{"id":"https://openalex.org/W4416749272","doi":"https://doi.org/10.1109/iros60139.2025.11246927","title":"Two-dimensional Trajectory Tracking of a Magnetic Continuum Robot by Optimal Magnet Manipulation","display_name":"Two-dimensional Trajectory Tracking of a Magnetic Continuum Robot by Optimal Magnet Manipulation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749272","doi":"https://doi.org/10.1109/iros60139.2025.11246927"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246927","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/A5064642257","display_name":"Lijun Hao","orcid":"https://orcid.org/0000-0001-8366-7705"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lijun Hao","raw_affiliation_strings":["Beijing Jiaotong University,School of Computer Science and Technology,Beijing,China,100044"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Computer Science and Technology,Beijing,China,100044","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035106862","display_name":"Tangwen Yang","orcid":"https://orcid.org/0009-0008-0512-6805"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tangwen Yang","raw_affiliation_strings":["Beijing Jiaotong University,School of Computer Science and Technology,Beijing,China,100044"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Computer Science and Technology,Beijing,China,100044","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087124501","display_name":"Jiamiao Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161896","display_name":"Fu Wai Hospital","ror":"https://ror.org/0590dnz19","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161896"]},{"id":"https://openalex.org/I200296433","display_name":"Chinese Academy of Medical Sciences & Peking Union Medical College","ror":"https://ror.org/02drdmm93","country_code":"CN","type":"education","lineage":["https://openalex.org/I200296433"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiamiao Gong","raw_affiliation_strings":["Chinese Academy of Medical Sciences,National Center for Cardiovascular Diseases, Fuwai Hospital,Beijing,China,100037"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Medical Sciences,National Center for Cardiovascular Diseases, Fuwai Hospital,Beijing,China,100037","institution_ids":["https://openalex.org/I4210161896","https://openalex.org/I200296433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062776325","display_name":"Sheng Liu","orcid":"https://orcid.org/0000-0002-0991-6328"},"institutions":[{"id":"https://openalex.org/I4210161896","display_name":"Fu Wai Hospital","ror":"https://ror.org/0590dnz19","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161896"]},{"id":"https://openalex.org/I200296433","display_name":"Chinese Academy of Medical Sciences & Peking Union Medical College","ror":"https://ror.org/02drdmm93","country_code":"CN","type":"education","lineage":["https://openalex.org/I200296433"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Liu","raw_affiliation_strings":["Chinese Academy of Medical Sciences,National Center for Cardiovascular Diseases, Fuwai Hospital,Beijing,China,100037"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Medical Sciences,National Center for Cardiovascular Diseases, Fuwai Hospital,Beijing,China,100037","institution_ids":["https://openalex.org/I4210161896","https://openalex.org/I200296433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032043483","display_name":"Zhe Zheng","orcid":"https://orcid.org/0000-0002-9162-6492"},"institutions":[{"id":"https://openalex.org/I4210161896","display_name":"Fu Wai Hospital","ror":"https://ror.org/0590dnz19","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161896"]},{"id":"https://openalex.org/I200296433","display_name":"Chinese Academy of Medical Sciences & Peking Union Medical College","ror":"https://ror.org/02drdmm93","country_code":"CN","type":"education","lineage":["https://openalex.org/I200296433"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Zheng","raw_affiliation_strings":["Chinese Academy of Medical Sciences,National Center for Cardiovascular Diseases, Fuwai Hospital,Beijing,China,100037"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Medical Sciences,National Center for Cardiovascular Diseases, Fuwai Hospital,Beijing,China,100037","institution_ids":["https://openalex.org/I4210161896","https://openalex.org/I200296433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064642257"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35121485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3665","last_page":"3670"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9790999889373779,"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":0.9790999889373779,"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":0.016100000590085983,"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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.00139999995008111,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6869999766349792},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6559000015258789},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.6105999946594238},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.49459999799728394},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.490200012922287},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48399999737739563},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.37619999051094055},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3684000074863434}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6869999766349792},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6559000015258789},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6105999946594238},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.49459999799728394},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.490200012922287},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48399999737739563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43290001153945923},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3684000074863434},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.36739999055862427},{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.35040000081062317},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.33570000529289246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32170000672340393},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.31060001254081726},{"id":"https://openalex.org/C2779025620","wikidata":"https://www.wikidata.org/wiki/Q2053767","display_name":"Deflexion","level":3,"score":0.30090001225471497},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2989000082015991},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2944999933242798},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28439998626708984},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.27889999747276306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27720001339912415},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.2752000093460083},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.26409998536109924}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246927","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W193125329","https://openalex.org/W2020682883","https://openalex.org/W2065720004","https://openalex.org/W2100512598","https://openalex.org/W2502156947","https://openalex.org/W2526011581","https://openalex.org/W2575426328","https://openalex.org/W2896050657","https://openalex.org/W2971278234","https://openalex.org/W2999727357","https://openalex.org/W3001194984","https://openalex.org/W3033268204","https://openalex.org/W3121181889","https://openalex.org/W3162127210","https://openalex.org/W4223931121","https://openalex.org/W4312273716","https://openalex.org/W4321063811","https://openalex.org/W4375928778","https://openalex.org/W4386824924","https://openalex.org/W4391807372"],"related_works":[],"abstract_inverted_index":{"The":[0,41],"steerability":[1,74],"of":[2,9,25,37,118],"catheter":[3,27],"is":[4,19,44,51,90,131,155],"critical":[5],"to":[6,22,28,101,106,126,133,144],"the":[7,23,32,38,60,65,77,93,103,108,111,114,119,128,142,146,158,168,175],"success":[8],"interventional":[10],"procedure.":[11],"In":[12,76],"this":[13,163],"paper,":[14],"a":[15,26,47,82,179],"magnetic":[16,86,88,138],"continuum":[17,42],"robot":[18,43,94,112,143,153,180],"presumably":[20],"mounted":[21],"distal":[24],"pull":[29],"it":[30,63],"in":[31,116,171],"narrow,":[33],"bifurcate,":[34],"tortuous":[35],"pathways":[36],"blood":[39],"vessels.":[40],"actuated":[45],"by":[46,81,174],"permanent":[48,83],"magnet.":[49,61],"It":[50],"linear":[52],"and":[53,71,97,113,140,157],"soft,":[54],"which":[55],"complicates":[56],"its":[57,69,73,150],"interaction":[58,109],"with":[59,178],"However,":[62],"generates":[64],"omnidirectional":[66],"deflection":[67],"at":[68,149],"tip":[70],"improves":[72],"instead.":[75],"non-uniform":[78],"field":[79,139],"generated":[80],"magnet,":[84,115],"besides":[85],"torque,":[87],"force":[89],"acting":[91],"on":[92],"as":[95],"well,":[96],"both":[98],"are":[99],"used":[100],"derive":[102],"dynamic":[104],"equations":[105],"govern":[107],"between":[110],"terms":[117],"Euler-Bernoulli":[120],"beam":[121],"theory.":[122],"An":[123],"iterative":[124],"algorithm":[125],"calculate":[127],"magnet":[129,176],"pose":[130],"proposed":[132],"generate":[134],"an":[135],"optimal":[136],"moving":[137],"actuate":[141],"follow":[145],"planned":[147,169],"trajectory":[148],"tip.":[151],"A":[152],"prototype":[154,164],"fabricated,":[156],"experimental":[159],"results":[160],"show":[161],"that":[162],"can":[165],"accurately":[166],"track":[167],"trajectories":[170],"2D":[172],"space":[173],"manipulation":[177],"arm.":[181]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}