{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T11:23:11Z","timestamp":1783596191177,"version":"3.55.0"},"reference-count":28,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T00:00:00Z","timestamp":1774656000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T00:00:00Z","timestamp":1774656000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Postdoctoral Fellowship Program of CPSF","award":["GZB20230748"],"award-info":[{"award-number":["GZB20230748"]}]},{"DOI":"10.13039\/501100004826","name":"Natural Science Foundation of Beijing Municipality","doi-asserted-by":"publisher","award":["3244051"],"award-info":[{"award-number":["3244051"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52325701"],"award-info":[{"award-number":["52325701"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFC2404000"],"award-info":[{"award-number":["2022YFC2404000"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1007\/s41315-026-00525-y","type":"journal-article","created":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T08:21:25Z","timestamp":1774686085000},"page":"746-763","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A hybrid control method for magnetic guidewire robots used in vascular intervention"],"prefix":"10.1007","volume":"10","author":[{"given":"Jixiong","family":"Ren","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhifan","family":"Teng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongbo","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiawen","family":"Ji","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianhua","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiuliang","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,3,28]]},"reference":[{"issue":"1","key":"525_CR19","doi-asserted-by":"publisher","first-page":"57","DOI":"10.1146\/annurev-control-081219-082713","volume":"3","author":"JJ Abbott","year":"2020","unstructured":"Abbott, J.J., Diller, E., Petruska, A.J.: Magnetic Methods in Robotics. Annu. Rev. Control Robot. Auton. Syst. 3(1), 57\u201390 (2020). https:\/\/doi.org\/10.1146\/annurev-control-081219-082713","journal-title":"Annu. Rev. Control Robot. Auton. Syst."},{"key":"525_CR28","doi-asserted-by":"publisher","unstructured":"Al-Ahmad, O., Ourak, M., Vlekken, J., Poorten, E.V.: Force Control With a Novel Robotic Catheterization System Based on Braided Sleeve Grippers, IEEE Trans. Med. Robot. Bio. 5(3), 602\u2013613 (2023). https:\/\/doi.org\/10.1109\/TMRB.2023.3291026","DOI":"10.1109\/TMRB.2023.3291026"},{"key":"525_CR14","doi-asserted-by":"publisher","first-page":"48","DOI":"10.1016\/j.mechmachtheory.2018.09.011","volume":"131","author":"AA Alqumsan","year":"2019","unstructured":"Alqumsan, A.A., Khoo, S., Norton, M.: Robust control of continuum robots using Cosserat rod theory. Mechanism and Machine Theory 131, 48\u201361 (2019). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2018.09.011","journal-title":"Mechanism and Machine Theory"},{"key":"525_CR26","doi-asserted-by":"publisher","unstructured":"Bartholdt, M., Wiese, M., Schappler, M., Spindeldreier, S., Raatz, A.: A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors, in 2021 IEEE\/RSJ Int. Conf. Intell. Robots and Syst. (IROS), pp. 624\u2013631. (2021). https:\/\/doi.org\/10.1109\/IROS51168.2021.9636447","DOI":"10.1109\/IROS51168.2021.9636447"},{"key":"525_CR27","doi-asserted-by":"publisher","first-page":"1513","DOI":"10.1109\/TRO.2025.3526077","volume":"41","author":"Y Cao","year":"2025","unstructured":"Cao, Y., et al.: Magnetic Continuum Robot With Modular Axial Magnetization: Design, Modeling, Optimization, and Control. IEEE Transactions on Robotics 41, 1513\u20131532 (2025). https:\/\/doi.org\/10.1109\/TRO.2025.3526077","journal-title":"IEEE Transactions on Robotics"},{"issue":"6","key":"525_CR24","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900086","volume":"2","author":"C Chautems","year":"2020","unstructured":"Chautems, C., Tonazzini, A., Boehler, Q., Jeong, S.H., Floreano, D., Nelson, B.J.: Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery. Adv. Intell. Syst. 2(6), 1900086 (2020). https:\/\/doi.org\/10.1002\/aisy.201900086","journal-title":"Adv. Intell. Syst."