{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T21:50:09Z","timestamp":1779227409657,"version":"3.51.4"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2021,10,14]],"date-time":"2021-10-14T00:00:00Z","timestamp":1634169600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,10,14]],"date-time":"2021-10-14T00:00:00Z","timestamp":1634169600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,11]]},"DOI":"10.1007\/s10846-021-01435-w","type":"journal-article","created":{"date-parts":[[2021,10,14]],"date-time":"2021-10-14T09:04:58Z","timestamp":1634202298000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["A Switching Image-Based Visual Servoing Method for Cooperative Continuum Robots"],"prefix":"10.1007","volume":"103","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3970-7989","authenticated-orcid":false,"given":"Somayeh","family":"Norouzi-Ghazbi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0314-0688","authenticated-orcid":false,"given":"Farrokh","family":"Janabi-Sharifi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,10,14]]},"reference":[{"key":"1435_CR1","first-page":"686","volume-title":"Mechanics of continuum manipulators, a comparative study of five methods with experiments","author":"SH Sadati","year":"2017","unstructured":"Sadati, S.H., Naghibi, S.E., Shiva, A., Walker, I.D., Kaspar, A., Nanayakkara, T.: Mechanics of continuum manipulators, a comparative study of five methods with experiments, pp. 686\u2013702. Proc. Annu. Conf. Towar. Auton. Robot. Syst, Guildford (2017)"},{"key":"1435_CR2","doi-asserted-by":"publisher","first-page":"104043","DOI":"10.1016\/j.mechmachtheory.2020.104043","volume":"154","author":"S Norouzi-Ghazbi","year":"2020","unstructured":"Norouzi-Ghazbi, S., Janabi-Sharifi, F.: Dynamic modeling and system identification of internally actuated, small-sized continuum robots. Mech. Mach. Theory. 154, 104043 (2020)","journal-title":"Mech. Mach. Theory"},{"issue":"3","key":"1435_CR3","doi-asserted-by":"publisher","first-page":"809","DOI":"10.1007\/s10846-020-01237-6","volume":"100","author":"M Goharimanesh","year":"2020","unstructured":"Goharimanesh, M., Mehrkish, A., Janabi-Sharifi, F.: A fuzzy reinforcement learning approach for continuum robot control. J. Intell. Robot. Sys. 100(3), 809\u2013826 (2020)","journal-title":"J. Intell. Robot. Sys."},{"issue":"1","key":"1435_CR4","doi-asserted-by":"publisher","first-page":"426","DOI":"10.1109\/LRA.2017.2759789","volume":"3","author":"A Lotfavar","year":"2017","unstructured":"Lotfavar, A., Hasanzadeh, S., Janabi-Sharifi, F.: Cooperative continuum robots: concept, modeling, workspace analysis. IEEE Robot. Autom. Lett. 3(1), 426\u2013433 (2017)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1435_CR5","doi-asserted-by":"crossref","unstructured":"Norouzi-Ghazbi, S., Mehrkish, A., Abdulhafiz, I., Abbasihashemi, T., Mahdi, A., Janabi-Sharifi, F.: Design and experimental evaluation of an automated catheter operating system. Artif. Organs (2020)","DOI":"10.1111\/aor.13870"},{"key":"1435_CR6","unstructured":"Black, C. B.. Modeling, Analysis, Force Sensing and Control of Continuum Robots for Minimally Invasive Surgery,\u201d Ph.D Thesis, University of Tennessee, (2017)"},{"issue":"5","key":"1435_CR7","doi-asserted-by":"publisher","first-page":"1109","DOI":"10.1109\/TRO.2014.2325992","volume":"30","author":"F Renda","year":"2014","unstructured":"Renda, F., Giorelli, M., Calisti, M., Cianchetti, M., Laschi, C.: Dynamic model of a multibending soft robot arm driven by cables. IEEE Trans. Robot. 30(5), 1109\u20131122 (2014)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"1435_CR8","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1002\/rob.10070","volume":"20","author":"MW Hannan","year":"2003","unstructured":"Hannan, M.W., Walker, I.D.: Kinematics and the implementation of an elephant\u2019s trunk manipulator and other continuum style robots. J. Robot. Syst. 20(2), 45\u201363 (2003)","journal-title":"J. Robot. Syst."