{"id":"https://openalex.org/W1987101640","doi":"https://doi.org/10.1109/robio.2011.6181294","title":"Structure design and master-slave control system of a vascular interventional robot","display_name":"Structure design and master-slave control system of a vascular interventional robot","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1987101640","doi":"https://doi.org/10.1109/robio.2011.6181294","mag":"1987101640"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5102853447","display_name":"Xingtao Wang","orcid":"https://orcid.org/0009-0001-3692-2563"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xing-tao Wang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064672242","display_name":"Xingguang Duan","orcid":"https://orcid.org/0000-0002-9640-4928"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing-guang Duan","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029130402","display_name":"Cong-jun Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161752","display_name":"Beijing Haidian Hospital","ror":"https://ror.org/058x5eq06","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong-jun Gao","raw_affiliation_strings":["Beijing Beifang Hospital, Haidian, Beijing, China","Beijing Beifang Hospital, # 10 Chedaogou Street, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Beifang Hospital, Haidian, Beijing, China","institution_ids":["https://openalex.org/I4210161752"]},{"raw_affiliation_string":"Beijing Beifang Hospital, # 10 Chedaogou Street, Haidian, Beijing, China","institution_ids":["https://openalex.org/I4210161752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620850","display_name":"Xueshan Gao","orcid":"https://orcid.org/0000-0003-3229-4245"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xue-shan Gao","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, #5 Zhongguancun South Street, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101420100","display_name":"Da Liu","orcid":"https://orcid.org/0000-0001-5763-7094"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Da Liu","raw_affiliation_strings":["Da Liu is with the Robotics Institute, BeiHang University, Beijing, China","Robotics Institute, BeiHang University, #37 Xueyuan Road, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Da Liu is with the Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute, BeiHang University, #37 Xueyuan Road, Haidian, Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053747997","display_name":"Bo Liu","orcid":"https://orcid.org/0000-0002-2433-3390"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Liu","raw_affiliation_strings":["Da Liu is with the Robotics Institute, BeiHang University, Beijing, China","Image Processing Center, BeiHang University, #37 Xueyuan Road, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Da Liu is with the Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Image Processing Center, BeiHang University, #37 Xueyuan Road, Haidian, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5102853447"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.07276731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"252","last_page":"257"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9993000030517578,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9760000109672546,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9645000100135803,"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/digital-subtraction-angiography","display_name":"Digital subtraction angiography","score":0.6601567268371582},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5978752374649048},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5841097235679626},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.5353956818580627},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5032805800437927},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.44845008850097656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36591237783432007},{"id":"https://openalex.org/keywords/angiography","display_name":"Angiography","score":0.3216976225376129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27524369955062866},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.1852358877658844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16765642166137695},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14455333352088928}],"concepts":[{"id":"https://openalex.org/C2778286760","wikidata":"https://www.wikidata.org/wiki/Q1224954","display_name":"Digital subtraction angiography","level":3,"score":0.6601567268371582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5978752374649048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5841097235679626},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.5353956818580627},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5032805800437927},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.44845008850097656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36591237783432007},{"id":"https://openalex.org/C2780643987","wikidata":"https://www.wikidata.org/wiki/Q468414","display_name":"Angiography","level":2,"score":0.3216976225376129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27524369955062866},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.1852358877658844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16765642166137695},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14455333352088928},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W85086260","https://openalex.org/W1966575367","https://openalex.org/W1966887628","https://openalex.org/W1971144746","https://openalex.org/W1986278733","https://openalex.org/W2053300789","https://openalex.org/W2092532151","https://openalex.org/W2099118062","https://openalex.org/W2105019148","https://openalex.org/W2124535811","https://openalex.org/W2126522303","https://openalex.org/W2130117728","https://openalex.org/W2131806851","https://openalex.org/W2131885960","https://openalex.org/W2141901067","https://openalex.org/W2144029215","https://openalex.org/W2144400435","https://openalex.org/W2144749181","https://openalex.org/W2360329260","https://openalex.org/W2368346800","https://openalex.org/W6674898991"],"related_works":["https://openalex.org/W2124245542","https://openalex.org/W2410792662","https://openalex.org/W2331987950","https://openalex.org/W2007853748","https://openalex.org/W2170087772","https://openalex.org/W2082302807","https://openalex.org/W2884270309","https://openalex.org/W2381035926","https://openalex.org/W2151112203","https://openalex.org/W2430937403"],"abstract_inverted_index":{"Conventional":[0],"vascular":[1,116],"interventional":[2],"surgery":[3],"(VIS)":[4],"is":[5,44],"performed":[6],"under":[7],"fluoroscopic":[8],"X-ray":[9,22,93],"guidance.":[10],"Catheter":[11],"operating":[12,27,51,81],"systems":[13,28,56],"have":[14],"been":[15],"developed":[16,73],"to":[17,32,46,74,89],"reduce":[18],"physical":[19],"stress":[20],"and":[21,48,77,83,104,112,134],"irradiation.":[23],"However,":[24],"the":[25,38,96,98,129],"catheter":[26,50,80],"are":[29],"all":[30],"attached":[31],"surgical":[33],"bed":[34],"or":[35],"fixed":[36],"at":[37],"tip":[39],"of":[40,61,100,131,136],"passive":[41],"manipulator,":[42],"which":[43],"inconvenient":[45],"position":[47,76],"adjust":[49],"system":[52,82,86,108,138],"Furthermore,":[53],"traditional":[54],"control":[55,85,107,141],"can't":[57],"satisfy":[58],"clinical":[59],"requirements":[60],"radiation":[62],"protecting.":[63],"Therefore,":[64],"a":[65],"novel":[66],"Active":[67],"Supporting":[68],"Medical":[69],"Manipulator":[70],"(ASMM)":[71],"was":[72,87,102,110],"accurately":[75],"firmly":[78],"hold":[79],"master-slave":[84,140],"adopted":[88],"protect":[90],"surgeons":[91],"from":[92],"exposure.":[94],"In":[95],"paper,":[97],"structure":[99,109],"ASMM":[101,133],"synthesized":[103],"optimized.":[105],"Master-slave":[106],"proposed":[111],"implemented":[113],"based":[114],"on":[115],"3D":[117],"reconstruction":[118],"after":[119],"digital":[120],"subtraction":[121],"angiography":[122],"(DSA)":[123],"image":[124],"correction.":[125],"Finally,":[126],"experiments":[127],"showed":[128],"validity":[130],"optimized":[132],"feasibility":[135],"robotic":[137],"with":[139],"system.":[142]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}