{"id":"https://openalex.org/W4312273716","doi":"https://doi.org/10.1109/tase.2022.3229416","title":"Kinematic Analysis of Multi-Section Opposite Magnetic Catheter Robots With Solution Multiplicity","display_name":"Kinematic Analysis of Multi-Section Opposite Magnetic Catheter Robots With Solution Multiplicity","publication_year":2022,"publication_date":"2022-12-19","ids":{"openalex":"https://openalex.org/W4312273716","doi":"https://doi.org/10.1109/tase.2022.3229416"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3229416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3229416","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5030642312","display_name":"Daojing Lin","orcid":"https://orcid.org/0000-0002-0676-1690"},"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":"Daojing Lin","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0676-1690","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute 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/A5100368214","display_name":"Na Li","orcid":"https://orcid.org/0000-0003-3912-0539"},"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":"Na Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","University of Chinese Academy of Sciences, Beijing, China","Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, 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"]},{"raw_affiliation_string":"Institute 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/A5057438361","display_name":"Niandong Jiao","orcid":"https://orcid.org/0000-0002-3828-5262"},"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":"Niandong Jiao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-3828-5262","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute 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":["Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7136-3341","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040326170","display_name":"Lianqing Liu","orcid":"https://orcid.org/0000-0002-2271-5870"},"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":"Lianqing Liu","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-2271-5870","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China,","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute 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":3.1057,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.92555925,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"21","issue":"1","first_page":"123","last_page":"134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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/T12405","display_name":"Characterization and Applications of Magnetic Nanoparticles","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7928780317306519},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5130423307418823},{"id":"https://openalex.org/keywords/multiplicity","display_name":"Multiplicity (mathematics)","score":0.4965992569923401},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43418270349502563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3721386194229126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36092889308929443},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36080285906791687},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3600824177265167},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3312283158302307},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31338900327682495},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2423260509967804},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22964352369308472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17384591698646545}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7928780317306519},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5130423307418823},{"id":"https://openalex.org/C156004811","wikidata":"https://www.wikidata.org/wiki/Q2228257","display_name":"Multiplicity (mathematics)","level":2,"score":0.4965992569923401},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43418270349502563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3721386194229126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36092889308929443},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36080285906791687},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3600824177265167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3312283158302307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31338900327682495},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2423260509967804},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22964352369308472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17384591698646545},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3229416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3229416","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2394882797","display_name":null,"funder_award_id":"YSBR-036","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G3507080720","display_name":null,"funder_award_id":"61821005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4851596053","display_name":null,"funder_award_id":"62273331","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6509408533","display_name":null,"funder_award_id":"62127811","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8715751065","display_name":null,"funder_award_id":"61925307","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