{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,23]],"date-time":"2026-07-23T21:38:05Z","timestamp":1784842685534,"version":"3.55.0"},"reference-count":59,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52175556"],"award-info":[{"award-number":["52175556"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Macao Science and Technology Development","award":["0004\/2022\/AKP"],"award-info":[{"award-number":["0004\/2022\/AKP"]}]},{"name":"Macao Science and Technology Development","award":["0102\/2022\/A2"],"award-info":[{"award-number":["0102\/2022\/A2"]}]},{"DOI":"10.13039\/501100004733","name":"Universidade de Macau","doi-asserted-by":"publisher","award":["MYRG2022-00068-FST"],"award-info":[{"award-number":["MYRG2022-00068-FST"]}],"id":[{"id":"10.13039\/501100004733","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004733","name":"Universidade de Macau","doi-asserted-by":"publisher","award":["MYRG-CRG2022-00004-FST-ICI"],"award-info":[{"award-number":["MYRG-CRG2022-00004-FST-ICI"]}],"id":[{"id":"10.13039\/501100004733","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2024.3378442","type":"journal-article","created":{"date-parts":[[2024,3,18]],"date-time":"2024-03-18T20:31:38Z","timestamp":1710793898000},"page":"2306-2326","source":"Crossref","is-referenced-by-count":46,"title":["Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7070-9686","authenticated-orcid":false,"given":"Zhengyang","family":"Li","sequence":"first","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-8133-7151","authenticated-orcid":false,"given":"Junan","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8865-7271","authenticated-orcid":false,"given":"Zehao","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3475-9691","authenticated-orcid":false,"given":"Yuanhe","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-9917-7524","authenticated-orcid":false,"given":"Magejiang","family":"Yeerbulati","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1700-322X","authenticated-orcid":false,"given":"Qingsong","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1182\/bloodadvances.2020001830"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s11936-018-0635-x"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1667\/RR2207.1"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.jacc.2017.09.183"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1038\/nrcardio.2016.38"},{"key":"ref6","first-page":"3","article-title":"Concentric tube robots for minimally invasive surgery","volume-title":"Proc. Hamlyn Symp. Med. Robot.","author":"Dupont","year":"2012"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-013-0946-8"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1002\/ccd.27205"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3140887"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg9907"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav7725"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0019"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO55434.2022.10011675"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2809546"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax7329"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893418"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3311373"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1063\/1.5129587"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916683443"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1586\/erd.09.32"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000211"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3123865"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-018-1743-5"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202101290"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900086"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3264770"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202107662"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2378431"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3043668"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2878906"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3000290"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211071113"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100266"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3047053"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2928761"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341399"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965077"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100144"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980270"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2907446"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1002\/adhm.202102529"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202105352"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139497"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abe5914"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2023.3309589"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3251844"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3095787"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3091283"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-014-0982-3"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967269"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623339"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3004782"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2014130"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2163861"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3187249"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2266079"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3221819"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2007.895484"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2239554"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10365208\/10474123.pdf?arnumber=10474123","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,5]],"date-time":"2025-02-05T19:25:48Z","timestamp":1738783548000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10474123\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":59,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3378442","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}