{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,20]],"date-time":"2025-10-20T10:27:02Z","timestamp":1760956022513,"version":"3.37.3"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T00:00:00Z","timestamp":1582070400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T00:00:00Z","timestamp":1582070400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"National High-tech R&D Program (863 Program) of China","award":["No.2015AA043202"],"award-info":[{"award-number":["No.2015AA043202"]}]},{"name":"National Key Research and Development Program of China","award":["2017YFB1304401"],"award-info":[{"award-number":["2017YFB1304401"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1007\/s11517-020-02143-7","type":"journal-article","created":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T11:03:48Z","timestamp":1582110228000},"page":"871-885","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["A novel noncontact detection method of surgeon\u2019s operation for a master-slave endovascular surgery robot"],"prefix":"10.1007","volume":"58","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2248-5507","authenticated-orcid":false,"given":"Yan","family":"Zhao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huiming","family":"Xing","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuxiang","family":"Guo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuxin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinxin","family":"Cui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youchun","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinke","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junqiang","family":"Feng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youxiang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,2,19]]},"reference":[{"issue":"1","key":"2143_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.jacc.2017.04.052","volume":"70","author":"G Roth","year":"2017","unstructured":"Roth G, Johnson C, Abajobir A (2017) Global regional and national burden of cardiovascular diseases for 10 causes 1990 to 2015. J Am Coll Cardiol 70(1):1\u201325","journal-title":"J Am Coll Cardiol"},{"unstructured":"Dankelman J, Dobbelsteen J, Breedveld P (2010) Current technology on minimally invasive surgery and interventional techniques. Paper presented at the 2010 IEEE international conference on instrumentation control and automation 12-15","key":"2143_CR2"},{"issue":"4","key":"2143_CR3","first-page":"823","volume":"90","author":"S Oonsiri","year":"2007","unstructured":"Oonsiri S, Jumpangern C, Sanghangthum T (2007) Radiation dose to medical staff in interventional radiology. J Med Assoc Thail 90(4):823\u2013828","journal-title":"J Med Assoc Thail"},{"issue":"7","key":"2143_CR4","first-page":"C26","volume":"11","author":"P Kamusella","year":"2017","unstructured":"Kamusella P, Scheer F, Ludtke CW (2017) Interventional angiography: radiation protection for the examiner by using lead-free gloves. J Clin Diagn Res 11(7):C26\u2013C29","journal-title":"J Clin Diagn Res"},{"issue":"2","key":"2143_CR5","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1016\/S1051-0443(05)70244-X","volume":"16","author":"N Naito","year":"2005","unstructured":"Naito N (2005) Occupational back pain in the interventional radiologist. J Vasc Interv Radiol 16(2):312\u2013314","journal-title":"J Vasc Interv Radiol"},{"issue":"6","key":"2143_CR6","doi-asserted-by":"publisher","first-page":"1386","DOI":"10.1109\/TRO.2017.2719035","volume":"33","author":"Y Kim","year":"2017","unstructured":"Kim Y, Cheng S, Diakite M, Gullapalli R, Simard J, Jaydev JD (2017) Toward the development of a flexible mesoscale MRI-compatible neurosurgical continuum robot. IEEE Trans Robot 33(6):1386\u20131397","journal-title":"IEEE Trans Robot"},{"issue":"4","key":"2143_CR7","doi-asserted-by":"publisher","first-page":"901","DOI":"10.1109\/TRO.2017.2690977","volume":"33","author":"C Vandini","year":"2017","unstructured":"Vandini C, Bergeles B, Glocker P, Giataganas YG (2017) Unified tracking and shape estimation for concentric tube robots. IEEE Trans Robot 33(4):901\u2013915","journal-title":"IEEE Trans Robot"},{"issue":"10","key":"2143_CR8","doi-asserted-by":"publisher","first-page":"5041","DOI":"10.1007\/s00542-017-3380-2","volume":"23","author":"L Zhang","year":"2017","unstructured":"Zhang L, Guo S, Yu H, Song Y (2017) Performance evaluation of a strain-gauge force sensor for a haptic robot-assisted catheter operating system. Microsyst Technol 23(10):5041\u20135050","journal-title":"Microsyst