],"possible.":[125],"Eventually,":[126],"developed":[128],"modeling":[129],"are":[140],"examined":[141],"system":[148],"manifest":[150],"effectiveness":[152],"applicability":[154],"theoretical":[157],"The":[159],"experimental":[160],"results":[161],"indicate":[162],"that":[163],"designed":[165],"controller":[166],"can":[167],"drive":[168],"bend":[172],"desired":[175],"pose":[176],"show":[178],"reduction":[180],"about":[182],"47.01%":[183],"sweeping":[186],"area":[187],"79.25%":[189],"last":[192],"distance":[193],"achieved":[196],"conducting":[198],"comparison":[203],"\u201cU\u201d":[205],"type":[206],"one.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}