Pith. sign in

REVIEW 1 major objections 2 minor 34 references

Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness

T0 review · 1 major / 2 minor · reviewed 2026-06-30 · grok-4.3

Challenge this review Re-run · record.json Download PDF Read on arXiv ↗ Review JSON

Pith's one-line read Gradient stiffness in a multi-segment catheter concentrates magnetic bending at a stable proximal pivot while the distal tip advances straight.

desk verdict The SO-MAC paper gives a concrete experimental demonstration of gradient stiffness plus a spring backbone for magnetic catheters, but the buckling-resistance claim rests on an untested mechanism without a control comparison. read the letter →

arxiv 2605.25005 v2 pith:LFEZAJL7 submitted 2026-05-24 cs.RO

Jiewen Tan , Junnan Xue , Shing Shin Cheng , Shuang Song , Erli Lyu , Jiaole Wang This is my paper · ORCID
classification cs.RO
keywords magneticallyactuatedcatheterstiffnessoptimizationgradientsteerabilitypushabilitymedicalroboticsbronchialnavigationshapeerror
verification ladder T0 review T1 audit T2 compute T3 formal

The pith

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The reading

The paper establishes that a stiffness-optimized multi-segment magnetically actuated catheter resolves the trade-off between pushability and steerability by concentrating bending about a stable proximal pivot and letting the distal section self-straighten during advancement. A sympathetic reader would care because conventional designs either kink under push loads or lose the ability to make tight proximal turns needed for navigation in narrow curved paths. The design uses a spring backbone together with a gradient-stiffness layout so that magnetic torque produces large proximal curvature while axial compression is transmitted without buckling. If correct, this architecture supports reliable combined steering and advancement over 0-180 degrees with sub-millimeter pivot error.

What carries the argument

The gradient-stiffness architecture, which varies bending and axial stiffness along the catheter length to enforce proximal pivot concentration and distal self-straightening under magnetic torque and compressive push.

What would settle it

A test in which the catheter kinks or buckles while being advanced under magnetic steering through a curved channel whose friction and curvature match the bronchial-phantom conditions.

Watch

Extended reading notes

Core claim

The SO-MAC integrates a decoupled steering-advancement mechanism with a gradient-stiffness architecture. Bending concentrates about a stable proximal pivot during advancement while the distal section passively self-straightens to transmit propulsion, aided by the optimized stiffness distribution and elastic recovery of the spring backbone against friction-induced kinking or buckling. Experiments show the pivot remains stable over 0-180 degrees of combined steering and advancement, the distal tip advances near-straight, and a 1.5 mm device reaches 180 degrees at a 3 mm radius with 1.39 plus or minus 0.56 mm shape error and 0.35 plus or minus 0.10 mm pivot error, enabling visual-feedback navig

Load-bearing premise

The optimized stiffness distribution together with the spring backbone's elastic recovery is enough to stop friction-induced kinking or buckling when the catheter is pushed forward while magnetically steered.

Editorial extensions

If this is right

  • The proximal pivot stays stable across the full 0-180 degree range of simultaneous steering and advancement.
  • The distal tip continues advancing near-straight toward the commanded direction without distal deviation.
  • A 1.5 mm device reaches 180 degrees of steering at a 3 mm bending radius localized to the 10 mm tip segment.
  • Average shape-tracking error stays at 1.39 plus or minus 0.56 mm and steering-pivot error at 0.35 plus or minus 0.10 mm.
  • Visual closed-loop control succeeds through highly curved, bifurcating paths in a bronchial phantom.

Reading between the lines

Editorial extensions of the paper, not claims the author makes directly.

  • The same gradient approach could be applied to other magnetically steered continuum devices that must both bend sharply and transmit axial force.
  • Passive self-straightening may reduce the control bandwidth required compared with fully active distal segments.
  • In-vivo tissue contact could alter the friction and restoring forces that the current phantom tests assume are handled by the spring backbone.
  • The stiffness profile might be further tuned for specific anatomical targets by adjusting segment lengths rather than material properties alone.
Share X Bluesky LinkedIn Reddit HN

Signed reviews

No signed human review yet.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit.