Technol"},{"key":"2143_CR9","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1007\/s10544-016-0100-0","volume":"18","author":"J Guo","year":"2016","unstructured":"Guo J, Guo S, Yu Y (2016) Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery. Biomed Microdevices 18:76. https:\/\/doi.org\/10.1007\/s10544-016-0100-0","journal-title":"Biomed Microdevices"},{"issue":"1","key":"2143_CR10","doi-asserted-by":"publisher","first-page":"32","DOI":"10.1002\/rcs.1642","volume":"12","author":"J Guo","year":"2014","unstructured":"Guo J, Guo S, Tamiya T, Hirata H, Ishihara H (2014) A virtual reality-based method of decreasing transmission time of visual feedback for a tele-operative robotic catheter operating system. Int J Med Robot Comput Assisted Surg 12(1):32\u201345","journal-title":"Int J Med Robot Comput Assisted Surg"},{"doi-asserted-by":"crossref","unstructured":"Vitiello V, Kwok K, Yang G (2012) Medical robotics: minimally invasive surgery (1st ed). Woodhead Publishing Series in Biomaterials","key":"2143_CR11","DOI":"10.1533\/9780857097392.1"},{"issue":"3","key":"2143_CR12","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1016\/j.jradnu.2016.04.022","volume":"35","author":"S Rao","year":"2016","unstructured":"Rao S (2016) Endovascular robotic catheters: an emerging transformative technology in the interventional radiology suite. J Radiol Nurs 35(3):211\u2013217. https:\/\/doi.org\/10.1016\/j.jradnu.2016.04.022","journal-title":"J Radiol Nurs"},{"issue":"2","key":"2143_CR13","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1016\/j.jvs.2010.06.154","volume":"53","author":"G Antoniou","year":"2011","unstructured":"Antoniou G, Riga C, Mayer E, Cheshire N, Bicknell C (2011) Clinical applications of robotic technology in vascular and endovascular surgery. J Vasc Surg 53(2):493\u2013499. https:\/\/doi.org\/10.1016\/j.jvs.2010.06.154","journal-title":"J Vasc Surg"},{"issue":"4","key":"2143_CR14","doi-asserted-by":"publisher","first-page":"460","DOI":"10.1016\/j.jcin.2010.12.007","volume":"4","author":"J Granada","year":"2011","unstructured":"Granada J, Delgado J, Uribe M, Fernandez A, Blanco G, Leon M, Weisz G (2011) First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. J Am Coll Cardiol Intv 4(4):460\u2013465. https:\/\/doi.org\/10.1016\/j.jcin.2010.12.007","journal-title":"J Am Coll Cardiol Intv"},{"key":"2143_CR15","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/s10544-018-0275-7","volume":"20","author":"Y Zhao","year":"2018","unstructured":"Zhao Y, Guo S, Xiao N, Wang Y, Li Y, Jiang Y (2018) Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery. Biomed Microdevices 20:33. https:\/\/doi.org\/10.1007\/s10544-018-0275-7","journal-title":"Biomed Microdevices"},{"key":"2143_CR16","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1007\/s10544-018-0277-5","volume":"20","author":"X Bao","year":"2018","unstructured":"Bao X, Guo S, Xiao N, Li Y, Yang C, Shen R, Cui J, Jiang Y, Liu X, Liu K (2018) Operation evaluation in-human of a novel remote-controlled vascular interventional robot. Biomed Microdevices 20:34. https:\/\/doi.org\/10.1007\/s10544-018-0277-5","journal-title":"Biomed Microdevices"},{"key":"2143_CR17","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1007\/s10544-018-0318-0","volume":"20","author":"X Bao","year":"2018","unstructured":"Bao X, Guo S, Xiao N (2018) Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot. Biomed Microdevices 20:74\u201311. https:\/\/doi.org\/10.1007\/s10544-018-0318-0","journal-title":"Biomed Microdevices"},{"key":"2143_CR18","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1007\/s10544-018-0278-4","volume":"20","author":"S Guo","year":"2018","unstructured":"Guo S, Wang Y, Xiao N, Li Y, Jiang Y (2018) Study on real-time force feedback for a master\u2013slave interventional surgical robotic system. Biomed Microdevices 20:37","journal-title":"Biomed Microdevices"},{"doi-asserted-by":"publisher","unstructured":"Yang C, Guo S, Bao X, Xiao N, Shi L, Li Y, Jiang Y (2019, 2019) A vascular interventional surgical robot based on surgeon's operating skills. Med Biol Eng Comput:1\u201312. https:\/\/doi.org\/10.1007\/s11517-019-02016-8","key":"2143_CR19","DOI":"10.1007\/s11517-019-02016-8"},{"key":"2143_CR20","doi-asserted-by":"publisher","first-page":"1875","DOI":"10.1007\/s11517-019-02002-0","volume":"57","author":"Y Zhao","year":"2019","unstructured":"Zhao Y, Guo S, Wang Y, Cui J, Ma Y, Zeng Y, Liu X, Jiang Y, Li Y, Shi L, Xiao N (2019) A CNNs-based prototype method of unstructured