{"id":"https://openalex.org/W4205230475","doi":"https://doi.org/10.1109/tro.2022.3140887","title":"Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation","display_name":"Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation","publication_year":2022,"publication_date":"2022-01-19","ids":{"openalex":"https://openalex.org/W4205230475","doi":"https://doi.org/10.1109/tro.2022.3140887"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3140887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3140887","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5101972318","display_name":"Xianqiang Bao","orcid":"https://orcid.org/0000-0001-9723-9883"},"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"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Xianqiang Bao","raw_affiliation_strings":["Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","Department of Biomedical Engineering, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9723-9883","affiliations":[{"raw_affiliation_string":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752","https://openalex.org/I125839683"]},{"raw_affiliation_string":"Department of Biomedical Engineering, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753"]}]},{"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/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"]},{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shuxiang Guo","raw_affiliation_strings":["Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0607-9798","affiliations":[{"raw_affiliation_string":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752","https://openalex.org/I125839683"]},{"raw_affiliation_string":"Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Japan","institution_ids":["https://openalex.org/I201933988"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112111653","display_name":"Yangming Guo","orcid":null},"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"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangming Guo","raw_affiliation_strings":["Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752","https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074524768","display_name":"Cheng Yang","orcid":"https://orcid.org/0000-0001-7078-3838"},"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"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Yang","raw_affiliation_strings":["Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7078-3838","affiliations":[{"raw_affiliation_string":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752","https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024562897","display_name":"Liwei Shi","orcid":"https://orcid.org/0000-0003-2784-701X"},"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"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liwei Shi","raw_affiliation_strings":["Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I890469752","https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026547866","display_name":"Youxiang Li","orcid":"https://orcid.org/0000-0002-3995-4106"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]},{"id":"https://openalex.org/I4210087691","display_name":"Beijing Tian Tan Hospital","ror":"https://ror.org/003regz62","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210087691"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youxiang Li","raw_affiliation_strings":["Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, Beijing Tiantan Hospital, Capital Medical University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, Beijing Tiantan Hospital, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I4210087691","https://openalex.org/I183519381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083417625","display_name":"Yuhua Jiang","orcid":"https://orcid.org/0000-0001-7138-3748"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]},{"id":"https://openalex.org/I4210087691","display_name":"Beijing Tian Tan Hospital","ror":"https://ror.org/003regz62","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210087691"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhua Jiang","raw_affiliation_strings":["Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, Beijing Tiantan Hospital, Capital Medical University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, Beijing Tiantan Hospital, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I4210087691","https://openalex.org/I183519381"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101972318"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I183935753","https://openalex.org/I890469752"],"apc_list":null,"apc_paid":null,"fwci":6.1317,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.97570678,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"38","issue":"4","first_page":"2238","last_page":"2250"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T11055","display_name":"Cardiac and Coronary Surgery Techniques","score":0.9940000176429749,"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"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9890000224113464,"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/teleoperation","display_name":"Teleoperation","score":0.6817472577095032},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.6414293646812439},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5072435736656189},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4681186079978943},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40938958525657654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2678910493850708}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6817472577095032},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.6414293646812439},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5072435736656189},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4681186079978943},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40938958525657654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2678910493850708}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3140887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3140887","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/3"}],"awards":[{"id":"https://openalex.org/G3393129884","display_name":null,"funder_award_id":"2015AA043202","funder_id":"https://openalex.org/F4320335773","funder_display_name":"National High-tech Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320335773","display_name":"National High-tech Research and Development Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W113617540","https://openalex.org/W1545313665","https://openalex.org/W1929849386","https://openalex.org/W1988000217","https://openalex.org/W2011963952","https://openalex.org/W2017415569","https://openalex.org/W2129417101","https://openalex.org/W2144400435","https://openalex.org/W2148368094","https://openalex.org/W2151677602","https://openalex.org/W2157521920","https://openalex.org/W2169748775","https://openalex.org/W2294215545","https://openalex.org/W2516959426","https://openalex.org/W2529347517","https://openalex.org/W2563224197","https://openalex.org/W2606665807","https://openalex.org/W2616247830","https://openalex.org/W2753574783","https://openalex.org/W2788266351","https://openalex.org/W2789905203","https://openalex.org/W2791642493","https://openalex.org/W2795767180","https://openalex.org/W2885248555","https://openalex.org/W2887091126","https://openalex.org/W2897180313","https://openalex.org/W2910061090","https://openalex.org/W2921483293","https://openalex.org/W2962135098","https://openalex.org/W2971828626","https://openalex.org/W2988334419","https://openalex.org/W2988454930","https://openalex.org/W6638964570"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W4205146758","https://openalex.org/W1979551339"],"abstract_inverted_index":{"Remote-controlled":[0],"vascular":[1,12],"interventional":[2],"robots":[3],"have":[4],"great":[5],"potential":[6],"for":[7,95,107,137,205],"use":[8],"in":[9,14,149],"minimally":[10],"invasive":[11],"surgeries":[13,57],"recent":[15],"years":[16],"due":[17],"to":[18,21,51,127,153,212],"their":[19],"ability":[20],"reduce":[22,128,151],"the":[23,30,43,56,67,85,108,146,171,174,194,198,203],"occupational":[24],"risk":[25],"of":[26,34,87,112,173,197],"surgeons":[27,63,144],"and":[28,32,110,135,156,165,170,185,201],"improve":[29],"stability":[31],"accuracy":[33],"surgical":[35,75,102,133,216],"procedures.":[36],"However,":[37],"blood":[38,129,154],"vessels":[39],"will":[40,70],"suffer":[41],"from":[42],"damage":[44],"caused":[45],"by":[46],"collision":[47,152],"with":[48],"medical":[49],"instruments":[50],"some":[52],"extent":[53],"even":[54,78],"though":[55],"are":[58],"very":[59],"successful.":[60],"Moreover,":[61],"when":[62],"perform":[64],"unsafe":[65,68,158],"operations,":[66],"operations":[69,159],"not":[71],"only":[72],"seriously":[73],"affect":[74],"safety":[76],"(or":[77],"cause":[79],"serious":[80],"complications)":[81],"but":[82],"also":[83],"restrict":[84],"continuity":[86],"operation.":[88,139],"In":[89],"this":[90,117],"article,":[91],"a":[92,105,119],"multilevel":[93,121,175],"concept":[94],"operating":[96],"force":[97],"is":[98,124],"first":[99,125],"introduced":[100],"into":[101],"procedures":[103],"as":[104],"reference":[106],"choice":[109],"design":[111],"operation":[113,122,176],"strategies.":[114],"Based":[115],"on":[116,215],"concept,":[118],"novel":[120],"strategy":[123,141,177],"proposed":[126,199],"vessel":[130],"damage,":[131],"ensure":[132],"safety,":[134],"allow":[136],"continuous":[138],"This":[140],"can":[142],"remind":[143],"about":[145],"operative":[147],"conditions":[148],"real-time,":[150],"vessels,":[155],"eliminate":[157],"online.":[160],"A":[161],"prototype":[162],"was":[163,178],"fabricated":[164],"calibrated":[166],"through":[167,180],"calibration":[168],"experiments":[169],"performance":[172],"validated":[179],"<italic":[181,186,207],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[182,187,208],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">in":[183,209],"vitro</i>":[184],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ex":[188],"vivo</i>":[189,210],"experiments.":[190],"Experimental":[191],"results":[192],"demonstrate":[193],"engineering":[195],"effectiveness":[196],"method":[200],"motivate":[202],"need":[204],"further":[206],"studies":[211],"evaluate":[213],"improvement":[214],"safety.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}