},{"issue":"3","key":"1435_CR9","doi-asserted-by":"publisher","first-page":"36002","DOI":"10.1088\/1748-3182\/6\/3\/036002","volume":"6","author":"M Calisti","year":"2011","unstructured":"Calisti, M., Giorelli, M., Levy, G., Mazzolai, B., Hochner, B., Laschi, C., Dario, P.: An octopus-bioinspired solution to movement and manipulation for soft robots. Bioinspir. Biomim. 6(3), 36002\u201336012 (2011)","journal-title":"Bioinspir. Biomim."},{"issue":"1","key":"1435_CR10","doi-asserted-by":"publisher","first-page":"275","DOI":"10.1109\/TRO.2013.2281564","volume":"30","author":"WS Rone","year":"2014","unstructured":"Rone, W.S., Ben-Tzvi, P.: Continuum robot dynamics utilizing the principle of virtual power. IEEE Trans. Robot. 30(1), 275\u2013287 (2014)","journal-title":"IEEE Trans. Robot."},{"issue":"5","key":"1435_CR11","doi-asserted-by":"publisher","first-page":"1004","DOI":"10.1016\/j.camwa.2012.03.018","volume":"64","author":"R Kang","year":"2012","unstructured":"Kang, R., Branson, D.T., Guglielmino, E., Caldwell, D.G.: Dynamic modeling and control of an octopus inspired multiple continuum arm robot. Comput. Math. with Appl. 64(5), 1004\u20131016 (2012)","journal-title":"Comput. Math. with Appl."},{"key":"1435_CR12","first-page":"46","volume-title":"Dynamic control of soft robots interacting with the environment","author":"C Della Santina","year":"2018","unstructured":"Della Santina, C., Katzschmann, R.K., Bicchi, A., Rus, D.: Dynamic control of soft robots interacting with the environment, pp. 46\u201353. Proc. IEEE Int. Conf. on Soft Robot., RoboSoft 2018, Livorno (2018)"},{"issue":"3","key":"1435_CR13","doi-asserted-by":"publisher","first-page":"996","DOI":"10.1109\/TMECH.2013.2265804","volume":"19","author":"J Burgner","year":"2014","unstructured":"Burgner, J., Rucker, D.C., Gilbert, H.B., Swaney, P.J., Russell, P.T., Weaver, K.D., Webster, R.J.: A telerobotic system for transnasal surgery. IEEE\/ASME Trans. Mechatronics. 19(3), 996\u20131006 (2014)","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"issue":"2","key":"1435_CR14","doi-asserted-by":"publisher","first-page":"1172","DOI":"10.1109\/LRA.2016.2530794","volume":"1","author":"H Yu","year":"2016","unstructured":"Yu, H., Wu, L., Wu, K., Ren, H.: Development of a multi-channel concentric tube robotic system with active vision for transnasal nasopharyngeal carcinoma procedures. IEEE Robot. Autom. Lett. 1(2), 1172\u20131178 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1435_CR15","first-page":"718","volume-title":"Interleaved continuum-rigid manipulation: An augmented approach for robotic minimally-invasive flexible catheter-based procedures","author":"BL Conrad","year":"2013","unstructured":"Conrad, B.L., Jung, J., Penning, R.S., Zinn, M.R.: Interleaved continuum-rigid manipulation: An augmented approach for robotic minimally-invasive flexible catheter-based procedures, pp. 718\u2013724. Proc. IEEE Int. Conf. Robot. Autom., Karlsruhe (2013)"},{"issue":"3","key":"1435_CR16","doi-asserted-by":"publisher","first-page":"1793","DOI":"10.1109\/LRA.2018.2800037","volume":"3","author":"MT Chikhaoui","year":"2018","unstructured":"Chikhaoui, M.T., Granna, J., Starke, J., Burgner-Kahrs, J.: Toward motion coordination control and design optimization for dual-arm concentric tube continuum robots. IEEE Robot. Autom. Lett. 3(3), 1793\u20131800 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1435_CR17","first-page":"1","volume-title":"Switching visual servoing approach for stable corridor navigation","author":"JM Toibero","year":"2009","unstructured":"Toibero, J.M., Soria, C.M., Roberti, F., Carelli, R., Fiorini, P.: Switching visual servoing approach for stable corridor navigation, pp. 1\u20136. Proc. Int. Conf. Adv. Robotics, Munich (2009)"},{"issue":"5","key":"1435_CR18","doi-asserted-by":"publisher","first-page":"1324","DOI":"10.1007\/s12555-018-0753-y","volume":"18","author":"A Ghasemi","year":"2020","unstructured":"Ghasemi, A., Li, P., Xie, W.F.: Adaptive switch image-based visual servoing for industrial robots. Int. J. Control. Autom. Syst. 18(5), 1324\u20131334 (2020)","journal-title":"Int. J. Control. Autom. Syst."