{"id":"https://openalex.org/W3090810076","doi":"https://doi.org/10.1109/icra40945.2020.9197007","title":"Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy","display_name":"Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090810076","doi":"https://doi.org/10.1109/icra40945.2020.9197007","mag":"3090810076","pmid":"https://pubmed.ncbi.nlm.nih.gov/33133751","pmcid":"https://www.ncbi.nlm.nih.gov/pmc/articles/7593887"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197007","doi":"https://doi.org/10.1109/icra40945.2020.9197007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197007","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7593887","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013189936","display_name":"Olalekan Ogunmolu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olalekan Ogunmolu","raw_affiliation_strings":["Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA 19104, USA","Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100703342","display_name":"Xinmin Liu","orcid":"https://orcid.org/0000-0001-6452-4645","observed_orcids":["https://orcid.org/0000-0001-6452-4645"]},"institutions":[{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinmin Liu","raw_affiliation_strings":["Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, IL 60637, USA","Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, IL 60637, USA","institution_ids":["https://openalex.org/I40347166"]},{"raw_affiliation_string":"Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I40347166"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061986744","display_name":"Nicholas Gans","orcid":"https://orcid.org/0000-0003-3462-4199","observed_orcids":["https://orcid.org/0000-0003-3462-4199"]},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Gans","raw_affiliation_strings":["Automation & Intelligent Systems Division, The University of Texas at Arlington Research Institute, Arlington, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation & Intelligent Systems Division, The University of Texas at Arlington Research Institute, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049163064","display_name":"Rodney D. Wiersma","orcid":"https://orcid.org/0000-0002-7279-5813","observed_orcids":["https://orcid.org/0000-0002-7279-5813"]},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rodney D. Wiersma","raw_affiliation_strings":["Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA 19104, USA","Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Perelman School of Medicine, The University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8967,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70752648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":"169","issue":null,"first_page":"4609","last_page":"4615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11366","display_name":"Elasticity and Material Modeling","score":9.999999747378752e-05,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/soft-robots","display_name":"soft robots","score":0.8169999718666077},{"id":"https://openalex.org/keywords/head-stabilization","display_name":"head stabilization","score":0.8180000185966492},{"id":"https://openalex.org/keywords/radiotherapy","display_name":"radiotherapy","score":0.6949999928474426},{"id":"https://openalex.org/keywords/parallel-robot-mechanism","display_name":"parallel robot mechanism","score":0.8980000019073486},{"id":"https://openalex.org/keywords/soft-actuators","display_name":"soft actuators","score":0.9940000176429749},{"id":"https://openalex.org/keywords/constitutive-model","display_name":"constitutive equations","score":0.9269999861717224},{"id":"https://openalex.org/keywords/stress-strain","display_name":"stress-strain","score":0.7570000290870667},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.9940000176429749},{"id":"https://openalex.org/keywords/finite-elastic-deformation","display_name":"finite elastic deformation","score":0.7459999918937683},{"id":"https://openalex.org/keywords/patient-motion-correction","display_name":"patient motion correction","score":0.5910000205039978}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6440657377243042},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6352396607398987},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6271110773086548},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5927273631095886},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5830767750740051},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5729125142097473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5232319235801697},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.509334921836853},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5039207339286804},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48367437720298767},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4345616102218628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30887776613235474},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2608768343925476},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.24464383721351624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11799982190132141},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10714259743690491},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra40945.2020.9197007","doi":"https://doi.org/10.1109/icra40945.2020.9197007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197007","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmid:33133751","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33133751","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":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:7593887","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7593887","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"},{"id":"pmh:oai:arXiv.org:2203.05708","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05708","pdf_url":"https://arxiv.org/pdf/2203.05708","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2203.05708","doi":"https://doi.org/10.48550/arxiv.2203.05708","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.05708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:7593887","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7593887","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G5572327668","display_name":"Development of a portable and compact robotic system for frameless and maskless stereotactic radiosurgery","funder_award_id":"R01CA227124","funder_id":"https://openalex.org/F4320337351","funder_display_name":"National Cancer Institute"}],"funders":[{"id":"https://openalex.org/F4320337351","display_name":"National Cancer Institute","ror":"https://ror.org/040gcmg81"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3090810076.pdf","grobid_xml":"https://content.openalex.org/works/W3090810076.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1001886665","https://openalex.org/W1106499465","https://openalex.org/W1500831274","https://openalex.org/W1521427950","https://openalex.org/W1529906062","https://openalex.org/W1584982640","https://openalex.org/W1593804296","https://openalex.org/W1597009130","https://openalex.org/W1610841261","https://openalex.org/W1762028192","https://openalex.org/W1964615593","https://openalex.org/W1968191785","https://openalex.org/W1985361230","https://openalex.org/W1990638940","https://openalex.org/W1996784168","https://openalex.org/W2005781236","https://openalex.org/W2006730584","https://openalex.org/W2021745425","https://openalex.org/W2047930883","https://openalex.org/W2049063291","https://openalex.org/W2058430348","https://openalex.org/W2098572589","https://openalex.org/W2132860012","https://openalex.org/W2146990154","https://openalex.org/W2163592686","https://openalex.org/W2312793838","https://openalex.org/W2527995766","https://openalex.org/W2581063916","https://openalex.org/W2750536226","https://openalex.org/W2775153219","https://openalex.org/W2884400302","https://openalex.org/W2909818902","https://openalex.org/W3156477991","https://openalex.org/W4206476254","https://openalex.org/W4231134982","https://openalex.org/W4233007436","https://openalex.org/W4250227817","https://openalex.org/W4256526535","https://openalex.org/W4292341421","https://openalex.org/W4388394599","https://openalex.org/W6920965572"],"related_works":["https://openalex.org/W1610841261","https://openalex.org/W4402448379","https://openalex.org/W2775153219","https://openalex.org/W2527995766","https://openalex.org/W2794595179","https://openalex.org/W1001886665","https://openalex.org/W2521333807","https://openalex.org/W4297967983","https://openalex.org/W3022807388","https://openalex.org/W4214860640"],"abstract_inverted_index":{"We":[0,51],"present":[1,75],"a":[2,27,32,48,70,95],"parallel":[3],"robot":[4],"mechanism":[5],"and":[6,64,73],"the":[7,12,23,36,40,43,53,56,61,65],"constitutive":[8,58],"laws":[9,59],"that":[10,68,78],"govern":[11],"deformation":[13,98],"of":[14,26,42],"its":[15],"constituent":[16],"soft":[17,37],"actuators.":[18],"Our":[19,83],"ultimate":[20],"goal":[21],"is":[22],"real-time":[24],"motion-correction":[25],"patient's":[28,44],"head":[29],"deviation":[30],"from":[31],"target":[33],"pose":[34],"where":[35],"actuators":[38,63],"control":[39],"position":[41],"cranial":[45],"region":[46],"on":[47],"treatment":[49],"machine.":[50],"describe":[52],"mechanism,":[54],"derive":[55],"stress-strain":[57],"for":[60],"individual":[62],"inverse":[66],"kinematics":[67],"prescribes":[69],"given":[71],"deformation,":[72],"then":[74],"simulation":[76],"results":[77,84],"validate":[79],"our":[80,89],"mathematical":[81],"formulation.":[82],"demonstrate":[85],"deformations":[86],"consistent":[87],"with":[88],"radially":[90],"symmetric":[91],"displacement":[92],"formulation":[93],"under":[94],"finite":[96],"elastic":[97],"framework.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2020-10-08T00:00:00"}