{"id":"https://openalex.org/W2411490490","doi":null,"title":"Control system architecture for a minimally invasive surgical robot.","display_name":"Control system architecture for a minimally invasive surgical robot.","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2411490490","mag":"2411490490","pmid":"https://pubmed.ncbi.nlm.nih.gov/16404036"},"language":"en","primary_location":{"id":"pmid:16404036","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/16404036","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Studies in health technology and informatics","raw_type":"Journal Article"},"volume":null,"type":"article","indexed_in":["pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038294889","display_name":"Kenneth Fodero","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenneth Fodero","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA. kfodero@u.washington.edu","Department of Electrical Engineering, University of Washington Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA. kfodero@u.washington.edu","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033060799","display_name":"H. Hawkeye King","orcid":"https://orcid.org/0000-0001-5451-0389","observed_orcids":["https://orcid.org/0000-0001-5451-0389"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H Hawkeye King","raw_affiliation_strings":["University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113774321","display_name":"Mitchell J. H. Lum","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mitchell J H Lum","raw_affiliation_strings":["University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Clint Bland","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Clint Bland","raw_affiliation_strings":["University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085568916","display_name":"Jacob Ros\u00e9n","orcid":"https://orcid.org/0000-0003-4901-7404","observed_orcids":["https://orcid.org/0000-0003-4901-7404"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Rosen","raw_affiliation_strings":["University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083202346","display_name":"Mika N. Sinanan M. D","orcid":"https://orcid.org/0000-0001-5304-9236","observed_orcids":["https://orcid.org/0000-0001-5304-9236"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mika Sinanan","raw_affiliation_strings":["University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920","observed_orcids":["https://orcid.org/0000-0001-7370-4920"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":1.2786,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80596056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":94},"biblio":{"volume":"119","issue":null,"first_page":"156","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.25200000405311584,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.25200000405311584,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.20090000331401825,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.05510000139474869,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/surgical-robotics","display_name":"surgical robotics","score":0.6370000243186951},{"id":"https://openalex.org/keywords/minimally-invasive-surgery","display_name":"minimally invasive surgery","score":0.9769999980926514},{"id":"https://openalex.org/keywords/programmable-logic-controller","display_name":"programmable logic controller","score":0.8270000219345093},{"id":"https://openalex.org/keywords/emergency-stop","display_name":"emergency stop","score":0.9359999895095825},{"id":"https://openalex.org/keywords/foot-pedal","display_name":"foot pedal","score":0.5540000200271606},{"id":"https://openalex.org/keywords/braking-systems","display_name":"braking systems","score":0.6520000100135803},{"id":"https://openalex.org/keywords/patient-safety","display_name":"patient safety","score":0.6919999718666077}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6489385962486267},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6187268495559692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5986334681510925},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49766042828559875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48993533849716187},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4860537350177765},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4761609733104706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4743677079677582},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46861037611961365},{"id":"https://openalex.org/C37374048","wikidata":"https://www.wikidata.org/wiki/Q188674","display_name":"Programmable logic controller","level":2,"score":0.45947590470314026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.445901095867157},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4356900155544281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4262467324733734},{"id":"https://openalex.org/C206274596","wikidata":"https://www.wikidata.org/wiki/Q1063837","display_name":"Programmable logic device","level":2,"score":0.420676052570343},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3869408071041107},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32182973623275757},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11556103825569153},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012449","descriptor_name":"Safety","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014481","descriptor_name":"United States","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017216","descriptor_name":"Telemedicine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"pmid:16404036","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/16404036","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Studies in health technology and informatics","raw_type":"Journal Article"},{"id":"mag:2411490490","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/16404036","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"PubMed","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.46810001134872437,"id":"https://metadata.un.org/sdg/3"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1898934478","https://openalex.org/W2057212774","https://openalex.org/W2135000365","https://openalex.org/W2149961271","https://openalex.org/W2160899683","https://openalex.org/W2561338268"],"related_works":["https://openalex.org/W7096901395","https://openalex.org/W2104750742","https://openalex.org/W142788243","https://openalex.org/W3217373232","https://openalex.org/W7025014847","https://openalex.org/W6987023626","https://openalex.org/W133522696","https://openalex.org/W2145616266","https://openalex.org/W3152343932","https://openalex.org/W1966302924"],"abstract_inverted_index":{"As":[0],"the":[1,32],"field":[2],"of":[3,34,48],"surgical":[4],"robotics":[5],"continues":[6],"to":[7,12],"evolve,":[8],"it":[9],"is":[10],"important":[11],"keep":[13],"patient":[14],"safety":[15,22,41],"in":[16,31],"mind.":[17],"This":[18],"paper":[19],"describes":[20],"a":[21,45,62],"control":[23],"architecture":[24],"aimed":[25],"at":[26],"moving":[27],"an":[28],"experimental":[29],"system":[30,39],"direction":[33],"intrinsically":[35],"safe":[36],"operation.":[37],"The":[38],"includes":[40],"features":[42],"such":[43],"as:":[44],"small":[46],"number":[47],"states,":[49],"Programmable":[50],"Logic":[51],"Controller":[52],"(PLC)":[53],"state":[54],"transition":[55],"control,":[56],"active":[57],"enable,":[58],"brakes,":[59],"E-STOP,":[60],"and":[61],"surgeon":[63],"foot":[64],"pedal.":[65]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2016-06-24T00:00:00"}