{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T19:19:40Z","timestamp":1776885580814,"version":"3.51.2"},"reference-count":37,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100012164","name":"National High-tech Research and Development Program","doi-asserted-by":"publisher","award":["2015AA043202"],"award-info":[{"award-number":["2015AA043202"]}],"id":[{"id":"10.13039\/501100012164","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Program of China","award":["2017YFB1304401"],"award-info":[{"award-number":["2017YFB1304401"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2022,8]]},"DOI":"10.1109\/tro.2022.3140887","type":"journal-article","created":{"date-parts":[[2022,1,19]],"date-time":"2022-01-19T20:33:32Z","timestamp":1642624412000},"page":"2238-2250","source":"Crossref","is-referenced-by-count":82,"title":["Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation"],"prefix":"10.1109","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9723-9883","authenticated-orcid":false,"given":"Xianqiang","family":"Bao","sequence":"first","affiliation":[{"name":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0607-9798","authenticated-orcid":false,"given":"Shuxiang","family":"Guo","sequence":"additional","affiliation":[{"name":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yangming","family":"Guo","sequence":"additional","affiliation":[{"name":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7078-3838","authenticated-orcid":false,"given":"Cheng","family":"Yang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liwei","family":"Shi","sequence":"additional","affiliation":[{"name":"Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youxiang","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, Beijing Tiantan Hospital, Capital Medical University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuhua","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, Beijing Tiantan Hospital, Capital Medical University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-013-0946-8"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1583\/10-3324R.1"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvs.2015.06.215"},{"key":"ref4","article-title":"Cardiac catheterization","volume-title":"Healthline Media","author":"Holland","year":"2018"},{"issue":"11","key":"ref5","doi-asserted-by":"crossref","first-page":"866","DOI":"10.1007\/s00101-016-0226-8","article-title":"Injuries to blood vessels near the heart caused by central venous catheters","volume":"65","author":"Abram","year":"2016","journal-title":"Anaesthesist"},{"key":"ref6","article-title":"Cardiac catheterization","volume-title":"Health Home, and Treatments, Tests and Therapies","author":"Hopkins Medicine","year":"2019"},{"key":"ref7","article-title":"Kinesthetic sensing","volume-title":"Human and Machine Haptics","author":"Jones","year":"2000"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33418-4_69"},{"issue":"3","key":"ref9","first-page":"58","article-title":"Managing complications of transradial catheterization","volume":"9","author":"Steinberg","year":"2015","journal-title":"Cardiac Interv. Today"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013679"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICCME.2011.5876772"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2017203"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139944"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2018.2800639"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2801787"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2893166"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2001353"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641777"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2704526"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160467"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TBCAS.2018.2825359"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759194"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909103785"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2016.7558602"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2017.8015854"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2896763"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-018-0318-0"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2489219"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2018.8484294"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-018-0261-0"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-018-0277-5"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2945876"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2695651"},{"issue":"2","key":"ref34","first-page":"155","article-title":"Mechanical properties of normal and diseased cerebrovascular system","volume":"2","author":"Ebrahimi","year":"2009","journal-title":"J. Vasc. Interv. Neurol."},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2928786"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2019.105129"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2951540"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9851593\/09686370.pdf?arnumber=9686370","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,13]],"date-time":"2024-01-13T22:53:08Z","timestamp":1705186388000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9686370\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8]]},"references-count":37,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2022.3140887","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,8]]}}}