{"id":"https://openalex.org/W4416749386","doi":"https://doi.org/10.1109/iros60139.2025.11247158","title":"Simultaneous 6-DOF localization and scanning angle detection of magnetic ultrasound capsule endoscope (MUSCE) with internal sensors","display_name":"Simultaneous 6-DOF localization and scanning angle detection of magnetic ultrasound capsule endoscope (MUSCE) with internal sensors","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749386","doi":"https://doi.org/10.1109/iros60139.2025.11247158"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247158","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/A5003256733","display_name":"Zhengxin Yang","orcid":"https://orcid.org/0000-0002-3160-0784"},"institutions":[{"id":"https://openalex.org/I4210092817","display_name":"Suzhou Institute of Biomedical Engineering and Technology","ror":"https://ror.org/00f58mx93","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210092817"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhengxin Yang","raw_affiliation_strings":["Chinese Academy of Sciences,The Suzhou Institute of Biomedical Engineering and Technology,Suzhou,China,215163"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,The Suzhou Institute of Biomedical Engineering and Technology,Suzhou,China,215163","institution_ids":["https://openalex.org/I4210092817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103247031","display_name":"Lihao Liu","orcid":"https://orcid.org/0009-0004-7348-8411"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihao Liu","raw_affiliation_strings":["University of Science and Technology of China,School of Biomedical Engineering,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Biomedical Engineering,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035497780","display_name":"Yang Jiao","orcid":"https://orcid.org/0000-0001-5801-0496"},"institutions":[{"id":"https://openalex.org/I4210092817","display_name":"Suzhou Institute of Biomedical Engineering and Technology","ror":"https://ror.org/00f58mx93","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210092817"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Jiao","raw_affiliation_strings":["Chinese Academy of Sciences,The Suzhou Institute of Biomedical Engineering and Technology,Suzhou,China,215163"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,The Suzhou Institute of Biomedical Engineering and Technology,Suzhou,China,215163","institution_ids":["https://openalex.org/I4210092817"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028192635","display_name":"Yaoyao Cui","orcid":"https://orcid.org/0000-0003-2432-9225"},"institutions":[{"id":"https://openalex.org/I4210092817","display_name":"Suzhou Institute of Biomedical Engineering and Technology","ror":"https://ror.org/00f58mx93","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210092817"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyao Cui","raw_affiliation_strings":["Chinese Academy of Sciences,The Suzhou Institute of Biomedical Engineering and Technology,Suzhou,China,215163"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,The Suzhou Institute of Biomedical Engineering and Technology,Suzhou,China,215163","institution_ids":["https://openalex.org/I4210092817"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003256733"],"corresponding_institution_ids":["https://openalex.org/I4210092817"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51421029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5764","last_page":"5770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9671000242233276,"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"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9671000242233276,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.02710000053048134,"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/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.0008999999845400453,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/magnet","display_name":"Magnet","score":0.5845999717712402},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5059999823570251},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.4618000090122223},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.3538999855518341},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.35109999775886536},{"id":"https://openalex.org/keywords/magnetic-separation","display_name":"Magnetic separation","score":0.3244999945163727},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.32249999046325684}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5845999717712402},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5059999823570251},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.4618000090122223},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4239000082015991},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.3538999855518341},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.34220001101493835},{"id":"https://openalex.org/C2779833257","wikidata":"https://www.wikidata.org/wiki/Q2663154","display_name":"Magnetic separation","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.32249999046325684},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.322299987077713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32010000944137573},{"id":"https://openalex.org/C107637996","wikidata":"https://www.wikidata.org/wiki/Q1431247","display_name":"Hall effect sensor","level":3,"score":0.31209999322891235},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.30489999055862427},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.28459998965263367},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2743000090122223},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26660001277923584},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247158","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":27,"referenced_works":["https://openalex.org/W2095474252","https://openalex.org/W2103499078","https://openalex.org/W2333051748","https://openalex.org/W2520777520","https://openalex.org/W2609581415","https://openalex.org/W2610915011","https://openalex.org/W2907543193","https://openalex.org/W2914578700","https://openalex.org/W2937271633","https://openalex.org/W2944033464","https://openalex.org/W3037121200","https://openalex.org/W3048745031","https://openalex.org/W3095933131","https://openalex.org/W3194093349","https://openalex.org/W4285170385","https://openalex.org/W4290717384","https://openalex.org/W4317761541","https://openalex.org/W4366504076","https://openalex.org/W4389428421","https://openalex.org/W4390604097","https://openalex.org/W4392805917","https://openalex.org/W4393935425","https://openalex.org/W4396877677","https://openalex.org/W4399179612","https://openalex.org/W4403123270","https://openalex.org/W4405522268","https://openalex.org/W4406890391"],"related_works":[],"abstract_inverted_index":{"Localization":[0],"of":[1,94,126,148],"magnetically":[2],"actuated":[3],"capsule":[4,52],"endoscope":[5,53],"(MCE)":[6],"is":[7,104,121,152,161],"essential":[8],"for":[9,48,74,85],"accurate":[10],"actuation.":[11],"Despite":[12],"extensive":[13],"progress":[14],"in":[15,166,175,177,193],"pose":[16],"estimation":[17],"using":[18],"internal":[19,36,58,96],"magnetic":[20,25,37,50,59,75,131],"field":[21,38,60,132],"sensors":[22,103],"and":[23,63,77,101,111,129,139,169],"external":[24,65,130],"sources,":[26],"it":[27],"remains":[28],"challenging":[29],"to":[30],"achieve":[31],"localization":[32,73,138,159],"when":[33],"a":[34,44,91,98,117,178],"time-varying":[35,127],"(IMF)":[39],"exists.":[40],"This":[41],"study":[42],"presents":[43],"compound":[45,118],"sensing":[46,119],"method":[47,151],"the":[49,124,146,149,182,186],"ultrasound":[51,79],"(MUSCE)":[54],"based":[55],"on":[56],"an":[57,64,95],"sensor":[61],"array":[62],"permanent":[66],"magnet":[67],"source,":[68],"achieving":[69],"simultaneous":[70,107],"6-degree-of-freedom":[71],"(DOF)":[72],"navigation":[76],"real-time":[78],"(US)":[80],"beam":[81,141],"scanning":[82,142,187],"angle":[83,143,188],"detection":[84,189],"distortion-free":[86],"US":[87,99,114,140,194],"imaging":[88],"reconstruction.":[89],"Firstly,":[90],"MUSCE":[92,137],"consisting":[93],"magnet,":[97],"transducer,":[100],"hall":[102],"designed,":[105],"enabling":[106],"spiral":[108],"structure-based":[109],"locomotion":[110],"high-quality":[112],"endoluminal":[113],"imaging.":[115],"Then,":[116],"strategy":[120],"presented,":[122],"realizing":[123],"separation":[125],"IMF":[128],"(EMF),":[133],"allowing":[134],"synchronous":[135],"6-DOF":[136],"detection.":[144],"Finally,":[145],"effectiveness":[147],"presented":[150],"validated":[153],"by":[154],"tests.":[155],"The":[156],"demonstrated":[157],"static":[158],"error":[160],"4.08":[162],"\u00b1":[163,171],"1.91":[164],"mm":[165],"position":[167],"norm":[168],"2.46":[170],"1.31<sup":[172],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[173],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00b0</sup>":[174],"orientation,":[176],"workspace":[179],"shared":[180],"with":[181],"robotic":[183],"manipulator.":[184],"Also,":[185],"can":[190],"rectify":[191],"distortion":[192],"image,":[195],"showing":[196],"potential":[197],"clinical":[198],"applications.":[199]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
