{"id":"https://openalex.org/W4378772057","doi":"https://doi.org/10.1109/tro.2023.3281477","title":"Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography","display_name":"Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography","publication_year":2023,"publication_date":"2023-06-20","ids":{"openalex":"https://openalex.org/W4378772057","doi":"https://doi.org/10.1109/tro.2023.3281477"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3281477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3281477","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/A5101829323","display_name":"Keyu Li","orcid":"https://orcid.org/0000-0001-8893-1261"},"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":true,"raw_author_name":"Keyu Li","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053035784","display_name":"Yangxin Xu","orcid":"https://orcid.org/0000-0001-6258-4716"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yangxin Xu","raw_affiliation_strings":["Yuanhua Robotics, Perception & AI Technologies Ltd., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Yuanhua Robotics, Perception & AI Technologies Ltd., Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100625271","display_name":"Ziqi Zhao","orcid":"https://orcid.org/0000-0002-0416-6468"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zhao","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413647","display_name":"Ang Li","orcid":"https://orcid.org/0000-0003-0380-6459"},"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":"Ang Li","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"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"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101829323"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.7585,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.83514292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"39","issue":"5","first_page":"3946","last_page":"3959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11579","display_name":"Cardiovascular and Diving-Related Complications","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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":0.7789908647537231},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.698787271976471},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6442878246307373},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5683821439743042},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5368018746376038},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.527340292930603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5131633877754211},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.4884561598300934},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41582682728767395},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38986703753471375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37372875213623047},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2464708387851715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18079930543899536},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10629954934120178},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10345378518104553}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7789908647537231},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.698787271976471},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6442878246307373},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5683821439743042},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5368018746376038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.527340292930603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5131633877754211},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.4884561598300934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41582682728767395},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38986703753471375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37372875213623047},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2464708387851715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18079930543899536},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10629954934120178},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10345378518104553},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3281477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3281477","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W169192408","https://openalex.org/W1968600609","https://openalex.org/W1975502852","https://openalex.org/W1993086849","https://openalex.org/W1997101761","https://openalex.org/W2018286493","https://openalex.org/W2055573331","https://openalex.org/W2084721856","https://openalex.org/W2103591967","https://openalex.org/W2127307850","https://openalex.org/W2142309018","https://openalex.org/W2143512461","https://openalex.org/W2261751601","https://openalex.org/W2520777520","https://openalex.org/W2555681516","https://openalex.org/W2558247857","https://openalex.org/W2558258343","https://openalex.org/W2606884236","https://openalex.org/W2729315639","https://openalex.org/W2738944227","https://openalex.org/W2739219590","https://openalex.org/W2739399408","https://openalex.org/W2746206846","https://openalex.org/W2810031855","https://openalex.org/W2914578700","https://openalex.org/W2920825550","https://openalex.org/W2951997750","https://openalex.org/W2971278234","https://openalex.org/W2980790222","https://openalex.org/W3001194984","https://openalex.org/W3012780255","https://openalex.org/W3035812436","https://openalex.org/W3078964289","https://openalex.org/W3090906558","https://openalex.org/W3102783504","https://openalex.org/W3125472763","https://openalex.org/W3157010837","https://openalex.org/W3177300472","https://openalex.org/W3194093349","https://openalex.org/W3205841225","https://openalex.org/W3213118596","https://openalex.org/W4220817434","https://openalex.org/W4221108481","https://openalex.org/W4226284436","https://openalex.org/W4247856304","https://openalex.org/W4280562887","https://openalex.org/W4285119356","https://openalex.org/W4321484228","https://openalex.org/W4323065865"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2371519816","https://openalex.org/W2048862765","https://openalex.org/W2043154226","https://openalex.org/W2770942502","https://openalex.org/W2369529107","https://openalex.org/W4281943815","https://openalex.org/W2559957734"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,54,60,80,179],"closed-loop":[4,100],"magnetic":[5,35,123,146],"manipulation":[6,44,147],"framework":[7,160,188],"for":[8,38,86,200],"robotic":[9,20],"transesophageal":[10],"echocardiography":[11],"(TEE)":[12],"acquisitions.":[13,203],"Different":[14],"from":[15],"previous":[16],"work":[17],"on":[18,25,114,178],"intracorporeal":[19],"ultrasound":[21,88],"acquisitions":[22],"that":[23,94,185],"focus":[24],"continuum":[26],"robot":[27],"control,":[28],"we":[29],"first":[30],"investigate":[31],"the":[32,46,50,71,76,103,115,138,141,156,159,186,198],"use":[33],"of":[34,45,49,102,117,137,158,163],"control":[36,101],"methods":[37],"more":[39],"direct,":[40],"intuitive,":[41],"and":[42,63,74,89,92,98,121,140,170,194],"accurate":[43],"distal":[47],"tip":[48,73],"probe.":[51],"We":[52,149],"modify":[53],"standard":[55],"TEE":[56,202],"probe":[57,72,104,142],"by":[58],"attaching":[59],"permanent":[61,111],"magnet":[62,112],"an":[64,109],"inertial":[65,119],"measurement":[66,120],"unit":[67],"(IMU)":[68],"sensor":[69],"to":[70,154],"replacing":[75],"flexible":[77],"gastroscope":[78],"with":[79,108,144],"soft":[81],"tether":[82],"containing":[83],"only":[84],"wires":[85],"transmitting":[87],"IMU":[90],"data":[91],"show":[93,184],"six-degree-of-freedom":[95],"(DOF)":[96],"localization":[97,164],"five-DOF":[99],"can":[105,195],"be":[106],"achieved":[107],"external":[110,122],"based":[113],"fusion":[116],"internal":[118],"field":[124],"sensing":[125],"data.":[126],"The":[127],"proposed":[128,187],"method":[129],"does":[130],"not":[131],"require":[132],"complex":[133],"structures":[134],"or":[135],"motions":[136],"actuator":[139],"compared":[143],"existing":[145],"methods.":[148],"have":[150],"conducted":[151],"extensive":[152],"experiments":[153],"validate":[155],"effectiveness":[157],"in":[161,191],"terms":[162],"accuracy,":[165],"update":[166],"rate,":[167],"workspace":[168],"size,":[169],"tracking":[171],"accuracy.":[172],"In":[173],"addition,":[174],"our":[175],"results":[176],"obtained":[177],"realistic":[180],"cardiac":[181],"tissue-mimicking":[182],"phantom":[183],"is":[189],"applicable":[190],"real":[192],"conditions":[193],"generally":[196],"meet":[197],"requirements":[199],"teleoperated":[201]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2023-05-31T00:00:00"}