{"id":"https://openalex.org/W7134267967","doi":"https://doi.org/10.48550/arxiv.2603.05992","title":"MagRobot:An Open Simulator for Magnetically Navigated Robots","display_name":"MagRobot:An Open Simulator for Magnetically Navigated Robots","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134267967","doi":"https://doi.org/10.48550/arxiv.2603.05992"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.05992","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100446035","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0001-6881-9977"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wang, Heng","raw_affiliation_strings":["South China University of Technology"],"affiliations":[{"raw_affiliation_string":"South China University of Technology","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126589516","display_name":"Haoyu Song","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song, Haoyu","raw_affiliation_strings":["South China University of Technology"],"affiliations":[{"raw_affiliation_string":"South China University of Technology","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128597314","display_name":"Jiatao Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng, Jiatao","raw_affiliation_strings":["South China University of Technology"],"affiliations":[{"raw_affiliation_string":"South China University of Technology","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430466","display_name":"Yu Han","orcid":"https://orcid.org/0009-0008-9778-2614"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han, Yuxiang","raw_affiliation_strings":["South China University of Technology"],"affiliations":[{"raw_affiliation_string":"South China University of Technology","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":null,"display_name":"Wang, Kunli","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang, Kunli","raw_affiliation_strings":["South China University of Technology"],"affiliations":[{"raw_affiliation_string":"South China University of Technology","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100446035"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7347000241279602,"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":0.7347000241279602,"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":0.16120000183582306,"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/T11486","display_name":"Micro and Nano Robotics","score":0.0681999996304512,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6132000088691711},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5094000101089478},{"id":"https://openalex.org/keywords/graphical-user-interface","display_name":"Graphical user interface","score":0.4945000112056732},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4180999994277954},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.3968999981880188},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.3878999948501587},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.38440001010894775}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6132000088691711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5695000290870667},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5455999970436096},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5094000101089478},{"id":"https://openalex.org/C37789001","wikidata":"https://www.wikidata.org/wiki/Q782543","display_name":"Graphical user interface","level":2,"score":0.4945000112056732},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4180999994277954},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3968999981880188},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.3878999948501587},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.38440001010894775},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3305000066757202},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.3021000027656555},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.29910001158714294},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2879999876022339},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2680000066757202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26739999651908875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26570001244544983},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.2635999917984009}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.05992","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.05992","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05992","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.05992","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Magnetic":[0],"navigation":[1,77,120,175,193,239],"systems,":[2,10],"including":[3],"magnetic":[4,8,76,119,137,140,174,192,204,238],"tracking":[5,141],"systems":[6,121,240],"and":[7,18,25,35,54,68,72,95,117,125,139,167,171,187,198,217,235,245],"actuation":[9,138,205],"have":[11],"shown":[12,231],"great":[13],"potential":[14],"for":[15,122,247],"occlusion-free":[16],"localization":[17],"remote":[19],"control":[20],"of":[21,41,61,97,173,179,191,194,210,226,237],"intracorporeal":[22],"medical":[23,145],"devices":[24],"robots":[26,44],"in":[27,143],"minimally":[28],"invasive":[29],"medicine,":[30],"such":[31],"as":[32],"capsule":[33,200],"endoscopy":[34],"cardiovascular":[36],"intervention.":[37],"However,":[38],"the":[39,70,85,111,160,180,211,224,227,233,251],"design":[40,94],"magnetically":[42,98],"navigated":[43,99],"remains":[45],"heavily":[46],"reliant":[47],"on":[48],"experimental":[49,64],"prototyping,":[50],"which":[51,133],"is":[52,58,131,182,230],"time-consuming":[53],"costly.":[55],"Furthermore,":[56],"there":[57],"a":[59,62,195,199],"lack":[60],"consistent":[63],"environment":[65],"to":[66,91,113,222],"compare":[67],"benchmark":[69],"hardware":[71,170],"algorithms":[73,172,236],"across":[74],"different":[75],"systems.":[78,176],"To":[79],"address":[80],"these":[81],"challenges,":[82],"we":[83],"propose":[84],"first":[86],"universal":[87],"open-source":[88],"simulation":[89],"platform":[90],"facilitate":[92],"research,":[93],"benchmarking":[96],"robots.":[100,127],"Our":[101],"simulator":[102,130,153,181],"features":[103],"an":[104,155],"intuitive":[105],"graphical":[106],"user":[107,112,161],"interface":[108],"that":[109,147,232],"enables":[110],"efficiently":[114],"design,":[115],"visualize,":[116],"analyze":[118],"both":[123,136,169,185],"rigid":[124],"soft":[126],"The":[128,151,177],"proposed":[129,152],"versatile,":[132],"can":[134,162,241],"simulate":[135],"tasks":[142],"diverse":[144,203],"applications":[146],"involve":[148],"deformable":[149],"anatomies.":[150],"provides":[154],"open":[156],"development":[157],"environment,":[158],"where":[159],"load":[163],"third-party":[164],"anatomical":[165],"models":[166],"customize":[168],"fidelity":[178],"validated":[183],"using":[184,250],"phantom":[186],"ex":[188],"vivo":[189],"experiments":[190],"continuum":[196],"robot":[197,201],"with":[202],"setups.":[206],"Three":[207],"use":[208],"cases":[209],"simulator,":[212],"i.e.,":[213],"bronchoscopy,":[214],"endovascular":[215],"intervention,":[216],"gastrointestinal":[218],"endoscopy,":[219],"are":[220],"implemented":[221],"demonstrate":[223],"functionality":[225],"simulator.":[228,252],"It":[229],"configuration":[234],"be":[242],"flexibly":[243],"designed":[244],"optimized":[246],"better":[248],"performance":[249]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-03-10T00:00:00"}
