{"id":"https://openalex.org/W4313451822","doi":"https://doi.org/10.1002/aisy.202200308","title":"The Caturo: A Submillimeter Diameter Glass Concentric Tube Robot with High Curvature","display_name":"The Caturo: A Submillimeter Diameter Glass Concentric Tube Robot with High Curvature","publication_year":2022,"publication_date":"2022-12-20","ids":{"openalex":"https://openalex.org/W4313451822","doi":"https://doi.org/10.1002/aisy.202200308"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202200308","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202200308","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1002/aisy.202200308","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034005968","display_name":"Chibundo J. Nwafor","orcid":"https://orcid.org/0000-0002-4996-6725"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I177064439","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36","country_code":"FR","type":"education","lineage":["https://openalex.org/I177064439"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Chibundo J. Nwafor","raw_affiliation_strings":["FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France"],"raw_orcid":"https://orcid.org/0000-0002-4996-6725","affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I4210118524","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I177064439","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086574604","display_name":"Guillaume J. Laurent","orcid":"https://orcid.org/0000-0003-3586-4696"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I177064439","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36","country_code":"FR","type":"education","lineage":["https://openalex.org/I177064439"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillaume J. Laurent","raw_affiliation_strings":["FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I4210118524","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I177064439","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103953081","display_name":"Patrick Rougeot","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I177064439","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36","country_code":"FR","type":"education","lineage":["https://openalex.org/I177064439"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Patrick Rougeot","raw_affiliation_strings":["FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I4210118524","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I177064439","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044471992","display_name":"Kanty Rabenorosoa","orcid":"https://orcid.org/0000-0001-5946-1889"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I177064439","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36","country_code":"FR","type":"education","lineage":["https://openalex.org/I177064439"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Kanty Rabenorosoa","raw_affiliation_strings":["FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9  24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I4210118524","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute CNRS AS2M Department Universit\u00e9 de Bourgogne Franche-Comt\u00e9 24 rue Alain Savary 25000 Besan\u00e7on France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I177064439","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034005968"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I177064439","https://openalex.org/I2802759292","https://openalex.org/I4210118524"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2205,"currency":"EUR","value_usd":2378},"fwci":0.7928,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.67601882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9926999807357788,"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/materials-science","display_name":"Materials science","score":0.6234169602394104},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.557817280292511},{"id":"https://openalex.org/keywords/microscale-chemistry","display_name":"Microscale chemistry","score":0.48705318570137024},{"id":"https://openalex.org/keywords/optical-coherence-tomography","display_name":"Optical coherence tomography","score":0.46687883138656616},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4657635986804962},{"id":"https://openalex.org/keywords/conical-surface","display_name":"Conical surface","score":0.4586271643638611},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.4543355107307434},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32411444187164307},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.28741276264190674},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12734633684158325},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12301486730575562}],"concepts":[{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6234169602394104},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.557817280292511},{"id":"https://openalex.org/C179428855","wikidata":"https://www.wikidata.org/wiki/Q1069216","display_name":"Microscale chemistry","level":2,"score":0.48705318570137024},{"id":"https://openalex.org/C2778818243","wikidata":"https://www.wikidata.org/wiki/Q899552","display_name":"Optical coherence