},{"issue":"2","key":"525_CR21","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/TRO.2009.2035740","volume":"26","author":"PE Dupont","year":"2010","unstructured":"Dupont, P.E., Lock, J., Itkowitz, B., Butler, E.: Design and Control of Concentric-Tube Robots. IEEE Transactions on Robotics 26(2), 209\u2013225 (2010). https:\/\/doi.org\/10.1109\/TRO.2009.2035740","journal-title":"IEEE Transactions on Robotics"},{"issue":"6","key":"525_CR6","doi-asserted-by":"publisher","first-page":"1483","DOI":"10.1109\/TRO.2015.2496826","volume":"31","author":"V Falkenhahn","year":"2015","unstructured":"Falkenhahn, V., Mahl, T., Hildebrandt, A., Neumann, R., Sawodny, O.: Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler\u2013Lagrange Formalism. IEEE Transactions on Robotics 31(6), 1483\u20131496 (2015). https:\/\/doi.org\/10.1109\/TRO.2015.2496826","journal-title":"IEEE Transactions on Robotics"},{"key":"525_CR23","doi-asserted-by":"publisher","unstructured":"Fu, S., et al.: A Magnetically Controlled Guidewire Robot System with Steering and Propulsion Capabilities for Vascular Interventional Surgery. Adv. Intell. Syst. 5(11), 2300267 (2023). https:\/\/doi.org\/10.1002\/aisy.202300267","DOI":"10.1002\/aisy.202300267"},{"issue":"3","key":"525_CR4","doi-asserted-by":"publisher","first-page":"685","DOI":"10.1109\/TRO.2019.2896763","volume":"35","author":"S Guo","year":"2019","unstructured":"Guo, S., et al.: A Novel Robot-Assisted Endovascular Catheterization System With Haptic Force Feedback. IEEE Transactions on Robotics 35(3), 685\u2013696 (2019). https:\/\/doi.org\/10.1109\/TRO.2019.2896763","journal-title":"IEEE Transactions on Robotics"},{"issue":"1","key":"525_CR15","doi-asserted-by":"publisher","first-page":"227","DOI":"10.1109\/TRO.2016.2623339","volume":"33","author":"LB Kratchman","year":"2017","unstructured":"Kratchman, L.B., Bruns, T.L., Abbott, J.J., Webster, R.J.: Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications. IEEE Transactions on Robotics 33(1), 227\u2013233 (2017). https:\/\/doi.org\/10.1109\/TRO.2016.2623339","journal-title":"IEEE Transactions on Robotics"},{"key":"525_CR13","doi-asserted-by":"publisher","unstructured":"Lin, D., Wang, J., Jiao, N., Wang, Z., Liu, L.: A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery. Adv. Intell. Syst. 3(10), 2000211 (2021). https:\/\/doi.org\/10.1002\/aisy.202000211","DOI":"10.1002\/aisy.202000211"},{"issue":"4","key":"525_CR9","doi-asserted-by":"publisher","first-page":"6235","DOI":"10.1109\/LRA.2021.3086413","volume":"6","author":"Z Liu","year":"2021","unstructured":"Liu, Z., Zhang, X., Cai, Z., Peng, H., Wu, Z.: Real-Time Dynamics of Cable-Driven Continuum Robots Considering the Cable Constraint and Friction Effect. IEEE Robotics and Automation Letters 6(4), 6235\u20136242 (2021). https:\/\/doi.org\/10.1109\/LRA.2021.3086413","journal-title":"IEEE Robotics and Automation Letters"},{"key":"525_CR1","doi-asserted-by":"publisher","unstructured":"Nwankwo, C.C., Kelly, D., Srivastava, R.: Navigating Complex Vascular Pathways With \u2018Meet in the Middle\u2019 Magnetic Guidewire Navigation Technique, in IMECE, Volume 1: Acoustics, Vibration, and Phononics; Adv. Des. Inf. Technol. (2024). https:\/\/doi.org\/10.1115\/IMECE2024-145375","DOI":"10.1115\/IMECE2024-145375"},{"issue":"16","key":"525_CR25","doi-asserted-by":"publisher","DOI":"10.1002\/adhm.201900213","volume":"8","author":"J Park","year":"2019","unstructured":"Park, J., Jin, C., Lee, S., Kim, J.-Y., Choi, H.: Magnetically Actuated Degradable Microrobots for Actively Controlled Drug Release and Hyperthermia Therapy. Adv. Healthc. Mater. 8(16), 1900213 (2019). https:\/\/doi.org\/10.1002\/adhm.201900213","journal-title":"Adv. Healthc. Mater."},{"key":"525_CR10","doi-asserted-by":"publisher","unstructured":"Parvaresh, A., Moosavian, S.A.A.: Linear vs. Nonlinear Modeling of Continuum Robotic Arms Using Data-Driven Method, in 7th Int. Conf. Robot. Mechat. (ICRoM), Tehran, Iran: IEEE, pp. 457\u2013462. (2019). https:\/\/doi.org\/10.1109\/ICRoM48714.2019.9071914","DOI":"10.1109\/ICRoM48714.2019.9071914"},{"issue":"2","key":"525_CR20","doi-asserted-by":"publisher","first-page":"811","DOI":"10.1109\/TMAG.2012.2205014","volume":"49","author":"AJ Petruska","year":"2013","unstructured":"Petruska, A.J., Abbott, J.J.: Optimal Permanent-Magnet Geometries for Dipole Field Approximation. IEEE Transactions on Magnetics 49(2), 811\u2013819 (2013). https:\/\/doi.org\/10.1109\/TMAG.2012.2205014","journal-title":"IEEE Transactions on Magnetics"},{"key":"525_CR3","doi-asserted-by":"publisher","unstructured":"Pittiglio, G., et al.: Patient-Specific Magnetic Catheters for Atraumatic Autonomous Endoscopy, Soft Robot.