},{"issue":"1","key":"1435_CR19","doi-asserted-by":"publisher","first-page":"486","DOI":"10.1109\/TIE.2011.2143380","volume":"59","author":"Y Fang","year":"2012","unstructured":"Fang, Y., Liu, X., Zhang, X.: Adaptive active visual servoing of nonholonomic mobile robots. IEEE Trans. Ind. Electron. 59(1), 486\u2013497 (2012)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1435_CR20","doi-asserted-by":"publisher","first-page":"28","DOI":"10.1016\/j.robot.2014.10.017","volume":"75","author":"F Pasteau","year":"2014","unstructured":"Pasteau, F., Narayanan, V.K., Babel, M., Chaumette, F.: A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair. Rob. Auton. Syst. 75, 28\u201340 (2014)","journal-title":"Rob. Auton. Syst."},{"issue":"4","key":"1435_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.4034681","volume":"139","author":"YM Zhao","year":"2017","unstructured":"Zhao, Y.M., Lin, Y., Xi, F., Guo, S., Ouyang, P.: Switch-based sliding mode control for position-based visual servoing of robotic riveting system. J. Manuf. Sci. Eng. Trans. ASME. 139(4), 1\u201311 (2017)","journal-title":"J. Manuf. Sci. Eng. Trans. ASME"},{"issue":"8","key":"1435_CR22","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/electronics8080903","volume":"8","author":"A Ghasemi","year":"2019","unstructured":"Ghasemi, A., Li, P., Xie, W.F., Tian, W.: Enhanced switch image-based visual servoing dealing with featuresloss. Electronics. 8(8), 1\u201320 (2019)","journal-title":"Electronics"},{"issue":"3","key":"1435_CR23","doi-asserted-by":"publisher","first-page":"2315","DOI":"10.1109\/LRA.2018.2807592","volume":"3","author":"AV Kudryavtsev","year":"2018","unstructured":"Kudryavtsev, A.V., Chikhaoui, M.T., Liadov, A., Rougeot, P., Spindler, F., Rabenorosoa, K., Burgner-Kahrs, J., Tamadazte, B., Andreff, N.: Eye-in-hand visual servoing of concentric tube robots. IEEE Robot. Autom. Lett. 3(3), 2315\u20132321 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"1435_CR24","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1109\/TMECH.2016.2613410","volume":"22","author":"H Wang","year":"2017","unstructured":"Wang, H., Yang, B., Liu, Y., Chen, W., Liang, X., Pfeifer, R.: Visual servoing of soft robot manipulator in constrained environments with an adaptive controller. IEEE\/ASME Trans. Mechatronics. 22(1), 41\u201350 (2017)","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"issue":"2","key":"1435_CR25","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1177\/0278364917691113","volume":"36","author":"GJ Vrooijink","year":"2017","unstructured":"Vrooijink, G.J., Denasi, A., Grandjean, J.G., Misra, S.: Model predictive control of a robotically actuated delivery sheath for beating heart compensation. Int. J. Robot. Res. 36(2), 193\u2013209 (2017)","journal-title":"Int. J. Robot. Res."},{"key":"1435_CR26","first-page":"613","volume-title":"Robust model-predictive deformation control of a soft object by using a flexible continuum robot","author":"B Ouyang","year":"2018","unstructured":"Ouyang, B., Mo, H., Chen, H., Liu, Y., Sun, D.: Robust model-predictive deformation control of a soft object by using a flexible continuum robot, pp. 613\u2013618. Proc. IEEE Int. Conf. Intell. Robots Syst., Madrid (2018)"},{"key":"1435_CR27","first-page":"934","volume-title":"Toward vision-based adaptive configuring of a bidirectional two-segment soft continuum manipulator","author":"J Lai","year":"2020","unstructured":"Lai, J., Huang, K., Lu, B., Chu, H.K.: Toward vision-based adaptive configuring of a bidirectional two-segment soft continuum manipulator, pp. 934\u2013939. Proc. IEEE\/ASME Int. Conf. Adv. Intell. Mechatronics, AIM, Boston (2020)"},{"key":"1435_CR28","doi-asserted-by":"crossref","unstructured":"M. M. H. Fallah, S. Norouzi-Gh, A. Mehrkish, and