{"id":"https://openalex.org/W4416748859","doi":"https://doi.org/10.1109/iros60139.2025.11245860","title":"Magnetically Actuated Steerable Catheter with Redundant DoF for Cardiovascular Interventions","display_name":"Magnetically Actuated Steerable Catheter with Redundant DoF for Cardiovascular Interventions","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748859","doi":"https://doi.org/10.1109/iros60139.2025.11245860"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5002750377","display_name":"Hongzhe Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongzhe Liao","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100830718","display_name":"Jin Han","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Jin","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101255705","display_name":"Jialong Du","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialong Du","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016842043","display_name":"Xiyue Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiyue Liang","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100697198","display_name":"Yuke Li","orcid":"https://orcid.org/0000-0002-6149-1902"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuke Li","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073785112","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0002-5455-9454"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108361160","display_name":"Tatsuo Arai","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tatsuo Arai","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100409047","display_name":"Xiaoming Liu","orcid":"https://orcid.org/0000-0003-0038-6292"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Liu","raw_affiliation_strings":["Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5002750377"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35092189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9565","last_page":"9570"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.968999981880188,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.968999981880188,"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/T11486","display_name":"Micro and Nano Robotics","score":0.015200000256299973,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.0017000000225380063,"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/flexibility","display_name":"Flexibility (engineering)","score":0.5831999778747559},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5726000070571899},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.48170000314712524},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.4018999934196472},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.39899998903274536},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.3885999917984009},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3822000026702881},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.38040000200271606}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5831999778747559},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5726000070571899},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.48170000314712524},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45649999380111694},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41670000553131104},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.4018999934196472},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3887999951839447},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3885999917984009},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3822000026702881},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.38040000200271606},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.37790000438690186},{"id":"https://openalex.org/C81063470","wikidata":"https://www.wikidata.org/wiki/Q1256787","display_name":"Rotational speed","level":2,"score":0.37229999899864197},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3603000044822693},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3481000065803528},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.34610000252723694},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C2890278","wikidata":"https://www.wikidata.org/wiki/Q1256476","display_name":"Rotating magnetic field","level":3,"score":0.31200000643730164},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2757999897003174},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.26260000467300415}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1980304178","https://openalex.org/W2137003787","https://openalex.org/W2184993170","https://openalex.org/W2802668008","https://openalex.org/W2915142973","https://openalex.org/W2971278234","https://openalex.org/W3210532034","https://openalex.org/W4214834979","https://openalex.org/W4223931121","https://openalex.org/W4247592047","https://openalex.org/W4294672671","https://openalex.org/W4313544916","https://openalex.org/W4322773318","https://openalex.org/W4366975698","https://openalex.org/W4386379576","https://openalex.org/W4388990996","https://openalex.org/W4390917015","https://openalex.org/W4391807372","https://openalex.org/W4391992477","https://openalex.org/W4392932636","https://openalex.org/W4396638264","https://openalex.org/W4396877677","https://openalex.org/W4403431973","https://openalex.org/W4405894762","https://openalex.org/W4407241971","https://openalex.org/W4407574885"],"related_works":[],"abstract_inverted_index":{"A":[0,35],"magnetically":[1],"controlled":[2,48],"catheter":[3,53,93],"system":[4,24,68,149],"is":[5,39,105,109],"proposed":[6,148],"to":[7,50],"enhance":[8],"the":[9,67,102,136],"precision":[10],"and":[11,20,62,89,97,116,145,161],"safety":[12],"of":[13,47,101,138],"vascular":[14,83],"interventions":[15],"by":[16],"reducing":[17],"procedure":[18],"time":[19],"radiation":[21],"exposure.":[22],"The":[23,85,133,147],"can":[25],"also":[26],"function":[27],"as":[28],"a":[29,52,63,98,151],"support":[30],"channel":[31],"for":[32,154],"guidewire":[33],"deployment.":[34],"novel":[36],"navigation":[37,131],"approach":[38],"introduced,":[40],"employing":[41],"an":[42,55],"external":[43],"permanent":[44],"magnet":[45],"capable":[46],"rotation":[49],"actuate":[51],"with":[54,74],"embedded":[56],"magnetic":[57,60,86,113,140],"tip.":[58],"Leveraging":[59],"coupling":[61],"redundant":[64],"rotational":[65,139],"DoF,":[66],"achieves":[69],"fine":[70],"angular":[71],"tip":[72],"control":[73,141],"minimal":[75],"spatial":[76],"displacement,":[77],"significantly":[78],"enhancing":[79,143],"maneuverability":[80],"in":[81,124,142,163],"constrained":[82],"environments.":[84],"field":[87,114],"distribution":[88],"its":[90],"influence":[91],"on":[92],"response":[94],"are":[95],"characterized,":[96],"kinematic":[99],"model":[100],"actuation":[103],"mechanism":[104],"established.":[106],"Experimental":[107],"validation":[108],"conducted":[110],"under":[111],"varying":[112],"strengths":[115],"orientations,":[117],"demonstrating":[118],"reliable":[119],"steering":[120],"performance.":[121],"Application-based":[122],"experiments":[123],"simulated":[125],"clinical":[126],"environments":[127],"further":[128],"confirm":[129],"precise":[130],"capability.":[132],"results":[134],"highlight":[135],"advantages":[137],"flexibility":[144],"accuracy.":[146],"presents":[150],"promising":[152],"solution":[153],"automating":[155],"catheter-based":[156],"interventions,":[157],"offering":[158],"improved":[159],"efficiency":[160],"power":[162],"minimally":[164],"invasive":[165],"procedures.":[166]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}