{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T16:36:03Z","timestamp":1783701363011,"version":"3.55.0"},"reference-count":28,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2023,10,3]],"date-time":"2023-10-03T00:00:00Z","timestamp":1696291200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,10,3]],"date-time":"2023-10-03T00:00:00Z","timestamp":1696291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62133009"],"award-info":[{"award-number":["62133009"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973211"],"award-info":[{"award-number":["61973211"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["M-0221"],"award-info":[{"award-number":["M-0221"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Institute of Medical Robotics of Shanghai Jiao Tong University"},{"name":"Foreign Cooperation Project of Fujian Province Science and Technology Program","award":["2022I0041"],"award-info":[{"award-number":["2022I0041"]}]},{"name":"Quanzhou High-level Talent Innovation and Entrepreneurship","award":["2021C003R"],"award-info":[{"award-number":["2021C003R"]}]},{"name":"Cooperation Project of Xuhui District Artificial Intelligence Medical Institute","award":["2021-008"],"award-info":[{"award-number":["2021-008"]}]},{"name":"the Joint Project of Xinhua Hospital-Institute of Medical Robotics of Shanghai Jiao Tong University","award":["21XJMR03"],"award-info":[{"award-number":["21XJMR03"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"DOI":"10.1007\/s11548-023-03017-7","type":"journal-article","created":{"date-parts":[[2023,10,3]],"date-time":"2023-10-03T15:03:02Z","timestamp":1696345382000},"page":"209-221","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Improved precise guidewire delivery of a cardiovascular interventional surgery robot based on admittance control"],"prefix":"10.1007","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4823-3511","authenticated-orcid":false,"given":"Shuang","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongfeng","family":"Cao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ling","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Le","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,10,3]]},"reference":[{"issue":"7","key":"3017_CR1","doi-asserted-by":"publisher","first-page":"677","DOI":"10.1056\/NEJMoa072771","volume":"359","author":"WS Weintraub","year":"2008","unstructured":"Weintraub WS, Spertus JA, Kolm P, Maron DJ, Zhang Z, Jurkovitz C, Zhang W, Hartigan PM, Lewis C, Veledar E (2008) Effect of PCI on quality of life in patients with stable coronary disease. N Engl J Med 359(7):677\u2013687. https:\/\/doi.org\/10.1056\/NEJMoa072771","journal-title":"N Engl J Med"},{"issue":"2","key":"3017_CR2","doi-asserted-by":"publisher","first-page":"538","DOI":"10.1148\/radiol.25020825","volume":"250","author":"LW Klein","year":"2009","unstructured":"Klein LW, Miller DL, Balter S, Laskey W, Haines D, Norbash A, Mauro MA, Goldstein JA (2009) Occupational health hazards in the interventional laboratory: time for a safer environment. Radiology 250(2):538\u2013544. https:\/\/doi.org\/10.1148\/radiol.25020825","journal-title":"Radiology"},{"issue":"4","key":"3017_CR3","doi-asserted-by":"publisher","first-page":"335","DOI":"10.2214\/AJR.13.12029","volume":"202","author":"S Balter","year":"2014","unstructured":"Balter S, Miller DL (2014) Patient skin reactions from interventional fluoroscopy procedures. AJR Am J Roentgenol 202(4):335\u201342. https:\/\/doi.org\/10.2214\/AJR.13.12029","journal-title":"AJR Am J Roentgenol"},{"issue":"15","key":"3017_CR4","doi-asserted-by":"publisher","first-page":"1596","DOI":"10.1016\/j.jacc.2012.12.045","volume":"61","author":"G