{"id":"https://openalex.org/W4383220374","doi":"https://doi.org/10.1109/tbme.2023.3292336","title":"Towards Semi-Autonomous Colon Screening Using an Electromagnetically Actuated Soft-Tethered Colonoscope Based on Visual Servo Control","display_name":"Towards Semi-Autonomous Colon Screening Using an Electromagnetically Actuated Soft-Tethered Colonoscope Based on Visual Servo Control","publication_year":2023,"publication_date":"2023-07-05","ids":{"openalex":"https://openalex.org/W4383220374","doi":"https://doi.org/10.1109/tbme.2023.3292336","pmid":"https://pubmed.ncbi.nlm.nih.gov/37405889"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2023.3292336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2023.3292336","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5087490998","display_name":"Yehui Li","orcid":"https://orcid.org/0000-0002-8755-6276"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yehui Li","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-8755-6276","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028797524","display_name":"Wing Yin Ng","orcid":"https://orcid.org/0000-0002-4913-8292"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wing Yin Ng","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, China","School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7970-9076","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074161936","display_name":"Yisen Huang","orcid":"https://orcid.org/0000-0002-1307-8187"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yisen Huang","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-1307-8187","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101476597","display_name":"Heng Zhang","orcid":"https://orcid.org/0000-0002-1006-4951"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Heng Zhang","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082980666","display_name":"Yitian Xian","orcid":"https://orcid.org/0000-0002-3265-0177"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yitian Xian","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Hong Kong","Department of Electrical and Electronic Engineering, The University of HongKong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3265-0177","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of HongKong, Hong Kong","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075128050","display_name":"Jixiu Li","orcid":"https://orcid.org/0009-0005-3257-7239"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jixiu Li","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Hong Kong","Department of Electrical and Electronic Engineering, The University of HongKong, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0005-3257-7239","affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of HongKong, Hong Kong","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009033168","display_name":"Yichong Sun","orcid":"https://orcid.org/0000-0001-9813-9702"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yichong Sun","raw_affiliation_strings":["Multi-scale Medical Robotics Centre Ltd., The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multi-scale Medical Robotics Centre Ltd., The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079884638","display_name":"Philip Wai Yan Chiu","orcid":"https://orcid.org/0000-0001-9292-112X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Philip Wai Yan Chiu","raw_affiliation_strings":["Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Centre Ltd., The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9292-112X","affiliations":[{"raw_affiliation_string":"Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Centre Ltd., The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100415063","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0003-4455-0808"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Centre Ltd., The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4455-0808","affiliations":[{"raw_affiliation_string":"Department of Surgery, Chow Yuk Ho Technology Centre for Innovative Medicine, Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Centre Ltd., The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8452,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.8446995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"71","issue":"1","first_page":"77","last_page":"88"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6588000059127808,"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":0.6588000059127808,"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":0.11309999972581863,"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/T10552","display_name":"Colorectal Cancer Screening and Detection","score":0.07649999856948853,"subfield":{"id":"https://openalex.org/subfields/2730","display_name":"Oncology"},"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/visual-servoing","display_name":"Visual servoing","score":0.8523292541503906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6342013478279114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.540071427822113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.503452718257904},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4932178854942322},{"id":"https://openalex.org/keywords/colonoscopy","display_name":"Colonoscopy","score":0.48639753460884094},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4113401770591736},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23678430914878845},{"id":"https://openalex.org/keywords/colorectal-cancer","display_name":"Colorectal