F. Janabi-Sharifi, \u201cDepth-based visual predictive control of tendon-driven continuum robots,\u201d in Proc. IEEE\/ASME Int.Conf. Advanced Intel. Mechatronics, AIM, vol. 2020-July, pp. 488\u2013494, Boston","DOI":"10.1109\/AIM43001.2020.9158858"},{"key":"1435_CR29","doi-asserted-by":"crossref","unstructured":"Norouzi-Gh, S., Mehrkish, A., Fallah, M. M. H.: Constrained visual predictive control of tendon-driven continuum robots. Rob. Auton. Syst., pp. 1\u201319 (2021)","DOI":"10.1016\/j.robot.2021.103856"},{"key":"1435_CR30","unstructured":"Verghese, M., Richter, F., Gunn, A., Weissbrod, P., Yip, M.. Model-free visual control for continuum robot manipulators via orientation adaptation. arXiv preprint, arXiv:1909.00450v1, 2019. [Online]. Available: http:\/\/arxiv.org\/abs\/1909.00450"},{"issue":"2","key":"1435_CR31","doi-asserted-by":"publisher","first-page":"2161","DOI":"10.1109\/LRA.2020.2969953","volume":"5","author":"X Wang","year":"2020","unstructured":"Wang, X., Fang, G., Wang, K., Xie, X., Lee, K.H., Ho, J.D.L., Tang, W.L., Lam, J., Kwok, K.W.: Eye-in-hand visual servoing enhanced with sparse strain measurement for soft continuum robots. IEEE Robot. Autom. Lett. 5(2), 2161\u20132168 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1435_CR32","unstructured":"Song, K. T., Tsai, H. C.: Visual servoing and compliant motion control of a continuum robot, in Proc. Int. Conf. Control, Autom. Systems, 2018, pp. 734\u2013739, Daegwallyeong, South Korea"},{"issue":"5","key":"1435_CR33","doi-asserted-by":"publisher","first-page":"669","DOI":"10.1108\/AA-12-2017-193","volume":"38","author":"F Xu","year":"2018","unstructured":"Xu, F., Wang, H., Chen, W., Wang, J.: Adaptive visual servoing control for an underwater soft robot. Assem. Autom. 38(5), 669\u2013677 (2018)","journal-title":"Assem. Autom."},{"key":"1435_CR34","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-00196-3_56","volume-title":"Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing","author":"RJ Webster","year":"2009","unstructured":"Webster, R.J., Swensen, J.P., Romano, J.M., Cowan, N.J.: Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing. Springer (2009)"},{"issue":"2","key":"1435_CR35","doi-asserted-by":"publisher","first-page":"254","DOI":"10.1109\/LRA.2018.2888896","volume":"4","author":"F Alambeigi","year":"2019","unstructured":"Alambeigi, F., Wang, Z., Hegeman, R., Liu, Y.H., Armand, M.: Autonomous data-driven manipulation of unknown anisotropic deformable tissues using unmodelled continuum manipulators. IEEE Robot. Autom. Lett. 4(2), 254\u2013261 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1435_CR36","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1093\/imrn\/rnr226","volume":"2013","author":"ID Walker","year":"2013","unstructured":"Walker, I.D.: Continuous backbone \u2018continuum\u2019 robot manipulators. Int. Sch. Res. Not. 2013, 1\u201319 (2013)","journal-title":"Int. Sch. Res. Not."},{"key":"1435_CR37","first-page":"1876","volume-title":"Kinematic characterization of a cardiac ablation catheter","author":"Y Ganji","year":"2007","unstructured":"Ganji, Y., Janabi-Sharifi, F.: Kinematic characterization of a cardiac ablation catheter, pp. 1876\u20131881. Proc. IEEE Int. Conf. Intell. Robots Syst., San Diego (2007)"},{"key":"1435_CR38","first-page":"3279","volume-title":"A new approach to jacobian formulation for a class of multi-section continuum robots","author":"BA Jones","year":"2005","unstructured":"Jones, B.A., Walker, I.D.: A new approach to jacobian formulation for a class of multi-section continuum robots, pp. 3279\u20133284. Proc. Int. Conf. Robot. Autom., Barcelona (2005)"},{"issue":"3","key":"1435_CR39","doi-asserted-by":"publisher","first-page":"621","DOI":"10.1109\/TBME.2009.2013134","volume":"56","author":"Y Ganji","year":"2009","unstructured":"Ganji, Y., Janabi-Sharifi, F.: Catheter kinematics for intracardiac navigation. IEEE Trans. Biomed. Eng. 56(3), 621\u2013632 (2009)","journal-title":"IEEE Trans. Biomed. Eng."