Weisz","year":"2013","unstructured":"Weisz G, Metzger DC, Caputo RP, Delgado JA, Marshall JJ, Vetrovec GW, Reisman M, Waksman R, Granada JF, Novack V et al (2013) Safety and feasibility of robotic percutaneous coronary intervention: precise (percutaneous robotically-enhanced coronary intervention) study. J Am Coll Cardiol 61(15):1596\u20131600. https:\/\/doi.org\/10.1016\/j.jacc.2012.12.045","journal-title":"J Am Coll Cardiol"},{"issue":"4","key":"3017_CR5","doi-asserted-by":"publisher","first-page":"697","DOI":"10.1007\/s10439-013-0946-8","volume":"42","author":"H Rafii-Tari","year":"2014","unstructured":"Rafii-Tari H, Payne CJ, Yang G-Z (2014) Current and emerging robot-assisted endovascular catheterization technologies: a review. Ann Biomed Eng 42(4):697\u2013715. https:\/\/doi.org\/10.1007\/s10439-013-0946-8","journal-title":"Ann Biomed Eng"},{"issue":"4","key":"3017_CR6","doi-asserted-by":"publisher","first-page":"2552","DOI":"10.21037\/qims-21-792","volume":"12","author":"Y Zhao","year":"2022","unstructured":"Zhao Y, Mei Z, Luo X, Mao J, Zhao Q, Liu G, Wu D (2022) Remote vascular interventional surgery robotics: a literature review. Quant. Imaging Med. Surg. 12(4):2552. https:\/\/doi.org\/10.21037\/qims-21-792","journal-title":"Quant. Imaging Med. Surg."},{"issue":"4","key":"3017_CR7","doi-asserted-by":"publisher","first-page":"460","DOI":"10.1016\/j.jcin.2010.12.007","volume":"4","author":"JF Granada","year":"2011","unstructured":"Granada JF, Delgado JA, Uribe MP, Fernandez A, Blanco G, Leon MB, Weisz G (2011) First-in-human evaluation of a novel robotic-assisted coronary angioplasty system. JACC Cardiovasc Interv 4(4):460\u2013465. https:\/\/doi.org\/10.1016\/j.jcin.2010.12.007","journal-title":"JACC Cardiovasc Interv"},{"key":"3017_CR8","doi-asserted-by":"publisher","unstructured":"Al Nooryani A, Aboushokka W (2018) Rotate-on-retract procedural automation for robotic-assisted percutaneous coronary intervention: First clinical experience. Case Rep Cardiol. https:\/\/doi.org\/10.1155\/2018\/6086034","DOI":"10.1155\/2018\/6086034"},{"issue":"11","key":"3017_CR9","doi-asserted-by":"publisher","first-page":"2483","DOI":"10.1109\/TBME.2018.2800639","volume":"65","author":"NK Sankaran","year":"2018","unstructured":"Sankaran NK, Chembrammel P, Siddiqui A, Snyder K, Kesavadas T (2018) Design and development of surgeon augmented endovascular robotic system. IEEE Trans Biomed Eng 65(11):2483\u20132493. https:\/\/doi.org\/10.1109\/TBME.2018.2800639","journal-title":"IEEE Trans Biomed Eng"},{"issue":"6","key":"3017_CR10","doi-asserted-by":"publisher","first-page":"1943","DOI":"10.1002\/rcs.1943","volume":"14","author":"H Shen","year":"2018","unstructured":"Shen H, Wang C, Xie L, Zhou S, Gu L, Xie H (2018) A novel remote-controlled robotic system for cerebrovascular intervention. Int J Med Rob Comput Assist Surg 14(6):1943. https:\/\/doi.org\/10.1002\/rcs.1943","journal-title":"Int J Med Rob Comput Assist Surg"},{"issue":"9","key":"3017_CR11","doi-asserted-by":"publisher","first-page":"805","DOI":"10.3390\/mi11090805","volume":"11","author":"J Zhou","year":"2020","unstructured":"Zhou J, Mei Z, Miao J, Mao J, Wang L, Wu D, Sun D, Zhao Y (2020) A remote-controlled robotic system with safety protection strategy based on force-sensing and bending feedback for transcatheter arterial chemoembolization. Micromachines 11(9):805. https:\/\/doi.org\/10.3390\/mi11090805","journal-title":"Micromachines"},{"issue":"23","key":"3017_CR12","doi-asserted-by":"publisher","first-page":"11081","DOI":"10.1109\/JSEN.2019.2935002","volume":"19","author":"J Guo","year":"2019","unstructured":"Guo J, Jin X, Guo S, Fu Q (2019) A vascular interventional surgical robotic system based