Referee Report

1 major / 2 minor

Summary. The manuscript proposes a stiffness-optimized multi-segment magnetically actuated catheter (SO-MAC) that combines a gradient-stiffness architecture with a spring backbone to decouple steering and advancement. It claims that this design concentrates bending about a stable proximal pivot while the distal section self-straightens under push loads, preventing friction-induced kinking or buckling. Quantitative experiments report up to 180° steering with 3 mm bending radius at the 10 mm tip, average shape error 1.39 ± 0.56 mm, and steering-pivot error 0.35 ± 0.10 mm; visual-feedback navigation succeeds in a bronchial phantom through curved bifurcating paths.

Significance. If the reported performance holds under broader conditions, the work directly tackles a central engineering trade-off in magnetically actuated soft robots for medical navigation. The quantitative error metrics and phantom demonstration supply concrete, falsifiable performance numbers that could inform design of future steerable catheters. The absence of a parameter-free derivation or machine-checked proof is offset by the experimental focus, but the result would be stronger with explicit controls isolating the stiffness-gradient contribution.

major comments (1)
  1. [Experimental Results] Experimental Results (or equivalent section reporting the bronchial-phantom and combined steering-advancement trials): the central claim that the gradient-stiffness distribution plus spring elastic recovery prevents friction-induced kinking/buckling under compressive push loads is load-bearing for the reported stability of the proximal pivot. No control catheter with uniform stiffness, no measured compressive-load threshold for onset of kinking, and no direct observation of buckling events are described; the phantom success therefore demonstrates only that buckling did not occur in the tested regime, not that the proposed mechanism is responsible.
minor comments (2)
  1. [Abstract / Methods] Abstract and Methods: the optimization procedure used to arrive at the gradient-stiffness values is referenced but not detailed with respect to the objective function, constraints, or number of segments; adding a brief equation or pseudocode would clarify reproducibility.
  2. [Figures] Figure captions (steering and phantom navigation figures): axis labels, scale bars, and error-bar definitions are present but the number of repeated trials underlying the reported ± values is not stated in the caption or text; this affects interpretation of the 1.39 ± 0.56 mm shape error.

Simulated Author's Rebuttal

1 responses · 0 unresolved

We thank the referee for the constructive feedback on our manuscript. We address the major comment point-by-point below, with planned revisions to strengthen the presentation of the experimental evidence.

read point-by-point responses

  1. Referee: [Experimental Results] Experimental Results (or equivalent section reporting the bronchial-phantom and combined steering-advancement trials): the central claim that the gradient-stiffness distribution plus spring elastic recovery prevents friction-induced kinking/buckling under compressive push loads is load-bearing for the reported stability of the proximal pivot. No control catheter with uniform stiffness, no measured compressive-load threshold for onset of kinking, and no direct observation of buckling events are described; the phantom success therefore demonstrates only that buckling did not occur in the tested regime, not that the proposed mechanism is responsible.

    Authors: We agree that the absence of a uniform-stiffness control catheter and direct measurements of the kinking threshold limits the ability to isolate the stiffness-gradient contribution. The reported results show stable proximal pivoting (steering-pivot error 0.35 ± 0.10 mm) and low shape error (1.39 ± 0.56 mm) across 0–180° combined steering and advancement, consistent with the intended mechanism of proximal bending concentration and distal self-straightening. However, these metrics demonstrate successful performance without buckling rather than directly proving the causal role of the gradient. In the revision we will add an explicit limitations paragraph in the Experimental Results section acknowledging this gap and clarifying that the mechanism is supported by design rationale and observed stability rather than by controlled isolation. We will also include a brief comparison to prior uniform-stiffness magnetic catheter literature to contextualize the improvement. revision: partial

Circularity Check

0 steps flagged · score 0.0 of 10

No circularity detected; claims rest on direct experimental measurements

full rationale

The manuscript reports fabrication and bench/phantom testing of a multi-segment magnetically actuated catheter with gradient stiffness. Performance metrics (shape error 1.39 ± 0.56 mm, pivot error 0.35 ± 0.10 mm, 180° steering at 3 mm radius) are obtained from physical trials under controlled advancement and magnetic actuation. No equations, parameter fitting, or first-principles derivations appear in the provided text; the stiffness distribution is presented as an engineering choice validated by experiment rather than derived from a model whose outputs are forced by its inputs. Self-citations, if present, are not load-bearing for the reported results. The buckling-resistance claim is an untested assumption but does not constitute circularity under the enumerated patterns.