},{"issue":"6","key":"1435_CR40","doi-asserted-by":"publisher","first-page":"1033","DOI":"10.1109\/TRO.2011.2160469","volume":"27","author":"RJ Webster III","year":"2011","unstructured":"Webster III, R.J., Rucker, D.C.: Statics and dynamics of continuum robots with general tendon routing and external loading. IEEE Trans. Robot. 27(6), 1033\u20131044 (2011)","journal-title":"IEEE Trans. Robot."},{"key":"1435_CR41","first-page":"966","volume-title":"Modeling and control of a planar continuum robot","author":"M Dehghani","year":"2011","unstructured":"Dehghani, M., Moosavian, S.A.A.: Modeling and control of a planar continuum robot, pp. 966\u2013971. Proc. IEEE\/ASME Int. Conf. Adv. Intell. Mechatronics, AIM, Budapest (2011)"},{"issue":"4","key":"1435_CR42","doi-asserted-by":"publisher","first-page":"82","DOI":"10.1109\/MRA.2006.250573","volume":"13","author":"F Chaumette","year":"2006","unstructured":"Chaumette, F., Hutchinson, S.: Visual servo control. I. Basic approaches. IEEE Robot. Autom. Mag. 13(4), 82\u201390 (2006)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"3","key":"1435_CR43","doi-asserted-by":"publisher","first-page":"530","DOI":"10.1109\/TRO.2007.895067","volume":"23","author":"NR Gans","year":"2007","unstructured":"Gans, N.R., Hutchinson, S.A.: Stable visual servoing through hybrid switched-system control. IEEE Trans. Robot. 23(3), 530\u2013540 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"1435_CR44","doi-asserted-by":"crossref","unstructured":"Zhang, G. X., Tanwani, A.: ISS Lyapunov functions for cascade switched systems and sampled-data control, arXiv, 2019","DOI":"10.1016\/j.automatica.2019.03.028"},{"key":"1435_CR45","doi-asserted-by":"crossref","unstructured":"K. Morken, Numerical Algorithms and Digital Representation, 1st Ed. University of Oslo, 2010","DOI":"10.1016\/B978-1-85617-921-8.00005-5"},{"issue":"2","key":"1435_CR46","doi-asserted-by":"publisher","first-page":"217","DOI":"10.1007\/BF01933494","volume":"13","author":"P-\u00c5 Wedin","year":"1973","unstructured":"Wedin, P.-\u00c5.: Perturbation theory for pseudo-inverses. BIT Numer. Math. 13(2), 217\u2013232 (1973)","journal-title":"BIT Numer. Math."},{"key":"1435_CR47","volume-title":"The Matrix Cookbook","author":"KB Petersen","year":"2012","unstructured":"Petersen, K.B., Pedersen, M.S.: The Matrix Cookbook. Technical Univ. Denmark, Tech. Rep., Kongens Lyngby (2012)"},{"key":"1435_CR48","doi-asserted-by":"crossref","unstructured":"Corke, P. I.: Robotics, Vision & Control. Springer, (2011)","DOI":"10.1007\/978-3-642-20144-8"},{"key":"1435_CR49","doi-asserted-by":"publisher","first-page":"1518","DOI":"10.1109\/TRO.2018.2868815","volume":"34","author":"F Renda","year":"2018","unstructured":"Renda, F., Boyer, F., Dias, J., Seneviratne, L.: Discrete Cosserat approach for multi-section soft manipulator dynamics. IEEE Trans. Robot. 34, 1518\u20131533 (2018)","journal-title":"IEEE Trans. Robot."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01435-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01435-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01435-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,17]],"date-time":"2021-11-17T04:50:10Z","timestamp":1637124610000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01435-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10,14]]},"references-count":49,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,11]]}},"alternative-id":["1435"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01435-w","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,10,14]]},"assertion":[{"value":"26 December 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 June 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 October 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"None.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of Interest\/Competing Interests"}}],"article-number":"42"}}