{"id":"https://openalex.org/W4407574885","doi":"https://doi.org/10.1109/lra.2025.3542205","title":"A Dual-Circuit Magnetic Actuation System for Multi-Robot Collaboration in Large-Scale Medical Environments","display_name":"A Dual-Circuit Magnetic Actuation System for Multi-Robot Collaboration in Large-Scale Medical Environments","publication_year":2025,"publication_date":"2025-02-14","ids":{"openalex":"https://openalex.org/W4407574885","doi":"https://doi.org/10.1109/lra.2025.3542205"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3542205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3542205","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/A5015797165","display_name":"Liyang Mao","orcid":"https://orcid.org/0009-0004-6706-417X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liyang Mao","raw_affiliation_strings":["State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0004-6706-417X","affiliations":[{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026681239","display_name":"Chenyao Tian","orcid":"https://orcid.org/0000-0002-5883-0424"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyao Tian","raw_affiliation_strings":["State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5883-0424","affiliations":[{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027852092","display_name":"Peng Yang","orcid":"https://orcid.org/0000-0003-3006-2184"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yang","raw_affiliation_strings":["State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007402362","display_name":"Xianghe Meng","orcid":"https://orcid.org/0000-0002-4924-4132"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianghe Meng","raw_affiliation_strings":["State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4924-4132","affiliations":[{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040439624","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0003-1896-9859"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-1896-9859","affiliations":[{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100692141","display_name":"Hui Xie","orcid":"https://orcid.org/0000-0003-4299-2776"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Xie","raw_affiliation_strings":["State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-4299-2776","affiliations":[{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Nangang District, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8084,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82851941,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"10","issue":"4","first_page":"3382","last_page":"3389"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8687999844551086,"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"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8687999844551086,"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"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8166999816894531,"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/T10273","display_name":"IoT and Edge/Fog Computing","score":0.791100025177002,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.7257684469223022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5818479657173157},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.569109320640564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089716911315918},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3854106068611145},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.32952234148979187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24916183948516846},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24184924364089966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18418297171592712},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.07057645916938782}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7257684469223022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5818479657173157},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.569109320640564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089716911315918},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3854106068611145},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.32952234148979187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24916183948516846},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24184924364089966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18418297171592712},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.07057645916938782},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3542205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3542205","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":[],"awards":[{"id":"https://openalex.org/G2023088108","display_name":null,"funder_award_id":"62127810","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6881828645","display_name":null,"funder_award_id":"61925304","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":29,"referenced_works":["https://openalex.org/W2088308749","https://openalex.org/W2089373515","https://openalex.org/W2094904022","https://openalex.org/W2594355207","https://openalex.org/W2611849294","https://openalex.org/W2746034922","https://openalex.org/W2774559420","https://openalex.org/W2785110060","https://openalex.org/W2810031855","https://openalex.org/W2899615309","https://openalex.org/W2951537460","https://openalex.org/W2963263888","https://openalex.org/W2971278234","https://openalex.org/W3000444472","https://openalex.org/W3006361032","https://openalex.org/W3037426978","https://openalex.org/W3086224848","https://openalex.org/W3139518839","https://openalex.org/W3215888518","https://openalex.org/W4220901398","https://openalex.org/W4293150143","https://openalex.org/W4312794416","https://openalex.org/W4385691121","https://openalex.org/W4385731811","https://openalex.org/W4392357884","https://openalex.org/W4394966905","https://openalex.org/W4396638264","https://openalex.org/W4402915467","https://openalex.org/W4404115163"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2317351040","https://openalex.org/W8302103","https://openalex.org/W2952466936","https://openalex.org/W1988622314","https://openalex.org/W2393949104","https://openalex.org/W4236344264","https://openalex.org/W3046201198","https://openalex.org/W4293061921","https://openalex.org/W3171631314"],"abstract_inverted_index":{"Untethered":[0],"miniature":[1,179],"robots,":[2,11],"after":[3],"ultra-long-distance":[4],"transportation":[5],"to":[6,16,71,93,101],"the":[7,17,22,28,32,38,87,117,136,142,155,168,172,186],"lesion":[8],"by":[9,81],"continuum":[10,25,169],"can":[12,157],"further":[13],"deliver":[14],"drugs":[15],"deep":[18],"fine":[19],"tissues.":[20],"Specifically,":[21],"magnetic":[23,69,77,98,162],"steering":[24],"robot":[26,41,170,181],"with":[27,42],"follower-the-leader":[29],"manner":[30],"enhances":[31],"safety":[33],"of":[34,60,90,120,144,185],"channel":[35],"construction,":[36],"while":[37],"magnetically-driven":[39],"swimming":[40,180],"high":[43],"mobility":[44],"and":[45,66,96,123,134,138,152,175],"maneuverability":[46],"ensures":[47],"robust,":[48],"precise":[49,183],"drug":[50],"delivery.":[51],"However,":[52],"it":[53],"requires":[54],"an":[55,177],"external":[56],"actuation":[57,78],"system":[58,79,156],"capable":[59],"covering":[61],"a":[62,76,107],"large":[63,108],"working":[64],"space":[65],"generating":[67],"diverse":[68],"fields":[70,99,163],"support":[72],"both":[73],"robots.":[74],"Here,":[75],"excited":[80],"dual":[82],"circuits":[83],"is":[84,114],"developed":[85],"for":[86,182],"linear":[88],"combination":[89],"constant":[91],"(up":[92,100],"13.8":[94],"mT)":[95,105],"alternating":[97],"93.2":[102],"Hz,":[103],"11.5":[104],"within":[106],"\u00d8308":[109],"mm":[110],"spherical":[111],"workspace.":[112],"This":[113],"achieved":[115],"through":[116,127,171],"resonance":[118],"effect":[119],"series":[121,128],"capacitors":[122],"suppressing":[124],"induced":[125],"currents":[126],"choke":[129],"coils.":[130],"Minimizing":[131],"conductive":[132],"materials":[133],"optimizing":[135],"core":[137],"yoke":[139],"structure":[140],"reduce":[141],"impact":[143],"eddy":[145],"current":[146],"losses.":[147],"Through":[148],"effective":[149],"temperature":[150],"management":[151],"error":[153],"compensation,":[154],"stably":[158],"generate":[159],"multiple":[160],"required":[161],"over":[164],"extended":[165],"periods,":[166],"navigating":[167],"aortic":[173],"arch":[174],"delivering":[176],"untethered":[178],"exploration":[184],"heart's":[187],"microvasculature.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}