Assumptions & free parameters 0 free parameters · 1 assumptions · 0 invented entities

The work relies on standard domain assumptions in soft robotics regarding material behavior and magnetic actuation forces, with no free parameters or new entities introduced in the abstract.

assumptions (1)
  • domain assumption The spring backbone exhibits elastic recovery sufficient to counteract friction-induced kinking and buckling under push loads
    This is invoked to explain how the distal section self-straightens during advancement.

how reviews work

0 comments
Cite this review

Pith. "Pith review of Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness." pith.science (2026). https://pith.science/paper/LFEZAJL7

@misc{pith2026260525005,
  author       = {Pith},
  title        = {Pith review of: Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness},
  year         = {2026},
  howpublished = {\url{https://pith.science/paper/LFEZAJL7}},
  note         = {Machine review of arXiv:2605.25005}
}
abstract

Achieving both efficient pushability (propulsion transmission) and proximally concentrated bending for steerability is challenging for magnetically actuated soft catheters: higher axial/bending stiffness improves force transmission but reduces steerability, whereas lower stiffness enables large, proximally concentrated bending yet increases kinking/buckling risk under compressive push loads. To address this trade-off, we propose a stiffness-optimized multi-segment magnetically actuated catheter (SO-MAC) that integrates a decoupled steering-advancement mechanism with a gradient-stiffness architecture. The SO-MAC concentrates bending about a stable proximal pivot during advancement while the distal section passively self-straightens to transmit propulsion, aided by the optimized stiffness distribution and elastic recovery of the spring backbone against friction-induced kinking/buckling. Over $0{-}180^{\circ}$ combined steering and advancement, the pivot remained stable and the distal tip advanced near-straight toward the target direction. A 1.5 mm-diameter SO-MAC achieved up to $180^{\circ}$ steering with a 3 mm bending radius at its 10 mm tip, with an average shape error of $1.39 \pm 0.56$ mm and a steering-pivot error of $0.35 \pm 0.10$ mm. Visual feedback control in a bronchial phantom further confirmed robust navigation through highly curved, bifurcating paths.

Figures

Figures reproduced from arXiv: 2605.25005 by the authors.

Figure 1
Figure 1. SO-MAC motion pattern towards a 180◦ target lumen. (a) (i)–(iv) show the SO-MAC navigating a 180◦ lumen, using the same steering pivot as a stable support during the steering phase. (b) The second and third bending stiffnesses, kb,2 and kb,3, are calculated using Hooke’s law. αn is the central angle of the n-th segment. The SO-MAC is divided into two segments from the steering pivot via equivalent transformation, wi… view at source ↗
Figure 2
Figure 2. Equivalent static analysis. The attractive force between adjacent [PITH_FULL_IMAGE:figures/full_fig_p003_2.png] view at source ↗
Figure 4
Figure 4. Prototyping of SO-MAC. The attraction from the positioning magnets [PITH_FULL_IMAGE:figures/full_fig_p005_4.png] view at source ↗
Figures from the paper (7 more)
Figure 3
Figure 3. Figure 3: Measurement principle of compression stiffness. The copper rod is [PITH_FULL_IMAGE:figures/full_fig_p005_3.png]
Figure 6
Figure 6. Figure 6: The effects of variations in magnetic field strength [PITH_FULL_IMAGE:figures/full_fig_p006_6.png]
Figure 7
Figure 7. Figure 7: Diagram of experimental setups for experiments [PITH_FULL_IMAGE:figures/full_fig_p007_7.png]
Figure 9
Figure 9. Figure 9: The process of SO-MAC advancement along the target lumen direction [PITH_FULL_IMAGE:figures/full_fig_p008_9.png]
Figure 10
Figure 10. Figure 10: Steering pivot errors of SO-MAC at different [PITH_FULL_IMAGE:figures/full_fig_p009_10.png]
Figure 11
Figure 11. Figure 11: Bronchoscopic navigation of the SO-MAC through three bronchial [PITH_FULL_IMAGE:figures/full_fig_p009_11.png]
Figure 12
Figure 12. Figure 12: Comparison of propulsion transmission between the gradient-stiffness [PITH_FULL_IMAGE:figures/full_fig_p010_12.png]

Discussion (0). Continue with ORCID to comment.

