{"id":"https://openalex.org/W4413392607","doi":"https://doi.org/10.1109/tim.2025.3601246","title":"Model-Free and Uncalibrated Eye-in-Hand Visual Servoing for Magnetic Suspension and Lesion Tracking of Capsule Robots","display_name":"Model-Free and Uncalibrated Eye-in-Hand Visual Servoing for Magnetic Suspension and Lesion Tracking of Capsule Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4413392607","doi":"https://doi.org/10.1109/tim.2025.3601246"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3601246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3601246","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5015789205","display_name":"Haojie Li","orcid":"https://orcid.org/0009-0008-0428-5900"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haojie Li","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051029163","display_name":"Chang Liu","orcid":"https://orcid.org/0009-0002-3878-9150"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048709541","display_name":"Jiaole Wang","orcid":"https://orcid.org/0000-0002-0941-8003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaole Wang","raw_affiliation_strings":["School of Biomedical Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":"https://orcid.org/0000-0002-3490-9752"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Song","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015789205"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.2784,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83451373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11438","display_name":"Retinal Imaging and Analysis","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/visual-servoing","display_name":"Visual servoing","score":0.9165282845497131},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6992401480674744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6706826090812683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5972799062728882},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5841613411903381},{"id":"https://openalex.org/keywords/capsule","display_name":"Capsule","score":0.5473405122756958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5083221793174744},{"id":"https://openalex.org/keywords/suspension","display_name":"Suspension (topology)","score":0.48565828800201416},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.43100783228874207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16904690861701965},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09643879532814026},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09596008062362671}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9165282845497131},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6992401480674744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6706826090812683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5972799062728882},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5841613411903381},{"id":"https://openalex.org/C2778778583","wikidata":"https://www.wikidata.org/wiki/Q147768","display_name":"Capsule","level":2,"score":0.5473405122756958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5083221793174744},{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.48565828800201416},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.43100783228874207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16904690861701965},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09643879532814026},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09596008062362671},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3601246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3601246","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2387914441","display_name":null,"funder_award_id":"62173110","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1993086849","https://openalex.org/W1999860606","https://openalex.org/W2000881605","https://openalex.org/W2003052654","https://openalex.org/W2036572195","https://openalex.org/W2045195134","https://openalex.org/W2050317016","https://openalex.org/W2126423185","https://openalex.org/W2186251853","https://openalex.org/W2299954058","https://openalex.org/W2735010709","https://openalex.org/W2810031855","https://openalex.org/W2943839323","https://openalex.org/W3002347631","https://openalex.org/W3016522829","https://openalex.org/W3043800339","https://openalex.org/W3123652698","https://openalex.org/W3136540427","https://openalex.org/W3141165654","https://openalex.org/W3175779901","https://openalex.org/W3204359636","https://openalex.org/W4210592545","https://openalex.org/W4220817434","https://openalex.org/W4221145676","https://openalex.org/W4248654028","https://openalex.org/W4285198618","https://openalex.org/W4293198117","https://openalex.org/W4310906456","https://openalex.org/W4312234176","https://openalex.org/W4319990531","https://openalex.org/W4394674257","https://openalex.org/W4399342517","https://openalex.org/W4401435632","https://openalex.org/W4401523901","https://openalex.org/W4401567702","https://openalex.org/W4401586473","https://openalex.org/W4406907156"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"This":[0,67],"article":[1],"proposes":[2],"a":[3,18,31,86,123],"model-free":[4],"and":[5,82,117,150],"uncalibrated":[6],"eye-in-hand":[7],"(EiH)":[8],"visual":[9,49],"servoing":[10],"approach":[11],"for":[12,147],"controlling":[13],"magnetically-actuated":[14],"capsule":[15,46,154],"endoscopy":[16,47],"in":[17,54,72,79,89,114,133,138,153],"suspended":[19],"state":[20],"with":[21,102],"an":[22],"external":[23],"permanent":[24],"magnet":[25],"fixed":[26],"at":[27],"the":[28,45,55,60,63,73,80,112,115,121,131,134,142,145],"end-effector":[29],"of":[30,44,62,144],"serial-link":[32],"robot":[33,64,99],"manipulator":[34],"(in":[35],"GI":[36],"tract":[37],"diagnosis).":[38],"We":[39],"implement":[40],"active":[41],"motion":[42,70,77,113,132],"control":[43,71,78,111,130,149],"by":[48,106],"feedback":[50],"through":[51],"feature":[52,93],"information":[53],"image":[56,103],"plane":[57],"to":[58,98,110,129],"correct":[59],"position":[61],"manipulator\u2019s":[65],"end-effector.":[66],"method":[68],"decouples":[69],"z-axis":[74],"direction":[75],"from":[76],"x-":[81,116],"y-axis":[83],"directions,":[84],"ensuring":[85],"rapid":[87],"response":[88],"suspension":[90,148],"control.":[91],"Image":[92],"deviations":[94],"have":[95],"been":[96,127],"mapped":[97],"actuation":[100],"variables":[101],"Jacobian":[104],"estimated":[105],"unscented":[107],"Kalman":[108],"filter":[109],"y-":[118],"direction.":[119],"In":[120],"meantime,":[122],"PD":[124],"controller":[125],"has":[126],"utilized":[128],"z-direction.":[135],"Experiments":[136],"conducted":[137],"liquid":[139],"environments":[140],"confirm":[141],"effectiveness":[143],"algorithms":[146],"lesion":[151],"tracking":[152],"robot.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}