on force-visual feedback. IEEE Sens J 19(23):11081\u201311089. https:\/\/doi.org\/10.1109\/JSEN.2019.2935002","journal-title":"IEEE Sens J"},{"key":"3017_CR13","doi-asserted-by":"publisher","first-page":"166409","DOI":"10.1109\/ACCESS.2021.3135277","volume":"9","author":"J Kweon","year":"2021","unstructured":"Kweon J, Kim K, Lee C, Kwon H, Park J, Song K, Kim YI, Park J, Back I, Roh J-H et al (2021) Deep reinforcement learning for guidewire navigation in coronary artery phantom. IEEE Access 9:166409\u2013166422. https:\/\/doi.org\/10.1109\/ACCESS.2021.3135277","journal-title":"IEEE Access"},{"key":"3017_CR14","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1016\/j.rcim.2018.09.004","volume":"56","author":"K Wang","year":"2019","unstructured":"Wang K, Lu Q, Chen B, Shen Y, Li H, Liu M, Xu Z (2019) Endovascular intervention robot with multi-manipulators for surgical procedures: dexterity, adaptability, and practicability. Rob Comput Integr Manuf 56:75\u201384. https:\/\/doi.org\/10.1016\/j.rcim.2018.09.004","journal-title":"Rob Comput Integr Manuf"},{"issue":"10","key":"3017_CR15","doi-asserted-by":"publisher","first-page":"12284","DOI":"10.1109\/JSEN.2021.3066424","volume":"21","author":"X Jin","year":"2021","unstructured":"Jin X, Guo S, Guo J, Shi P, Tamiya T, Hirata H (2021) Development of a tactile sensing robot-assisted system for vascular interventional surgery. IEEE Sens J 21(10):12284\u201312294. https:\/\/doi.org\/10.1109\/JSEN.2021.3066424","journal-title":"IEEE Sens J"},{"key":"3017_CR16","doi-asserted-by":"publisher","first-page":"26568","DOI":"10.1109\/ACCESS.2021.3057425","volume":"9","author":"H Wang","year":"2021","unstructured":"Wang H, Chang J, Yu H, Liu H, Hou C, Lu H (2021) Research on a novel vascular interventional surgery robot and control method based on precise delivery. IEEE Access 9:26568\u201326582. https:\/\/doi.org\/10.1109\/ACCESS.2021.3057425","journal-title":"IEEE Access"},{"issue":"12","key":"3017_CR17","doi-asserted-by":"publisher","first-page":"1439","DOI":"10.3390\/mi12121439","volume":"12","author":"W Zhou","year":"2021","unstructured":"Zhou W, Guo S, Guo J, Meng F, Chen Z (2021) ADRC-based control method for the vascular intervention master-slave surgical robotic system. Micromachines 12(12):1439. https:\/\/doi.org\/10.3390\/mi12121439","journal-title":"Micromachines"},{"key":"3017_CR18","doi-asserted-by":"publisher","first-page":"336","DOI":"10.1016\/j.isatra.2020.05.020","volume":"104","author":"Z Hu","year":"2020","unstructured":"Hu Z, Zhang J, Xie L, Cui G (2020) A generalized predictive control for remote cardiovascular surgical systems. ISA Trans 104:336\u2013344. https:\/\/doi.org\/10.1016\/j.isatra.2020.05.020","journal-title":"ISA Trans"},{"key":"3017_CR19","doi-asserted-by":"publisher","unstructured":"Hogan N (1984) Impedance control: an approach to manipulation. In: 1984 American control conference. IEEE, pp 304\u2013313. https:\/\/doi.org\/10.23919\/ACC.1984.4788393","DOI":"10.23919\/ACC.1984.4788393"},{"key":"3017_CR20","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.robot.2018.01.009","volume":"102","author":"J Duan","year":"2018","unstructured":"Duan J, Gan Y, Chen M, Dai X (2018) Adaptive variable impedance control for dynamic contact force tracking in uncertain environment. Robot Auton Syst 102:54\u201365. https:\/\/doi.org\/10.1016\/j.robot.2018.01.009","journal-title":"Robot Auton Syst"},{"issue":"4","key":"3017_CR21","doi-asserted-by":"publisher","first-page":"3138","DOI":"10.1109\/TIE.2019.2912781","volume":"67","author":"G Peng","year":"2019","unstructured":"Peng G, Yang C, He W, Chen CP (2019) Force sensorless admittance control with neural learning for robots with