Reference graph

Works this paper leans on

34 extracted references

  1. [1]

    A novel miniature spring-based continuum manipulator for minimally invasive surgery: Design and evaluation,

    J. Wang, C. Hu, G. Ning, L. Ma, X. Zhang, and H. Liao, “A novel miniature spring-based continuum manipulator for minimally invasive surgery: Design and evaluation,”IEEE/ASME Transactions on Mecha- tronics, 2023

    2023

  2. [2]

    Ai co-pilot bronchoscope robot,

    J. Zhang, L. Liu, P. Xiang, Q. Fang, X. Nie, H. Ma, J. Hu, R. Xiong, Y . Wang, and H. Lu, “Ai co-pilot bronchoscope robot,”Nature commu- nications, vol. 15, no. 1, p. 241, 2024

    2024

  3. [3]

    Eccentric tube robots as multiarmed steerable sheaths,

    J. Wang, J. Peine, and P. E. Dupont, “Eccentric tube robots as multiarmed steerable sheaths,”IEEE Transactions on Robotics, vol. 38, no. 1, pp. 477–490, 2021

    2021

  4. [4]

    Pneumaoct: Pneumatic optical coherence tomography endoscopy for targeted distortion-free imaging in tortuous and narrow internal lumens,

    T. Zhang, S. Yuan, C. Xu, P. Liu, H.-C. Chang, S. H. C. Ng, H. Ren, and W. Yuan, “Pneumaoct: Pneumatic optical coherence tomography endoscopy for targeted distortion-free imaging in tortuous and narrow internal lumens,”Science Advances, vol. 10, no. 35, p. eadp3145, 2024

    2024

  5. [5]

    Kinematic modeling of a pneumatic tubular bending actuator for robotic navigation in narrow luminal organs,

    T. Zhang, R. Zhang, S. Yuan, C. Xu, B. Lin, Z. Niu, C. Shang, D. Mei, H. Ren, and W. Yuan, “Kinematic modeling of a pneumatic tubular bending actuator for robotic navigation in narrow luminal organs,” Procedia Computer Science, vol. 271, pp. 273–279, 2025

    2025

  6. [6]

    Ultrasound image-based averageq-learning control of magnetic microrobots,

    J. Liu, G. Ma, S. Fu, C. Huang, X. Wu, and T. Xu, “Ultrasound image-based averageq-learning control of magnetic microrobots,”IEEE Transactions on Robotics, vol. 41, pp. 1728–1741, 2025

    2025

  7. [7]

    Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas,

    S. Yuan, C. Xu, B. Cui, T. Zhang, B. Liang, W. Yuan, and H. Ren, “Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas,”Nature Communica- tions, vol. 15, no. 1, p. 7680, 2024

    2024

  8. [8]

    Magnetic continuum robot with modular axial magnetization: Design, modeling, optimization, and control,

    Y . Cao, M. Cai, B. Sun, Z. Qi, J. Xue, Y . Jiang, B. Hao, J. Zhu, X. Liu, C. Yang, and L. Zhang, “Magnetic continuum robot with modular axial magnetization: Design, modeling, optimization, and control,”IEEE Transactions on Robotics, vol. 41, pp. 1513–1532, 2025

    2025

Show all 34 references
  1. [9]

    Endoscopy-assisted magnetic navigation of biohybrid soft microrobots with rapid endoluminal delivery and imaging,

    B. Wang, K. F. Chan, K. Yuan, Q. Wang, X. Xia, L. Yang, H. Ko, Y .-X. J. Wang, J. J. Y . Sung, P. W. Y . Chiuet al., “Endoscopy-assisted magnetic navigation of biohybrid soft microrobots with rapid endoluminal delivery and imaging,”Science Robotics, vol. 6, no. 52, p. eabd2813, 2021

    2021

  2. [10]

    Magnetically driven biohybrid blood hydrogel fibres for personalized intracranial tumour therapy under fluoroscopic tracking,

    B. Wang, J. Shen, C. Huang, Z. Ye, J. He, X. Wu, Z. Guo, L. Zhang, and T. Xu, “Magnetically driven biohybrid blood hydrogel fibres for personalized intracranial tumour therapy under fluoroscopic tracking,” Nature Biomedical Engineering, pp. 1–15, 2025

    2025

  3. [11]

    Multifunctional magnetic catheter robot with triaxial force sensing capability for minimally invasive surgery,

