{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T09:00:49Z","timestamp":1768726849941,"version":"3.49.0"},"reference-count":29,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2020,9,16]],"date-time":"2020-09-16T00:00:00Z","timestamp":1600214400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"name":"National Key Research and Development Projects","award":["2019YFB1309800, 2019YFC0119200"],"award-info":[{"award-number":["2019YFB1309800, 2019YFC0119200"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"crossref","award":["2018RC30"],"award-info":[{"award-number":["2018RC30"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2020,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>The improvement of the steerability and controllability of catheters is highly required because catheter\u2010based interventional diagnosis and therapy have become increasingly popular. However, active catheters are often complex and expensive.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>This study attempts to control catheter tip by a twisted string actuator. Experiments are carried out to analyze the full actuation and bending characteristics of the active catheter.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>It is indicated that the expected bending motion can be achieved by twisting the strings. Hysteresis behavior in backward and forward motion is also discussed. High repetitive positional accuracy and reverse position accuracy can be obtained when the number of rotation is low. When the number of turns is 25, the maximum tip position errors are 4, 1.8 and 1 mm in <jats:italic>X<\/jats:italic>, <jats:italic>Y<\/jats:italic> and <jats:italic>Z<\/jats:italic> directions, respectively.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusion<\/jats:title><jats:p>It is expected that the presented method will prove useful for the application of twisted string active catheter.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2145","type":"journal-article","created":{"date-parts":[[2020,8,12]],"date-time":"2020-08-12T03:37:53Z","timestamp":1597203473000},"page":"1-10","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Experimental investigation of a twisted string actuation for usage in active catheter"],"prefix":"10.1002","volume":"16","author":[{"given":"Lutao","family":"Yan","sequence":"first","affiliation":[{"name":"School of Automation Beijing University of Posts and Telecommunications  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation Beijing University of Posts and Telecommunications  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiyuan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation Beijing University of Posts and Telecommunications  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9156-6453","authenticated-orcid":false,"given":"Qinjian","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Electrical Engineering Beijing Information Science and Technology University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2020,9,16]]},"reference":[{"key":"e_1_2_8_1_2_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/1179546817751432","article-title":"Manually steerable catheter with improved agility","volume":"12","author":"Tangen GA","year":"2018","journal-title":"Clin Med Insights Cardiol"},{"key":"e_1_2_8_1_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.392"},{"key":"e_1_2_8_1_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/ccd.20467"},{"key":"e_1_2_8_1_5_1","doi-asserted-by":"crossref","first-page":"426","DOI":"10.1109\/LRA.2017.2759789","article-title":"Cooperative continuum robots: concept, modeling, workspace analysis","volume":"1","author":"Lotfavar A","year":"2018","journal-title":"IEEE Robot Autom Lett"},{"key":"e_1_2_8_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2372635"},{"key":"e_1_2_8_1_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.5"},{"key":"e_1_2_8_1_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.172"},{"key":"e_1_2_8_1_9_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/14\/4\/002"},{"key":"e_1_2_8_1_10_1","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1023\/A:1008106331459","article-title":"A flexible microrobot\u2010based microassembly station","volume":"27","author":"Fatikwo S","year":"2000","journal-title":"J Intell Robot Syst"},{"key":"e_1_2_8_1_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2009.05.005"},{"key":"e_1_2_8_1_12_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1023\/A:1008159527787","article-title":"Surgical robotics: an introduction","volume":"30","author":"Rembold U","year":"2001","journal-title":"J Intell Robot Syst"},{"key":"e_1_2_8_1_13_1","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1023\/A:1008161411382","article-title":"A fully autonomous microrobotic endoscopy system","volume":"28","author":"Asari VK","year":"2000","journal-title":"J Intell Robot Syst"},{"key":"e_1_2_8_1_14_1","doi-asserted-by":"publisher","DOI":"10.1097\/00115550-200301000-00008"},{"key":"e_1_2_8_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.820545"},{"key":"e_1_2_8_1_16_1","doi-asserted-by":"crossref","first-page":"1571","DOI":"10.1109\/LRA.2017.2647800","article-title":"Designing anthropomorphic robot hand with active dual\u2010mode twisted string actuation mechanism and tiny tension sensors","volume":"2","author":"Jeong SH","year":"2017","journal-title":"IEEE Robot Autom Lett"},{"issue":"20","key":"e_1_2_8_1_17_1","first-page":"207","article-title":"Modelling and characterisation of twisted string actuation for usage in active knee orthoses","volume":"48","author":"M\u00fcller R","year":"2015","journal-title":"IFAC\u2010Papers OnLine"},{"key":"e_1_2_8_1_18_1","doi-asserted-by":"crossref","unstructured":"PopovD GaponovI RyuJ.A preliminary study on a twisted strings\u2010based elbow exoskeleton. 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