{"id":"https://openalex.org/W3000444472","doi":"https://doi.org/10.1109/lra.2020.2965077","title":"The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications","display_name":"The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications","publication_year":2020,"publication_date":"2020-01-09","ids":{"openalex":"https://openalex.org/W3000444472","doi":"https://doi.org/10.1109/lra.2020.2965077","mag":"3000444472"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2965077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965077","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/1eb09568-553b-4117-bbcf-88cc89bfb728","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059948199","display_name":"Christoff M. Heunis","orcid":"https://orcid.org/0000-0001-8469-6743"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Christoff M. Heunis","raw_affiliation_strings":["Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-8469-6743","affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032431599","display_name":"Yannik P. Wotte","orcid":"https://orcid.org/0000-0003-3002-4479"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Yannik P. Wotte","raw_affiliation_strings":["Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018307426","display_name":"J. Sikorski","orcid":"https://orcid.org/0000-0002-5709-8980"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jakub Sikorski","raw_affiliation_strings":["Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5709-8980","affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066846591","display_name":"Guilherme Phillips Furtado","orcid":"https://orcid.org/0000-0002-5821-1092"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Guilherme Phillips Furtado","raw_affiliation_strings":["Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5821-1092","affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050730423","display_name":"Sarthak Misra","orcid":"https://orcid.org/0000-0003-4961-0144"},"institutions":[{"id":"https://openalex.org/I1334415907","display_name":"University Medical Center Groningen","ror":"https://ror.org/03cv38k47","country_code":"NL","type":"healthcare","lineage":["https://openalex.org/I1334415907"]},{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sarthak Misra","raw_affiliation_strings":["Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-4961-0144","affiliations":[{"raw_affiliation_string":"Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I1334415907","https://openalex.org/I169381384"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059948199"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":4.1808,"has_fulltext":true,"cited_by_count":80,"citation_normalized_percentile":{"value":0.94822367,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"705","last_page":"712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T10888","display_name":"Augmented Reality Applications","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9811999797821045,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6975189447402954},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.624512255191803},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.586223304271698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.558725118637085},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4418548047542572},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3645966053009033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2928916811943054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24440565705299377},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23028677701950073},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22365066409111023},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.16360774636268616}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6975189447402954},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.624512255191803},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.586223304271698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.558725118637085},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4418548047542572},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3645966053009033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2928916811943054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24440565705299377},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23028677701950073},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22365066409111023},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.16360774636268616},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/lra.2020.2965077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965077","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.rug.nl:openaire_cris_publications/1eb09568-553b-4117-bbcf-88cc89bfb728","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/1eb09568-553b-4117-bbcf-88cc89bfb728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Heunis, C M, Wotte, Y P, Sikorski, J, Furtado, G P & Misra, S 2020, 'The ARMM System-Autonomous Steering of Magnetically-Actuated Catheters : Towards Endovascular Applications', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 705-712. https://doi.org/10.1109/LRA.2020.2965077","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/9be5bc1b-40a9-42ef-8e7f-2045158f46ce","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/9be5bc1b-40a9-42ef-8e7f-2045158f46ce","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Heunis, C M, Wotte, Y P, Sikorski, J, Furtado, G P & Misra, S 2020, 'The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters : Towards Endovascular Applications', IEEE Robotics and automation letters, vol. 5, no. 2, 8954825, pp. 705-712. https://doi.org/10.1109/LRA.2020.2965077","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/d49cdb7a-05bd-4be3-a94c-b8414de309c5","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/d49cdb7a-05bd-4be3-a94c-b8414de309c5","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Heunis, C M, Wotte, Y P, Sikorski, J, Phillips Furtado, G & Misra, S 2020, 'The ARMM system - Autonomous steering of magnetically-actuated catheters: Towards endovascular applications', Paper presented at International Conference on Robotics and Automation, ICRA 2020, Paris, France, 31/05/20 - 31/08/20.","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ris.utwente.nl:publications/9be5bc1b-40a9-42ef-8e7f-2045158f46ce","is_oa":true,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85078851616&partnerID=8YFLogxK","pdf_url":"https://ris.utwente.nl/ws/files/230065523/Heunis2020armm.