    S. Fu, S. Dong, H. Shen, Z. Chen, G. Ma, M. Cai, C. Huang, Q. Peng, C. Bai, Y . Donget al., “Multifunctional magnetic catheter robot with triaxial force sensing capability for minimally invasive surgery,” Research, vol. 8, p. 0681, 2025

    2025

  4. [12]

    Model-free and uncalibrated visual-feedback control of magnetically- actuated flexible endoscopes,

    J. Tan, J. Xue, X. Yang, S. Yuan, W. Liu, H. Ren, S. Song, and J. Wang, “Model-free and uncalibrated visual-feedback control of magnetically- actuated flexible endoscopes,” in2022 IEEE/RSJ International Confer- ence on Intelligent Robots and Systems (IROS), 2022, pp. 5930–5936

    2022

  5. [13]

    A magnetically controlled guidewire robot system with steering and propulsion capabilities for vascular interven- tional surgery,

    S. Fu, B. Chen, D. Li, J. Han, S. Xu, S. Wang, C. Huang, M. Qiu, S. Cheng, X. Wuet al., “A magnetically controlled guidewire robot system with steering and propulsion capabilities for vascular interven- tional surgery,”Advanced Intelligent Systems, vol. 5, no. 11, p. 2300267, 2023

    2023

  6. [14]

    Magnetic control of a steerable guidewire under ultrasound guidance using mobile electromagnets,

    Z. Yang, L. Yang, M. Zhang, Q. Wang, S. C. H. Yu, and L. Zhang, “Magnetic control of a steerable guidewire under ultrasound guidance using mobile electromagnets,”IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1280–1287, 2021

    2021

  7. [15]

    An automatic magnetically robotic system using a double-loop stable control method for guidewire steering,

    S. Xu, B. Chen, D. Li, S. Fu, X. Wu, S. Du, and T. Xu, “An automatic magnetically robotic system using a double-loop stable control method for guidewire steering,”IEEE/ASME Transactions on Mechatronics, pp. 1–12, 2024

    2024

  8. [16]

    Closed-loop magnetic manipulation for robotic transesophageal echocardiography,

    K. Li, Y . Xu, Z. Zhao, A. Li, and M. Q.-H. Meng, “Closed-loop magnetic manipulation for robotic transesophageal echocardiography,” IEEE Transactions on Robotics, vol. 39, no. 5, pp. 3946–3959, 2023

    2023

  9. [17]

    Adaptive simultaneous magnetic actuation and localization for wce in a tubular environment,

    Y . Xu, K. Li, Z. Zhao, and M. Q.-H. Meng, “Adaptive simultaneous magnetic actuation and localization for wce in a tubular environment,” IEEE Transactions on Robotics, vol. 38, no. 5, pp. 2812–2826, 2022

    2022

  10. [18]

    En- dotracheal untethered retractable drill mechanism toward robot-assisted endoluminal inside-out dilatational tracheostomy,

    S. Yuan, B. Liang, Q. Liu, S. Su, W. Yue, Z. Huang, and H. Ren, “En- dotracheal untethered retractable drill mechanism toward robot-assisted endoluminal inside-out dilatational tracheostomy,”IEEE Transactions on Instrumentation and Measurement, 2025. 11

    2025

  11. [19]

    Remote-controlled catheter ablation of accessory pathways: results from the magnetic laboratory,

    J. K.-R. Chun, S. Ernst, S. Matthews, B. Schmidt, D. Bansch, S. Boczor, A. Ujeyl, M. Antz, F. Ouyang, and K.-H. Kuck, “Remote-controlled catheter ablation of accessory pathways: results from the magnetic laboratory,”European heart journal, vol. 28, no. 2, pp. 190–195, 2007

    2007

  12. [20]

    Kine- matic modeling of magnetically-actuated robotic catheter in nonlinearly- coupled multi-field,

    J. Wang, J. Xue, S. Yuan, J. Tan, S. Song, and M. Q.-H. Meng, “Kine- matic modeling of magnetically-actuated robotic catheter in nonlinearly- coupled multi-field,”IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8189–8196, 2021

    2021

  13. [21]

    Magnetic control of continuum devices,

    J. Edelmann, A. J. Petruska, and B. J. Nelson, “Magnetic control of continuum devices,”The International Journal of Robotics Research, vol. 36, no. 1, pp. 68–85, 2017

    2017

  14. [22]

