{"id":"https://openalex.org/W3196972223","doi":"https://doi.org/10.1109/rcar52367.2021.9517412","title":"Data-Driven Modeling the Nonlinear Backlash of Steerable Endoscope Under a Large Deflection Cannulation in ERCP Surgery","display_name":"Data-Driven Modeling the Nonlinear Backlash of Steerable Endoscope Under a Large Deflection Cannulation in ERCP Surgery","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3196972223","doi":"https://doi.org/10.1109/rcar52367.2021.9517412","mag":"3196972223"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517412","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517412","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101927334","display_name":"Wei Jiang","orcid":"https://orcid.org/0000-0002-2053-3432"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Jiang","raw_affiliation_strings":["Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707702","display_name":"Tao Yu","orcid":"https://orcid.org/0009-0003-5701-9642"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Yu","raw_affiliation_strings":["Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053656744","display_name":"Xiao He","orcid":"https://orcid.org/0000-0002-5188-4382"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao He","raw_affiliation_strings":["Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101592071","display_name":"Yongming Yang","orcid":"https://orcid.org/0000-0003-2358-4566"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongming Yang","raw_affiliation_strings":["Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756467","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0001-7136-3341"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Chiba Institute of Technology, Narashino, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082274282","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0002-8278-1263"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liu","raw_affiliation_strings":["Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, Liaoning Province, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"39","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"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":0.9987000226974487,"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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9940999746322632,"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/T10518","display_name":"Gallbladder and Bile Duct Disorders","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/backlash","display_name":"Backlash","score":0.9692214727401733},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.7330438494682312},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.6307640075683594},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5618525147438049},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5560290217399597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42808467149734497},{"id":"https://openalex.org/keywords/deflection-angle","display_name":"Deflection angle","score":0.4141530990600586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36420542001724243},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3401522636413574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3258458077907562},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2696419656276703},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1818077564239502},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17218655347824097},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15133193135261536}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.9692214727401733},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.7330438494682312},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.6307640075683594},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5618525147438049},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5560290217399597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42808467149734497},{"id":"https://openalex.org/C2991746120","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Deflection angle","level":2,"score":0.4141530990600586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36420542001724243},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3401522636413574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3258458077907562},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2696419656276703},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1818077564239502},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17218655347824097},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15133193135261536},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/rcar52367.2021.9517412","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517412","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1227451141","display_name":null,"funder_award_id":"2018YFC0115101","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1966780058","https://openalex.org/W2025501099","https://openalex.org/W2063367762","https://openalex.org/W2111072639","https://openalex.org/W2126239496","https://openalex.org/W2154253540","https://openalex.org/W2154578892","https://openalex.org/W2184993170","https://openalex.org/W2328652614","https://openalex.org/W2341725565","https://openalex.org/W2437182290","https://openalex.org/W2520573561","https://openalex.org/W2523642729","https://openalex.org/W2967946679","https://openalex.org/W3006631052","https://openalex.org/W3036306652"],"related_works":["https://openalex.org/W1986557338","https://openalex.org/W2366214147","https://openalex.org/W2305616785","https://openalex.org/W2461057965","https://openalex.org/W2517172131","https://openalex.org/W2360761026","https://openalex.org/W2161673367","https://openalex.org/W4312689133","https://openalex.org/W2078263009","https://openalex.org/W2003003562"],"abstract_inverted_index":{"Unexpected":[0],"nonlinear":[1],"backlash":[2,31,54,69,95],"performances":[3],"of":[4,7,33,76,86],"two":[5,34],"degrees":[6],"freedom":[8],"(DoFs)":[9],"tendon":[10],"sheath":[11],"mechanism":[12],"(TSM)":[13],"have":[14],"serious":[15],"impacts":[16],"on":[17],"the":[18,53,60,67,74,81,87],"precise":[19],"cannulation":[20],"in":[21],"ERCP":[22],"(Endoscopic":[23],"Retrograde":[24],"Cholangio-Pancreatography)":[25],"surgery.":[26],"We":[27],"proposed":[28,94],"to":[29,101,104],"model":[30,55,70],"performance":[32],"DoFs":[35],"steerable":[36,88],"endoscope":[37,89],"by":[38],"using":[39],"LSTM":[40,68],"(Long":[41],"Short-Term":[42],"Memory)":[43],"network.":[44],"Trajectory":[45],"following":[46],"and":[47,78,83,107],"orientation":[48,84],"tasks":[49,112],"are":[50],"performed":[51],"after":[52],"has":[56],"been":[57],"considered":[58],"into":[59],"control":[61],"strategy.":[62],"Experimental":[63],"results":[64],"show":[65],"that":[66,113],"can":[71,98],"accurately":[72],"describe":[73],"non-linearities":[75],"backlash,":[77],"significantly":[79],"reduce":[80],"positioning":[82],"deviation":[85],"under":[90,115],"large":[91,117],"deflection.":[92,118],"The":[93],"modeling":[96],"method":[97],"be":[99,102],"extended":[100],"applied":[103],"bronchial,":[105],"urethral":[106],"other":[108],"natural":[109],"orifice":[110],"interventional":[111],"work":[114],"a":[116]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}