{"id":"https://openalex.org/W3127291264","doi":"https://doi.org/10.1109/lra.2021.3057295","title":"Magnetic Control of a Steerable Guidewire Under Ultrasound Guidance Using Mobile Electromagnets","display_name":"Magnetic Control of a Steerable Guidewire Under Ultrasound Guidance Using Mobile Electromagnets","publication_year":2021,"publication_date":"2021-02-05","ids":{"openalex":"https://openalex.org/W3127291264","doi":"https://doi.org/10.1109/lra.2021.3057295","mag":"3127291264"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3057295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3057295","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":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/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":true,"raw_author_name":"Zhengxin Yang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001610911","display_name":"Lidong Yang","orcid":"https://orcid.org/0000-0002-5757-7885"},"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":"Lidong Yang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069385543","display_name":"Moqiu Zhang","orcid":"https://orcid.org/0000-0001-6542-9877"},"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":"Moqiu Zhang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100417691","display_name":"Qianqian Wang","orcid":"https://orcid.org/0000-0001-8011-171X"},"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":"Qianqian Wang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108737077","display_name":"Chun Ho Simon","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chun Ho Simon","raw_affiliation_strings":["Department of Imaging and Interventional Radiology, CUHK, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Imaging and Interventional Radiology, CUHK, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100425709","display_name":"Li Zhang","orcid":"https://orcid.org/0000-0003-1152-8962"},"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":"Li Zhang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003256733"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":5.9434,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.97279127,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"1280","last_page":"1287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9866999983787537,"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/electromagnet","display_name":"Electromagnet","score":0.7993454933166504},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6978094577789307},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6869847774505615},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6157916188240051},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.5656994581222534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5245285630226135},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.44387608766555786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39259040355682373},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2585287094116211},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25484293699264526},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.23847103118896484},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.23084068298339844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22840937972068787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22091934084892273},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1577620506286621},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11763855814933777}],"concepts":[{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.7993454933166504},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6978094577789307},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6869847774505615},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6157916188240051},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.5656994581222534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5245285630226135},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.44387608766555786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39259040355682373},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2585287094116211},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25484293699264526},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.23847103118896484},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.23084068298339844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22840937972068787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22091934084892273},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1577620506286621},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11763855814933777},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3057295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3057295","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1966354352","https://openalex.org/W1988000217","https://openalex.org/W2026008817","https://openalex.org/W2028939309","https://openalex.org/W2101667962","https://openalex.org/W2119531408","https://openalex.org/W2129217566","https://openalex.org/W2142423459","https://openalex.org/W2162132284","https://openalex.org/W2411246158","https://openalex.org/W2561548559","https://openalex.org/W2563201001","https://openalex.org/W2617783870","https://openalex.org/W2791642493","https://openalex.org/W2793966962","https://openalex.org/W2802668008","https://openalex.org/W2887094246","https://openalex.org/W2890184628","https://openalex.org/W2896049741","https://openalex.org/W2901797979","https://openalex.org/W2910061090","https://openalex.org/W2969043234","https://openalex.org/W2980790222","https://openalex.org/W3000444472","https://openalex.org/W3003587267","https://openalex.org/W3008727743","https://openalex.org/W3015147753","https://openalex.org/W3016536947","https://openalex.org/W3036440991","https://openalex.org/W3037121200","https://openalex.org/W3094623996","https://openalex.org/W6683724074"],"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":{"Endovascular":[0],"surgery":[1],"has":[2,24,44],"become":[3],"a":[4,50,57,80,107,111,123,184,192],"popular":[5],"minimally":[6],"invasive":[7],"approach":[8],"to":[9,64,86,128,157,196],"diagnose":[10],"and":[11,21,31,95,106,119,132,147,204],"treat":[12],"various":[13],"vascular":[14,187],"diseases.":[15],"However,":[16],"manipulating":[17],"conventional":[18],"passive":[19],"guidewires":[20],"catheters":[22],"still":[23],"technical":[25],"challenges,":[26],"such":[27],"as":[28],"long":[29],"duration":[30],"undesired":[32],"trauma.":[33],"In":[34],"addition,":[35],"radiation":[36],"exposure":[37],"induced":[38],"by":[39,75,200],"commonly":[40],"used":[41],"fluoroscopic":[42],"imaging":[43],"safety":[45],"concerns.":[46],"This":[47,189],"letter":[48,190],"presents":[49],"workflow":[51],"that":[52,164],"performs":[53],"magnetic":[54,93,100,116,202],"control":[55,140],"of":[56,135,145,173],"steerable":[58,71],"guidewire":[59,72,153],"under":[60],"ultrasound":[61],"(US)":[62],"guidance":[63],"address":[65],"these":[66],"issues.":[67],"The":[68,98],"designed":[69],"magnetically":[70],"is":[73,84,126,142,180],"fabricated":[74],"replica":[76],"molding":[77],"method,":[78],"then":[79],"computational-efficient":[81],"kinematic":[82,167],"model":[83,168],"proposed":[85,143,166],"describe":[87],"the":[88,91,130,136,152,158,165,171,174,177],"relationship":[89],"between":[90],"applied":[92],"field":[94,117],"tip":[96],"deformation.":[97],"constructed":[99],"actuation":[101,203],"system":[102],"integrates":[103],"three":[104],"electromagnets":[105],"US":[108,120,205],"probe":[109],"into":[110],"parallel":[112],"mechanism,":[113],"realizing":[114],"large-workspace":[115],"generation":[118],"feedback.":[121],"Further,":[122],"motorized":[124],"feeder":[125],"incorporated":[127],"provide":[129],"forward":[131],"backward":[133],"motion":[134],"guidewire.":[137,175],"An":[138],"autonomous":[139],"framework":[141],"consisting":[144],"preoperative":[146],"intraoperative":[148],"stages,":[149],"through":[150],"which":[151],"can":[154],"be":[155],"delivered":[156],"targeted":[159],"region":[160],"automatically.":[161],"Results":[162],"show":[163],"efficiently":[169],"estimates":[170],"deformation":[172],"Furthermore,":[176],"overall":[178],"procedure":[179],"experimentally":[181],"validated":[182],"on":[183],"phantom":[185],"mimicking":[186],"structures.":[188],"provides":[191],"preliminary":[193],"robotic":[194],"solution":[195],"improve":[197],"catheterization":[198],"procedures":[199],"introducing":[201],"imaging.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