    Ferromagnetic soft continuum robots,

    Y . Kim, G. A. Parada, S. Liu, and X. Zhao, “Ferromagnetic soft continuum robots,”Science robotics, vol. 4, no. 33, p. eaax7329, 2019

    2019

  15. [23]

    Rapid fabrication of self-propelled and steerable magnetic microcatheters for precision medicine,

    Z. Chen, B. Rivkin, D. Castellanos-Robles, I. Soldatov, L. Beyer, and M. Medina-S ´anchez, “Rapid fabrication of self-propelled and steerable magnetic microcatheters for precision medicine,”Advanced Materials, p. e06591, 2025

    2025

  16. [24]

    A mag- netic continuum robot with in-situ magnetic reprogramming capability,

    J. Xue, M. Zhang, X. Liu, J. Zhu, Y . Cao, and L. Zhang, “A mag- netic continuum robot with in-situ magnetic reprogramming capability,” in2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 5891–5897

    2024

  17. [25]

    A submil- limeter continuous variable stiffness catheter for compliance control,

    J. Lussi, M. Mattmann, S. Sevim, F. Grigis, C. De Marco, C. Chautems, S. Pan ´e, J. Puigmart ´ı-Luis, Q. Boehler, and B. J. Nelson, “A submil- limeter continuous variable stiffness catheter for compliance control,” Advanced Science, vol. 8, no. 18, p. 2101290, 2021

    2021

  18. [26]

    Magnetic ball chain robots for endoluminal interventions,

    G. Pittiglio, M. Mencattelli, and P. E. Dupont, “Magnetic ball chain robots for endoluminal interventions,” in2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 4717–4723

    2023

  19. [27]

    Materials for urinary catheters: a review of their history and development in the uk,

    E. Lawrence and I. Turner, “Materials for urinary catheters: a review of their history and development in the uk,”Medical engineering & physics, vol. 27, no. 6, pp. 443–453, 2005

    2005

  20. [28]

    Degradable alginate hydrogel intervention catheters with gradient hardness in length,

    B. Yang, W. Gu, J. Pan, and L. Zhang, “Degradable alginate hydrogel intervention catheters with gradient hardness in length,”Advanced Healthcare Materials, vol. 14, no. 14, p. 2405086, 2025

    2025

  21. [29]

    Dexterous helical magnetic robot for improved endovascular access,

    R. Dreyfus, Q. Boehler, S. Lyttle, P. Gruber, J. Lussi, C. Chautems, S. Gervasoni, J. Berberat, D. Seibold, N. Ochsenbein-K ¨olbleet al., “Dexterous helical magnetic robot for improved endovascular access,” Science Robotics, vol. 9, no. 87, p. eadh0298, 2024

    2024

  22. [30]

    Optimal permanent-magnet geome- tries for dipole field approximation,

    A. J. Petruska and J. J. Abbott, “Optimal permanent-magnet geome- tries for dipole field approximation,”IEEE Transactions on Magnetics, vol. 49, no. 2, pp. 811–819, 2013

    2013

  23. [31]

    A. M. Wahl,Mechanical springs (Firtst Edition). Penton Publishing Company, 1944

    1944

  24. [32]

    A trust region method based on interior point techniques for nonlinear programming,

    R. H. Byrd, J. C. Gilbert, and J. Nocedal, “A trust region method based on interior point techniques for nonlinear programming,”Mathematical programming, vol. 89, pp. 149–185, 2000

    2000

  25. [33]

    A lumen detection-based intestinal direction vector acquisition method for wireless endoscopy systems,

    D. Wang, X. Xie, G. Li, Z. Yin, and Z. Wang, “A lumen detection-based intestinal direction vector acquisition method for wireless endoscopy systems,”IEEE Transactions on Biomedical Engineering, vol. 62, no. 3, pp. 807–819, 2015. Jiewen Tanreceived the Bachelor of Engineering d...

    2015

  26. [34]

    He is currently a Professor with the School of Biomedical Engineering, Harbin Institute of Technology, Shenzhen, China

    He was a Research Fellow with the Pediatric Cardiac Bioengineering Laboratory, Department of Cardiovascular Surgery, Boston Children’s Hospital and Harvard Medical School, Boston, MA, USA. He is currently a Professor with the School of Biomedical Engineering, Harbin Institute ...

Pith tools

Reviewed June 30, 2026 · model on record in the stance chip above.