\u00a0\u00a09(6), 1120\u20131133 (2022). https:\/\/doi.org\/10.1089\/soro.2021.0090","DOI":"10.1089\/soro.2021.0090"},{"issue":"1","key":"525_CR8","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 Transactions on Robotics 30(1), 275\u2013287 (2014). https:\/\/doi.org\/10.1109\/TRO.2013.2281564","journal-title":"IEEE Transactions on Robotics"},{"issue":"6","key":"525_CR22","doi-asserted-by":"publisher","first-page":"1033","DOI":"10.1109\/TRO.2011.2160469","volume":"27","author":"DC Rucker","year":"2011","unstructured":"Rucker, D.C., Webster, R.J., III.: Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Transactions on Robotics 27(6), 1033\u20131044 (2011). https:\/\/doi.org\/10.1109\/TRO.2011.2160469","journal-title":"IEEE Transactions on Robotics"},{"issue":"12","key":"525_CR16","doi-asserted-by":"publisher","first-page":"4387","DOI":"10.1007\/s00419-023-02499-w","volume":"93","author":"Z Teng","year":"2023","unstructured":"Teng, Z., Liu, J., Sun, H., Liu, Q., Zhai, Y., Wang, Q.: Research on driving force of capsule endoscope in fluid. Arch. Appl. Mech. 93(12), 4387\u20134398 (2023). https:\/\/doi.org\/10.1007\/s00419-023-02499-w","journal-title":"Arch. Appl. Mech."},{"key":"525_CR17","doi-asserted-by":"publisher","unstructured":"Teng, Z., Liu, J., Sun, H., Wang, Y., Zhai, Y., Wang, Q.: Design and Comparison of External Permanent Magnet Topologies for Improving Motion Control in Gastrointestinal Examination. IEEE Trans. Appl. Supercond. 34(5), 1\u20136 (2024). https:\/\/doi.org\/10.1109\/TASC.2023.3340129","DOI":"10.1109\/TASC.2023.3340129"},{"issue":"12","key":"525_CR18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TMAG.2024.3486760","volume":"60","author":"Z Teng","year":"2024","unstructured":"Teng, Z., Ren, J., Liu, J., Sun, H., Wang, Q.: Optimizing Permanent Magnet Designs for Improving Control in the Magnetically Controlled Capsule Endoscope. IEEE Transactions on Magnetics 60(12), 1\u20138 (2024). https:\/\/doi.org\/10.1109\/TMAG.2024.3486760","journal-title":"IEEE Transactions on Magnetics"},{"issue":"1","key":"525_CR11","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1109\/TRO.2018.2878318","volume":"35","author":"TG Thuruthel","year":"2019","unstructured":"Thuruthel, T.G., Falotico, E., Renda, F., Laschi, C.: Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators. IEEE Trans. Robot. 35(1), 124\u2013134 (2019). https:\/\/doi.org\/10.1109\/TRO.2018.2878318","journal-title":"IEEE Trans. Robot."},{"issue":"17","key":"525_CR2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adg6438","volume":"9","author":"ME Tiryaki","year":"2023","unstructured":"Tiryaki, M.E., Elmac\u0131o\u011flu, Y.G., Sitti, M.: Magnetic guidewire steering at ultrahigh magnetic fields. Science Advances 9(17), eadg6438 (2023). https:\/\/doi.org\/10.1126\/sciadv.adg6438","journal-title":"Science Advances"},{"issue":"1","key":"525_CR7","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1109\/TMECH.2016.2606547","volume":"22","author":"H Wang","year":"2017","unstructured":"Wang, H., Wang, C., Chen, W., Liang, X., Liu, Y.: Three-Dimensional Dynamics for Cable-Driven Soft Manipulator. IEEE\/ASME Transactions on Mechatronics 22(1), 18\u201328 (2017). https:\/\/doi.org\/10.1109\/TMECH.2016.2606547","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"525_CR12","doi-asserted-by":"publisher","unstructured":"Yang, H., et al.: Magnetic Micro-Driller System for Nasolacrimal Duct Recanalization. IEEE Rob. Autom. Lett. 7(3), 7367\u20137374 (2022). https:\/\/doi.org\/10.1109\/LRA.2022.3182105","DOI":"10.1109\/LRA.2022.3182105"},{"key":"525_CR5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104429","volume":"165","author":"J Yang","year":"2021","unstructured":"Yang, J., Peng, H., Zhou, W., Zhang, J., Wu, Z.: A modular approach for dynamic modeling of multisegment continuum robots. Mechanism and Machine Theory 165, 104429 (2021). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2021.104429","journal-title":"Mechanism and Machine Theory"}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-026-00525-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-026-00525-y","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-026-00525-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T10:43:51Z","timestamp":1783593831000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-026-00525-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,28]]},"references-count":28,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2026,6]]}},"alternative-id":["525"],"URL":"https:\/\/doi.org\/10.1007\/s41315-026-00525-y","relation":{},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3,28]]},"assertion":[{"value":"13 November 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 February 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 March 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"Not required.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}]}}