"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1994837038","https://openalex.org/W2024116821","https://openalex.org/W2063706473","https://openalex.org/W2067873889","https://openalex.org/W2094796932","https://openalex.org/W2094904022","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2283595331","https://openalex.org/W2343058007","https://openalex.org/W2413886764","https://openalex.org/W2575426328","https://openalex.org/W2884404189","https://openalex.org/W2901797979","https://openalex.org/W2945448824","https://openalex.org/W2946234510","https://openalex.org/W2951997750","https://openalex.org/W2971278234","https://openalex.org/W2991187840","https://openalex.org/W3000110030","https://openalex.org/W3000444472","https://openalex.org/W3004467325","https://openalex.org/W3038038397","https://openalex.org/W3040860850","https://openalex.org/W3104421688","https://openalex.org/W3112428550","https://openalex.org/W3113578006","https://openalex.org/W3133156511","https://openalex.org/W3143989206","https://openalex.org/W3146419220","https://openalex.org/W3179842426","https://openalex.org/W3194369447","https://openalex.org/W3212819512","https://openalex.org/W4210317464","https://openalex.org/W4210583882","https://openalex.org/W4220901398","https://openalex.org/W4221032282","https://openalex.org/W4288037467","https://openalex.org/W4288604320","https://openalex.org/W4312303312","https://openalex.org/W4312331824"],"related_works":["https://openalex.org/W4378765297","https://openalex.org/W4230581126","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933"],"abstract_inverted_index":{"Magnetic":[0],"catheter":[1,217,227,368],"robots":[2,228],"have":[3,229,247],"great":[4,248],"potential":[5,249],"for":[6,101,129,159,166,194,250,285,295,360,373],"application":[7],"in":[8,63,121,184,233,282],"minimally":[9,251],"invasive":[10,252],"surgical":[11,253],"interventions":[12,254],"that":[13,255],"require":[14,256],"submillimeter":[15],"soft":[16],"catheters":[17],"to":[18,25,40,78,97,154,173,188,198,205,239,306],"be":[19,41,358],"inserted":[20],"into":[21],"the":[22,30,34,57,83,91,106,110,115,127,135,144,156,175,178,210,214,234,257,263,279,311,315,321,335,338,350,361],"body.":[23,265],"Compared":[24],"other":[26,163],"medical":[27,102,195,215,296,374],"continuum":[28,36,49],"robots,":[29,218,369],"kinematic":[31,74,146,327],"characteristics":[32],"of":[33,61,109,118,138,177,201,213,259,337,366],"magnetic":[35,48,216,226,367],"robot":[37,50,280],"are":[38],"required":[39],"improved,":[42],"including":[43],"operating":[44],"dexterity.":[45,71],"The":[46],"opposite":[47],"(OMCR),":[51],"which":[52,89,341,370],"has":[53],"oppositely-magnetized":[54],"magnets":[55],"on":[56],"robot,":[58],"is":[59,204,371],"capable":[60],"deforming":[62],"large":[64],"and":[65,68,81,151,161,191,208,219,222,243,293,319,346,348,363],"high-order":[66,283],"curvatures":[67],"shows":[69],"improved":[70],"However,":[72,266],"unstable":[73,182],"behaviors":[75,132,212,292,323],"emerge":[76],"owing":[77,238],"solution":[79,136,312],"multiplicity":[80,137],"affect":[82],"actual":[84],"operation.":[85,224,287],"For":[86],"example,":[87],"snapping,":[88],"indicates":[90],"sudden":[92,301],"jump":[93,302],"from":[94,303],"one":[95,304],"state":[96,117,305],"another,":[98],"induces":[99,290],"danger":[100,294],"operations.":[103],"In":[104],"addition,":[105],"motion":[107],"sequence":[108],"external":[111,275,316],"mobile":[112],"magnet":[113],"affects":[114],"final":[116],"OMCR.":[119,140],"Therefore,":[120],"this":[122,202],"study,":[123],"we":[124,309],"first":[125],"analyze":[126,174,310],"reason":[128],"these":[130],"emerging":[131],"by":[133],"understanding":[134],"an":[139,274],"We":[141],"then":[142],"modified":[143,326,339],"OMCR":[145,179],"model":[147,328],"with":[148,180,329],"instability":[149,330],"analysis":[150],"additional":[152],"constraints,":[153],"predict":[155,320,343],"critical":[157],"point":[158],"snapping":[160],"avoid":[162,209],"unexpected":[164,211,291,322,344],"behavior":[165],"path":[167,353],"planning.":[168,354],"Herein,":[169,308],"our":[170],"study":[171],"aims":[172],"stability":[176,351],"relatively":[181],"configurations":[183],"their":[185,240],"actuation":[186],"space":[187],"ensure":[189,220],"stable":[190,221,364],"dexterous":[192,223,244,286,362],"motions":[193],"applications.":[196,375],"Note":[197],"Practitioners\u2014The":[199],"motivation":[200],"work":[203],"analyze,":[206],"predict,":[207],"Submillimeter":[225],"received":[230],"considerable":[231],"attention":[232],"past":[235],"ten":[236],"years":[237],"small":[241],"size":[242],"motion.":[245],"They":[246],"navigation":[258],"\u201ctighter":[260],"corners\u201d":[261],"inside":[262],"human":[264],"there":[267],"may":[268],"exist":[269],"multiple":[270],"local":[271],"solutions":[272],"under":[273],"field,":[276],"especially":[277],"when":[278],"deforms":[281],"curvature":[284],"This":[288,355],"situation":[289],"use,":[297],"such":[298],"as":[299,314],"a":[300,325],"another.":[307],"evolution":[313],"field":[317],"varies":[318],"using":[324],"analysis.":[331],"Preliminary":[332],"experiments":[333],"demonstrated":[334],"effectiveness":[336],"model,":[340],"can":[342,357],"behaviors,":[345],"evaluate":[347],"enhance":[349],"during":[352],"method":[356],"implemented":[359],"operation":[365],"significant":[372]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}