{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T02:48:49Z","timestamp":1771210129297,"version":"3.50.1"},"reference-count":53,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2021,12,3]],"date-time":"2021-12-03T00:00:00Z","timestamp":1638489600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2022,3]]},"abstract":"<jats:sec><jats:label\/><jats:p>Long\u2010distance endovascular navigation of miniature robots under the guidance of medical imaging modalities is essential for microrobotic targeted delivery in the human body. Herein, a scheme on this topic based on mobile ultrasound (US) tracking and magnetic control is proposed. Considering the narrow 2D imaging of a US probe and the fast decay of the magnetic field, the US probe is integrated with three electromagnetic coils for simultaneous long\u2010distance tracking and control of untethered miniature robots. To enable robust tracking with pulsatile flow, a tracking strategy consisting of tracking in and perpendicular to the image plane is designed. In the image plane, an iterative statistics\u2010based strategy is proposed to extract the position and orientation of the robot from the US imaging. For the direction perpendicular to the US image plane, the probe motion is automatically adjusted according to the tracking quality. Based on the real\u2010time tracking result, demanded rotating fields are generated by the mobile coils for helical propulsion. The proposed scheme is implemented on a full\u2010scale silicone phantom of human iliac and aorta arteries with blood\u2010mimicking fluid and pulsatile flow. Experimental results validate the robustness and the effectiveness of the proposed scheme.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100144","type":"journal-article","created":{"date-parts":[[2021,12,3]],"date-time":"2021-12-03T03:09:48Z","timestamp":1638500988000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Mobile Ultrasound Tracking and Magnetic Control for Long\u2010Distance Endovascular Navigation of Untethered Miniature Robots against Pulsatile Flow"],"prefix":"10.1002","volume":"4","author":[{"given":"Lidong","family":"Yang","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"}]},{"given":"Moqiu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"}]},{"given":"Zhengxin","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"}]},{"given":"Haojin","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1152-8962","authenticated-orcid":false,"given":"Li","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"},{"name":"CUHK T Stone Robotics Institute The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"},{"name":"Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"},{"name":"Department of Surgery The Chinese University of Hong Kong  Shatin NT Hong Kong 999077 China"}]}],"member":"311","published-online":{"date-parts":[[2021,12,3]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-010510-103409"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2014.2385105"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aam6431"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-13576-6"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900086"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000181"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202100070"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000082"},{"key":"e_1_2_11_10_1","first-page":"12","volume":"2","author":"Yan X.","year":"2017","journal-title":"Sci. Rob."},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.3079655"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201503112"},{"key":"e_1_2_11_13_1","first-page":"30","volume":"4","author":"Jeon S.","year":"2019","journal-title":"Sci. Rob."},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100052"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100034"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2380591"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2761786"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2019.2939419"},{"key":"e_1_2_11_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2521407"},{"key":"e_1_2_11_20_1","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms12138"},{"key":"e_1_2_11_21_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature25443"},{"key":"e_1_2_11_22_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202000069"},{"key":"e_1_2_11_23_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0171"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.5090872"},{"key":"e_1_2_11_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2988636"},{"key":"e_1_2_11_26_1","doi-asserted-by":"publisher","DOI":"10.1002\/adhm.202001681"},{"key":"e_1_2_11_27_1","first-page":"52","volume":"6","author":"Wang B.","year":"2021","journal-title":"Sci. Rob."},{"key":"e_1_2_11_28_1","doi-asserted-by":"publisher","DOI":"10.1118\/1.4906194"},{"key":"e_1_2_11_29_1","doi-asserted-by":"publisher","DOI":"10.1533\/9780857097392.252"},{"key":"e_1_2_11_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2934712"},{"key":"e_1_2_11_31_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900110"},{"key":"e_1_2_11_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2019.2960530"},{"key":"e_1_2_11_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TUFFC.2018.2850811"},{"key":"e_1_2_11_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2019.2902523"},{"key":"e_1_2_11_35_1","unstructured":"S.Scheggi K. K. T.Chandrasekar C.Yoon B.Sawaryn G.van de Steeg D. H.Gracias S.Misra in2017 IEEE Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2017 pp.6156\u20136161."},{"key":"e_1_2_11_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/OJNANO.2020.2981824"},{"key":"e_1_2_11_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/MIM.2018.8327972"},{"key":"e_1_2_11_38_1","first-page":"9","volume":"7","author":"Wang Q.","year":"2021","journal-title":"Sci. Adv."},{"key":"e_1_2_11_39_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-081219-082713"},{"key":"e_1_2_11_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965077"},{"key":"e_1_2_11_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.3006131"},{"key":"e_1_2_11_42_1","first-page":"48","volume":"5","author":"Yang X.","year":"2020","journal-title":"Sci. Rob."},{"key":"e_1_2_11_43_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-032720-104318"},{"key":"e_1_2_11_44_1","first-page":"29","volume":"4","author":"Xu T.","year":"2019","journal-title":"Sci. Rob."},{"key":"e_1_2_11_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.2988718"},{"key":"e_1_2_11_46_1","doi-asserted-by":"publisher","DOI":"10.1161\/01.RES.19.4.791"},{"key":"e_1_2_11_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2017.2749245"},{"key":"e_1_2_11_48_1","doi-asserted-by":"crossref","unstructured":"L.Yang X.Du E.Yu D.Jin L.Zhang in2019 Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2019 pp.9814\u20139820.","DOI":"10.1109\/ICRA.2019.8793543"},{"key":"e_1_2_11_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3057295"},{"key":"e_1_2_11_50_1","doi-asserted-by":"crossref","unstructured":"F.Langsch S.Virga J.Esteban R.G\u00f6bl N.Navab in2019 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2019 pp.5404\u20135410.","DOI":"10.1109\/IROS40897.2019.8967652"},{"key":"e_1_2_11_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.3036215"},{"key":"e_1_2_11_52_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0301-5629(98)00103-3"},{"key":"e_1_2_11_53_1","doi-asserted-by":"publisher","DOI":"10.1093\/bjaceaccp\/mkr030"},{"key":"e_1_2_11_54_1","doi-asserted-by":"publisher","DOI":"10.1063\/5.0032969"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100144","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202100144","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100144","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T23:56:15Z","timestamp":1759881375000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202100144"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,12,3]]},"references-count":53,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,3]]}},"alternative-id":["10.1002\/aisy.202100144"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202100144","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,12,3]]},"assertion":[{"value":"2021-07-28","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-12-03","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2100144"}}