surgical state perception and navigation for an endovascular surgery robot. Med Biol Eng Comput 57:1875\u20131887. https:\/\/doi.org\/10.1007\/s11517-019-02002-0","journal-title":"Med Biol Eng Comput"},{"doi-asserted-by":"publisher","unstructured":"Lu W, Xu W, Zhang J, Liu D, Wang D, Jia P, Li Z, Wang T, Zhang D, Tian Z, Zeng Y (2011) Application study of medical robots in vascular intervention. Int J Med Robot Comput Assisted Surg 13(3). https:\/\/doi.org\/10.1002\/rcs.406","key":"2143_CR21","DOI":"10.1002\/rcs.406"},{"doi-asserted-by":"publisher","unstructured":"Thakur Y, Cakiroglu JH, Holdsworth DW, Drangova M (2007) A device for real-time measurement of catheter-motion and input to a catheter navigation system. SPIE. https:\/\/doi.org\/10.1117\/12.709556","key":"2143_CR22","DOI":"10.1117\/12.709556"},{"issue":"3","key":"2143_CR23","doi-asserted-by":"publisher","first-page":"375","DOI":"10.1002\/rcs.1627","volume":"11","author":"C Zhou","year":"2015","unstructured":"Zhou C, Xie L, Shen X, Luo M, Wu Z, Gu L (2015) Cardiovascular interventional surgery virtual training platform and its preliminary evaluation. Int J Med Robot Comput Assisted Surg 11(3):375\u2013387. https:\/\/doi.org\/10.1002\/rcs.1627","journal-title":"Int J Med Robot Comput Assisted Surg"},{"issue":"2","key":"2143_CR24","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1007\/s10544-018-0266-8","volume":"20","author":"L Zhang","year":"2018","unstructured":"Zhang L, Guo S, Yu H, Song Y, Tamiya T, Hirata H, Ishihara H (2018) Design and performance evaluation of collision protection-based safety operation for a haptic robot-assisted catheter operating system. Biomed Microdevices 20(2):22. https:\/\/doi.org\/10.1007\/s10544-018-0266-8","journal-title":"Biomed Microdevices"},{"key":"2143_CR25","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1007\/s10544-018-0294-4","volume":"25","author":"Y Song","year":"2018","unstructured":"Song Y, Guo S, Yin X, Zhang L, Hirata H, Ishihara H, Tamiya T (2018) Performance evaluation of a robot-assisted catheter operating system with haptic feedback. Biomed Microdevices 25:50\u201316. https:\/\/doi.org\/10.1007\/s10544-018-0294-4","journal-title":"Biomed Microdevices"},{"issue":"3","key":"2143_CR26","doi-asserted-by":"publisher","first-page":"e25","DOI":"10.1002\/rcs.1467","volume":"9","author":"C Tercero","year":"2013","unstructured":"Tercero C, Kodama H, Shi C, Ooe K, Ikeda S, Fukuda T, Arai F, Negoro M, Kwon G, Najdovski Z (2013) Technical skills measurement based on a cyber-physical system for endovascular surgery simulation. Int J Med Robot Comput Assisted Surg 9(3):e25\u2013e33. https:\/\/doi.org\/10.1002\/rcs.1467","journal-title":"Int J Med Robot Comput Assisted Surg"},{"issue":"2","key":"2143_CR27","doi-asserted-by":"publisher","first-page":"1043","DOI":"10.1109\/TMECH.2015.2489219","volume":"21","author":"X Yin","year":"2016","unstructured":"Yin X, Guo S, Xiao N, Tamiya T, Hirata H, Ishihara H (2016) Safety operation consciousness realization of a MR fluids-based novel haptic interface for teleoperated catheter minimally invasive neurosurgery. IEEE\/ASME Trans Mechatron 21(2):1043\u20131054. https:\/\/doi.org\/10.1109\/TMECH.2015.2489219","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"2143_CR28","doi-asserted-by":"publisher","first-page":"e1769","DOI":"10.1002\/rcs.1769","volume":"13","author":"Y Wang","year":"2016","unstructured":"Wang Y, Guo S, Tamiya T, Hirata H, Ishihara H, Yin X (2016) A virtual reality simulator and force sensation combined catheter operation training system and its preliminary evaluation. Int J Med Robot Comp 13:e1769. https:\/\/doi.org\/10.1002\/rcs.1769","journal-title":"Int J Med Robot Comp"},{"issue":"1","key":"2143_CR29","doi-asserted-by":"publisher","first-page":"52","DOI":"10.1002\/rcs.116","volume":"3","author":"C Tercero","year":"2007","unstructured":"Tercero C, Ikeda S, Uchiyama T, Fukuda T, Arai F, Okada Y, Ono Y, Hattori R, Yamamoto T, Negoro M, Takahashi I (2007) Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery. Int J Med Robot Comput Assisted Surg 3(1):52\u201358. https:\/\/doi.org\/10.1002\/rcs.116","journal-title":"Int J Med Robot Comput Assisted Surg"},{"doi-asserted-by":"publisher","unstructured":"Rafiii H, Liu J, Lee S, Bicknell C, Yang G (2013) Learning-based modeling of endovascular navigation for collaborative robotic catheterization. International Conference on Medical Image Computing and Computer-assisted Intervention 