actuator saturation. IEEE Trans Ind Electron 67(4):3138\u20133148. https:\/\/doi.org\/10.1109\/TIE.2019.2912781","journal-title":"IEEE Trans Ind Electron"},{"key":"3017_CR22","doi-asserted-by":"publisher","first-page":"123807","DOI":"10.1109\/ACCESS.2019.2938566","volume":"7","author":"Q Wu","year":"2019","unstructured":"Wu Q, Chen B, Wu H (2019) Adaptive admittance control of an upper extremity rehabilitation robot with neural-network-based disturbance observer. IEEE Access 7:123807\u2013123819. https:\/\/doi.org\/10.1109\/ACCESS.2019.2938566","journal-title":"IEEE Access"},{"key":"3017_CR23","doi-asserted-by":"publisher","unstructured":"Franco E, Rea M, Gedroyc W, Ristic M (2016) Control of a master-slave pneumatic system for teleoperated needle insertion in MRI. IEEE\/ASME Trans Mechatron 21(5):2595\u20132600. https:\/\/doi.org\/10.1109\/TMECH.2016.2577608","DOI":"10.1109\/TMECH.2016.2577608"},{"key":"3017_CR24","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/JSEN.2021.3107188","volume":"99","author":"X Jin","year":"2021","unstructured":"Jin X, Guo S, Guo J, Shi P, Hirata H (2021) Total force analysis and safety enhancing for operating both guidewire and catheter in endovascular surgery. IEEE Sens J 99:1. https:\/\/doi.org\/10.1109\/JSEN.2021.3107188","journal-title":"IEEE Sens J"},{"key":"3017_CR25","doi-asserted-by":"publisher","unstructured":"Wang S, Liu Z, Shu X, Xie L (2022) Mechanism design and force sensing of a novel cardiovascular interventional surgery robot. Int J Med Rob Comput Assist Surg. https:\/\/doi.org\/10.1002\/rcs.2406","DOI":"10.1002\/rcs.2406"},{"issue":"21","key":"3017_CR26","doi-asserted-by":"publisher","first-page":"10936","DOI":"10.3390\/app122110936","volume":"12","author":"TO Akinyemi","year":"2022","unstructured":"Akinyemi TO, Omisore OM, Chen X, Duan W, Du W, Yi G, Wang L (2022) Adapting neural-based models for position error compensation in robotic catheter systems. Appl Sci 12(21):10936. https:\/\/doi.org\/10.3390\/app122110936","journal-title":"Appl Sci"},{"key":"3017_CR27","doi-asserted-by":"publisher","unstructured":"Du K-L, Swamy M (2006) Radial basis function networks. Neural Netw Softcomput Framew. https:\/\/doi.org\/10.1007\/1-84628-303-5_6","DOI":"10.1007\/1-84628-303-5_6"},{"key":"3017_CR28","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10544-018-0318-0","volume":"20","author":"X Bao","year":"2018","unstructured":"Bao X, Guo S, Xiao N, Li Y, Shi L (2018) Compensatory force measurement and multimodal force feedback for remote-controlled vascular interventional robot. Biomed Microdev 20:1\u201311. https:\/\/doi.org\/10.1007\/s10544-018-0318-0","journal-title":"Biomed Microdev"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-023-03017-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11548-023-03017-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-023-03017-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,4]],"date-time":"2024-02-04T12:04:42Z","timestamp":1707048282000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11548-023-03017-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,3]]},"references-count":28,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,2]]}},"alternative-id":["3017"],"URL":"https:\/\/doi.org\/10.1007\/s11548-023-03017-7","relation":{},"ISSN":["1861-6429"],"issn-type":[{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10,3]]},"assertion":[{"value":"21 February 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 September 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 October 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"All authors declare that there is no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}]}}