{"id":"https://openalex.org/W2921479474","doi":"https://doi.org/10.1109/robio.2018.8664754","title":"A Novel Bilateral Control Strategy for Master-slave Vascular Interventional Robots","display_name":"A Novel Bilateral Control Strategy for Master-slave Vascular Interventional Robots","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921479474","doi":"https://doi.org/10.1109/robio.2018.8664754","mag":"2921479474"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8664754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664754","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100607719","display_name":"Jian Guo","orcid":"https://orcid.org/0000-0002-3722-6578"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Guo","raw_affiliation_strings":["Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034516351","display_name":"Cheng Meng","orcid":"https://orcid.org/0000-0003-2771-2481"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Meng","raw_affiliation_strings":["Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100611041","display_name":"Shuxiang Guo","orcid":"https://orcid.org/0000-0002-0607-9798"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuxiang Guo","raw_affiliation_strings":["Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059587637","display_name":"Xiaoliang Jin","orcid":"https://orcid.org/0000-0002-5659-5264"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoliang Jin","raw_affiliation_strings":["Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100928182","display_name":"Changping Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changping Sun","raw_affiliation_strings":["Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Control Theory & Application, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136765683"],"apc_list":null,"apc_paid":null,"fwci":0.5411,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65301332,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"471","last_page":"476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9840999841690063,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6802937388420105},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.6706284880638123},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5883556604385376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5866694450378418},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5730254650115967},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.534919798374176},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5105946660041809},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4922696650028229},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45152464509010315},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4401390552520752},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34524089097976685},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3275550901889801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24275270104408264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18117773532867432}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6802937388420105},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.6706284880638123},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5883556604385376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5866694450378418},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5730254650115967},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.534919798374176},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5105946660041809},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4922696650028229},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45152464509010315},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4401390552520752},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34524089097976685},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3275550901889801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24275270104408264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18117773532867432},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":1,"locations":[{"id":"doi:10.1109/robio.2018.8664754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664754","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1862091543","https://openalex.org/W1907909569","https://openalex.org/W1976228406","https://openalex.org/W2033481362","https://openalex.org/W2084452455","https://openalex.org/W2142437851","https://openalex.org/W2150711577","https://openalex.org/W2153015913","https://openalex.org/W2330612794","https://openalex.org/W2563224197","https://openalex.org/W2593293073","https://openalex.org/W2609173704","https://openalex.org/W2620002620","https://openalex.org/W2788266351","https://openalex.org/W2789251555","https://openalex.org/W2791356174","https://openalex.org/W2791613424","https://openalex.org/W2795436850","https://openalex.org/W2796559553","https://openalex.org/W6671856572","https://openalex.org/W6680791864","https://openalex.org/W6734787489"],"related_works":["https://openalex.org/W4251298892","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W2161688277","https://openalex.org/W2507451840","https://openalex.org/W2671856052","https://openalex.org/W1970600542","https://openalex.org/W3173692650","https://openalex.org/W2150322040"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1],"vascular":[2,28,92,116],"interventions":[3],"are":[4],"commonly":[5],"used":[6],"in":[7,31],"the":[8,22,25,32,42,46,50,55,64,71,85,88,107,114,124,136,146,158,162],"treatment":[9],"of":[10,24,63,70,87,127,139,157,164],"cardiovascular":[11],"diseases.":[12],"In":[13],"this":[14,152],"paper,":[15],"we":[16,34,76],"have":[17],"made":[18],"some":[19],"improvements":[20],"on":[21,80,106],"basis":[23],"original":[26],"master-slave":[27,72,115],"intervention":[29,93],"robot":[30,48,57],"laboratory,":[33],"proposed":[35,89,150],"a":[36,98],"bilateral":[37,147],"control":[38,148],"strategy.":[39],"We":[40,102],"designed":[41,77],"impedance":[43],"controller":[44,53,75],"for":[45,54,91,113],"master":[47],"and":[49,67,110,135,160],"sliding":[51],"mode":[52],"slave":[56],"respectively":[58],"that":[59,123],"can":[60,154],"improve":[61,155],"effects":[62],"position":[65,108,128],"tracking":[66,109,129],"force":[68,111,140],"feedback":[69,112,141],"robot.":[73,118],"The":[74,119],"was":[78],"simulated":[79],"Matlab.":[81],"Simulations":[82],"results":[83,121],"verify":[84],"effectiveness":[86],"scheme":[90],"surgery":[94],"when":[95],"there":[96],"is":[97,130,142],"fixed":[99],"time":[100],"delay.":[101],"also":[103],"conducted":[104],"experiments":[105],"interventional":[117,165],"experimental":[120],"show":[122],"maximum":[125,137],"error":[126,138],"less":[131],"than":[132],"1.5":[133],"mm":[134],"17":[143],"mN.":[144],"Therefore,":[145],"strategy":[149],"by":[151],"paper":[153],"transparency":[156],"system":[159],"ensure":[161],"safety":[163],"surgery.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}