369-377. https:\/\/doi.org\/10.1007\/978-3-642-40763-5_46","key":"2143_CR30","DOI":"10.1007\/978-3-642-40763-5_46"},{"issue":"6","key":"2143_CR31","doi-asserted-by":"publisher","first-page":"855","DOI":"10.1007\/s11548-018-1743-5","volume":"13","author":"W Chi","year":"2018","unstructured":"Chi W, Liu J, Rafii H, Riga C, Bicknell C, Yang G (2018) Learning-based endovascular navigation through the use of non-rigid registration for collaborative robotic catheterization. Int J Comput Ass Rad 13(6):855\u2013864. https:\/\/doi.org\/10.1007\/s11548-018-1743-5","journal-title":"Int J Comput Ass Rad"},{"issue":"6","key":"2143_CR32","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1177\/0278364909105332","volume":"29","author":"AB Koolwal","year":"2010","unstructured":"Koolwal AB, Barbagli F, Carlson C, Liang D (2010) An ultrasound-based localization algorithm for catheter ablation guidance in the left atrium. Int J Robot Res 29(6):643\u2013665","journal-title":"Int J Robot Res"},{"issue":"3","key":"2143_CR33","doi-asserted-by":"publisher","first-page":"685","DOI":"10.1109\/TMI.2016.2635673","volume":"36","author":"F Chen","year":"2016","unstructured":"Chen F, Liu J, Liao H (2016) 3D catheter shape determination for endovascular navigation using a two-step particle filter and ultrasound scanning. IEEE Trans Med Imaging 36(3):685\u2013695","journal-title":"IEEE Trans Med Imaging"},{"issue":"3","key":"2143_CR34","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1007\/s10544-018-0321-5","volume":"20","author":"J Guo","year":"2018","unstructured":"Guo J, Guo S, Li M, Tamiya T (2018) A marker-based contactless catheter-sensing method to detect surgeons' operations for catheterization training systems. Biomed Microdevices 20(3):76. https:\/\/doi.org\/10.1007\/s10544-018-0321-5","journal-title":"Biomed Microdevices"},{"doi-asserted-by":"crossref","unstructured":"Wang Y, Guo S, Yin X (2015) Laser mouse-based master-slave catheter operating system for minimally invasive surgery. Proceedings of 2015 IEEE international conference on mechatronics and automation, Beijing, China","key":"2143_CR35","DOI":"10.1109\/ICMA.2015.7237600"},{"doi-asserted-by":"crossref","unstructured":"Jayarathne UL, Luo X, Chen ECS, Peters TM (2015) Simultaneous Estimation of Feature Correspondence and Stereo Object Pose with Application to Ultrasound Augmented Robotic Laparoscopy the Workshop on Augmented Environments for Computer-Assisted Interventions 9365","key":"2143_CR36","DOI":"10.1007\/978-3-319-24601-7_14"},{"issue":"3","key":"2143_CR37","doi-asserted-by":"publisher","first-page":"33","DOI":"10.3390\/s150306033","volume":"15","author":"J Bosch","year":"2015","unstructured":"Bosch J, Gracias N, Ridao P, Ribas D (2015) Omnidirectional underwater camera design and calibration. Sensors 15(3):33\u201365","journal-title":"Sensors"},{"key":"2143_CR38","doi-asserted-by":"publisher","first-page":"1335","DOI":"10.1109\/TPAMI.2006.153","volume":"28","author":"J Kannala","year":"2006","unstructured":"Kannala J, Brandt S (2006) A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses. IEEE Trans Pattern Anal Mach Intell 28:1335\u20131340","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"issue":"4","key":"2143_CR39","doi-asserted-by":"publisher","first-page":"1776","DOI":"10.1109\/TII.2017.2773479","volume":"14","author":"B Huang","year":"2018","unstructured":"Huang B, Ye M, Hu Y et al (2018) A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts. IEEE Trans Ind Inf 14(4):1776\u20131785","journal-title":"IEEE Trans Ind Inf"}],"container-title":["Medical & Biological Engineering & Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-020-02143-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11517-020-02143-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-020-02143-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,2,19]],"date-time":"2021-02-19T07:53:38Z","timestamp":1613721218000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11517-020-02143-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,19]]},"references-count":39,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["2143"],"URL":"https:\/\/doi.org\/10.1007\/s11517-020-02143-7","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"type":"print","value":"0140-0118"},{"type":"electronic","value":"1741-0444"}],"subject":[],"published":{"date-parts":[[2020,2,19]]},"assertion":[{"value":"20 June 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 February 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 February 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}