cancer","score":0.07956427335739136}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8523292541503906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6342013478279114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.540071427822113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.503452718257904},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4932178854942322},{"id":"https://openalex.org/C2778435480","wikidata":"https://www.wikidata.org/wiki/Q840387","display_name":"Colonoscopy","level":4,"score":0.48639753460884094},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4113401770591736},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23678430914878845},{"id":"https://openalex.org/C526805850","wikidata":"https://www.wikidata.org/wiki/Q188874","display_name":"Colorectal cancer","level":3,"score":0.07956427335739136},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003106","descriptor_name":"Colon","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D003106","descriptor_name":"Colon","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D003106","descriptor_name":"Colon","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D003106","descriptor_name":"Colon","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D003113","descriptor_name":"Colonoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D003113","descriptor_name":"Colonoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D003113","descriptor_name":"Colonoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D003113","descriptor_name":"Colonoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D020685","descriptor_name":"Colonoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D020685","descriptor_name":"Colonoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D020685","descriptor_name":"Colonoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D020685","descriptor_name":"Colonoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2023.3292336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2023.3292336","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:37405889","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37405889","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1561067792","https://openalex.org/W2056454342","https://openalex.org/W2094904022","https://openalex.org/W2100515417","https://openalex.org/W2137924757","https://openalex.org/W2157289187","https://openalex.org/W2401155090","https://openalex.org/W2588930121","https://openalex.org/W2598070036","https://openalex.org/W2810031855","https://openalex.org/W2883751207","https://openalex.org/W2907543193","https://openalex.org/W2914578700","https://openalex.org/W2951071083","https://openalex.org/W2965005738","https://openalex.org/W2980790222","https://openalex.org/W2990657723","https://openalex.org/W3003406779","https://openalex.org/W3009210584","https://openalex.org/W3082262248","https://openalex.org/W3093713122","https://openalex.org/W3111063888","https://openalex.org/W3112952488","https://openalex.org/W3128646645","https://openalex.org/W3133705279","https://openalex.org/W3204372962","https://openalex.org/W3205641612","https://openalex.org/W4226026381","https://openalex.org/W4251124249","https://openalex.org/W4252031641","https://openalex.org/W4285120271","https://openalex.org/W4285170385"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W110066474","https://openalex.org/W4293869118"],"abstract_inverted_index":{"OBJECTIVE:":[0],"Conventional":[1],"colonoscopy":[2,26,144],"using":[3],"a":[4,28,90,142],"flexible":[5],"colonoscope":[6,69,76,116,167],"remains":[7],"two":[8],"major":[9],"limitations,":[10],"including":[11,102],"patient":[12],"discomfort":[13],"and":[14,38,89,92,106,129,146,172,182,189,198,206],"difficult":[15,39],"manipulations":[16,54,137,174],"for":[17],"surgeons.":[18],"Robotic":[19],"colonoscopes":[20,34,197],"have":[21],"been":[22],"developed":[23,97,177],"to":[24,64,98,151,161],"conduct":[25],"in":[27,140,179],"patient-friendly":[29],"manner.":[30],"However,":[31],"most":[32],"robotic":[33,68,196,210],"still":[35],"maintain":[36],"nonintuitive":[37],"manipulations,":[40,101],"which":[41,62,202],"limits":[42],"their":[43],"clinical":[44,207],"applications.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49],"demonstrated":[50],"visual":[51,82,118,170],"servo-based":[52],"semi-autonomous":[53,100,173],"of":[55,67,74,125,155,195,209],"an":[56,80,121,147],"electromagnetic":[57],"actuated":[58],"soft-tethered":[59],"(EAST)":[60],"colonoscope,":[61],"aims":[63],"lower":[65],"difficulties":[66],"manipulations.":[70],"METHODS:":[71],"Kinematic":[72],"modeling":[73],"EAST":[75,115,166],"is":[77],"conducted,":[78],"with":[79,109,120,175],"adaptive":[81],"servo":[83],"controller":[84],"established.":[85],"Template":[86],"matching":[87],"method":[88],"lumen":[91],"polyp":[93,111],"detection":[94],"model":[95],"are":[96],"enable":[99],"region-of-interest":[103],"automatic":[104,110],"tracking":[105],"autonomous":[107],"navigation":[108],"detection.":[112],"RESULTS:":[113],"The":[114,165,186],"demonstrates":[117],"servoing":[119,171],"average":[122],"convergence":[123],"time":[124],"around":[126],"2.5":[127],"s":[128],"performs":[130],"disturbance":[131],"rejection":[132],"within":[133],"3.0":[134],"s.":[135],"Semi-autonomous":[136],"were":[138],"conducted":[139],"both":[141,180],"commercialized":[143],"simulator":[145],"ex-vivo":[148,183],"porcine":[149],"colon":[150],"show":[152],"the":[153,157,176,192,204],"efficacy":[154],"reducing":[156],"user":[158,200],"workload":[159],"compared":[160],"manual":[162],"control.":[163],"CONCLUSION:":[164],"can":[168],"perform":[169],"methods":[178],"laboratory":[181],"environments.":[184],"SIGNIFICANCE:":[185],"proposed":[187],"solutions":[188],"techniques":[190],"improve":[191],"autonomy":[193],"level":[194],"reduce":[199],"workloads,":[201],"promotes":[203],"development":[205],"translation":[208],"colonoscopy.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