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Heunis, C M, Wotte, Y P, Sikorski, J, Furtado, G P & Misra, S 2020, 'The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters : Towards Endovascular Applications', IEEE Robotics and automation letters, vol. 5, no. 2, 8954825, pp. 705-712. https://doi.org/10.1109/LRA.2020.2965077","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.rug.nl:publications/1eb09568-553b-4117-bbcf-88cc89bfb728","is_oa":true,"landing_page_url":"https://hdl.handle.net/11370/1eb09568-553b-4117-bbcf-88cc89bfb728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Heunis, C M, Wotte, Y P, Sikorski, J, Furtado, G P & Misra, S 2020, 'The ARMM System-Autonomous Steering of Magnetically-Actuated Catheters : Towards Endovascular Applications', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 705-712. https://doi.org/10.1109/LRA.2020.2965077","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:ut:oai:ris.utwente.nl:publications/d49cdb7a-05bd-4be3-a94c-b8414de309c5","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/the-armm-system--autonomous-steering-of-magneticallyactuated-catheters-towards-endovascular-applications(d49cdb7a-05bd-4be3-a94c-b8414de309c5).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TITLE=International Conference on Robotics and Automation, ICRA 2020","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire_cris_publications/1eb09568-553b-4117-bbcf-88cc89bfb728","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/1eb09568-553b-4117-bbcf-88cc89bfb728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Heunis, C M, Wotte, Y P, Sikorski, J, Furtado, G P & Misra, S 2020, 'The ARMM System-Autonomous Steering of Magnetically-Actuated Catheters : Towards Endovascular Applications', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 705-712. https://doi.org/10.1109/LRA.2020.2965077","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1583092270","https://openalex.org/W2001867221","https://openalex.org/W2006700508","https://openalex.org/W2055573331","https://openalex.org/W2083716187","https://openalex.org/W2092589256","https://openalex.org/W2107018713","https://openalex.org/W2126006281","https://openalex.org/W2134957496","https://openalex.org/W2151458208","https://openalex.org/W2156441448","https://openalex.org/W2196111060","https://openalex.org/W2217174275","https://openalex.org/W2254101695","https://openalex.org/W2557843197","https://openalex.org/W2561548559","https://openalex.org/W2575426328","https://openalex.org/W2588930121","https://openalex.org/W2606847548","https://openalex.org/W2737229546","https://openalex.org/W2793873467","https://openalex.org/W2793966962","https://openalex.org/W2910061090","https://openalex.org/W2951537460","https://openalex.org/W2969043234","https://openalex.org/W2971437569","https://openalex.org/W6686588298"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W2295071091"],"abstract_inverted_index":{"Positioning":[0],"conventional":[1],"endovascular":[2,196],"catheters":[3,33,58],"is":[4,10,130,171],"not":[5],"without":[6],"risk,":[7],"and":[8,53,117,135,156,189],"there":[9],"a":[11,103,114,119,124,181],"multitude":[12],"of":[13,31,46,56,71,81,97,159],"complications":[14],"that":[15,100,122,176],"are":[16,111],"associated":[17],"with":[18,141],"their":[19],"use":[20],"in":[21,37,74,139],"manual":[22],"surgical":[23,27,84],"interventions.":[24],"By":[25],"utilizing":[26],"manipulators,":[28],"the":[29,44,69,78,94,152],"efficacy":[30],"remote-controlled":[32],"can":[34],"be":[35],"investigated":[36],"vivo.":[38],"However,":[39],"technical":[40],"challenges,":[41],"such":[42],"as":[43],"duration":[45],"catheterizations,":[47],"accurate":[48],"positioning":[49],"at":[50],"target":[51,157],"sites,":[52],"consistent":[54],"imaging":[55],"these":[57,89],"using":[59,132],"nonhazardous":[60],"modalities,":[61],"still":[62],"exist.":[63],"In":[64],"this":[65,109],"paper,":[66],"we":[67],"propose":[68],"integration":[70],"multiple":[72],"sub-systems":[73],"order":[75],"to":[76,87,168],"extend":[77],"clinical":[79,104],"feasibility":[80],"an":[82,148],"autonomous":[83,192],"system":[85,92,178],"designed":[86],"address":[88],"challenges.":[90],"The":[91,106,164],"handles":[93],"full":[95],"synchronization":[96],"co-operating":[98],"manipulators":[99,185],"both":[101],"actuate":[102],"tool.":[105],"experiments":[107],"within":[108,113,195],"study":[110],"conducted":[112],"clinicallyrelevant":[115],"workspace":[116],"inside":[118],"gelatinous":[120],"phantom":[121],"represents":[123],"life-size":[125],"human":[126],"torso.":[127],"A":[128],"catheter":[129,154],"positioned":[131],"magnetic":[133],"actuation":[134],"proportional-integral":[136],"(PI)":[137],"control":[138],"conjunction":[140],"real-time":[142],"ultrasound":[143],"images.":[144],"Our":[145],"results":[146],"indicate":[147],"average":[149],"error":[150],"between":[151],"tracked":[153],"tip":[155],"positions":[158],"2.09":[160],"\u00b1":[161],"0.49":[162],"mm.":[163],"median":[165],"procedure":[166],"time":[167],"reach":[169],"targets":[170],"32.6":[172],"s.":[173],"We":[174],"expect":[175],"our":[177],"will":[179],"provide":[180],"step":[182],"towards":[183],"collaborative":[184],"employing":[186],"mobile":[187],"electromagnets,":[188],"possibly":[190],"improve":[191],"catheterization":[193],"procedures":[194],"surgeries.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}