tomography","level":2,"score":0.46687883138656616},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4657635986804962},{"id":"https://openalex.org/C124961601","wikidata":"https://www.wikidata.org/wiki/Q2518149","display_name":"Conical surface","level":2,"score":0.4586271643638611},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.4543355107307434},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32411444187164307},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.28741276264190674},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12734633684158325},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12301486730575562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202200308","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202200308","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04257293v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04257293","pdf_url":"https://hal.science/hal-04257293/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, 2023, 5 (2), pp.2200308. ⟨10.1002/aisy.202200308⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:81d4370ed15446498252067635dc986d","is_oa":true,"landing_page_url":"https://doaj.org/article/81d4370ed15446498252067635dc986d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 5, Iss 2, Pp n/a-n/a (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202200308","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202200308","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1122748177","display_name":null,"funder_award_id":"17-EURE-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G2256839388","display_name":"MicroRobot-assisted Cholesteatoma Surgery","funder_award_id":"ANR-17-CE19-0005","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G2659019386","display_name":null,"funder_award_id":"ANR-17-EURE-","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G3896488107","display_name":"Infrastructure technologique pour la recherche d\u2019excellence en robotique","funder_award_id":"ANR-21-ESRE-0015","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6129730045","display_name":"Ing\u00e9nierie et Innovation par les sciences physiques, les savoir-faire technologiques et l'interdisciplinarit\u00e9","funder_award_id":"ANR-17-EURE-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6803667113","display_name":null,"funder_award_id":"ANR-17","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1963774357","https://openalex.org/W1966551609","https://openalex.org/W1983613940","https://openalex.org/W1986251494","https://openalex.org/W1990315927","https://openalex.org/W2015086944","https://openalex.org/W2031747890","https://openalex.org/W2034040999","https://openalex.org/W2053475079","https://openalex.org/W2060978823","https://openalex.org/W2067873889","https://openalex.org/W2081769000","https://openalex.org/W2095999605","https://openalex.org/W2101667962","https://openalex.org/W2111489327","https://openalex.org/W2113984044","https://openalex.org/W2116450300","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2137224424","https://openalex.org/W2143866388","https://openalex.org/W2164013717","https://openalex.org/W2184993170","https://openalex.org/W2240671935","https://openalex.org/W2283595331","https://openalex.org/W2291289742","https://openalex.org/W2335162707","https://openalex.org/W2432081996","https://openalex.org/W2521432822","https://openalex.org/W2563410502","https://openalex.org/W2620244975","https://openalex.org/W2751324482","https://openalex.org/W2771478976","https://openalex.org/W2774994422","https://openalex.org/W2787690100","https://openalex.org/W2792493303","https://openalex.org/W2901701174","https://openalex.org/W2941183551","https://openalex.org/W2970129718","https://openalex.org/W3030480340","https://openalex.org/W3034436867","https://openalex.org/W3118805376","https://openalex.org/W3142468821","https://openalex.org/W3201475939","https://openalex.org/W3211763588","https://openalex.org/W3214726554","https://openalex.org/W4200049493","https://openalex.org/W4210927443","https://openalex.org/W4288604320"],"related_works":["https://openalex.org/W1979808816","https://openalex.org/W2378045033","https://openalex.org/W2465699412","https://openalex.org/W2381864073","https://openalex.org/W2092867183","https://openalex.org/W4286285965","https://openalex.org/W1565353949","https://openalex.org/W2344770014","https://openalex.org/W2884456617","https://openalex.org/W1975081106"],"abstract_inverted_index":{"Concentric":[0],"tube":[1,96,127],"robots":[2],"(CTRs)":[3],"are":[4,22,49,120,150],"considered":[5],"promising":[6],"in":[7,101],"medical":[8],"applications":[9],"involving":[10],"intracorporeal":[11],"confined":[12],"spaces,":[13],"high":[14],"dexterity,":[15],"and":[16,32,45,62,111,131,147,165],"3D":[17,124,133],"path":[18],"following.":[19],"Most":[20],"CTRs":[21],"currently":[23],"made":[24,59],"of":[25,54,60,75,91],"Nitinol":[26],"due":[27],"to":[28,38],"its":[29],"superelastic":[30],"properties":[31],"biocompatibility.":[33],"Herein,":[34],"glass\u2013polymer":[35,65],"composite":[36],"tubes":[37],"ease":[39],"the":[40,88],"shape":[41],"setting,":[42],"decrease":[43],"friction,":[44],"benefit":[46],"linear":[47],"elasticity":[48],"proposed.":[50,169],"A":[51],"new":[52],"generation":[53],"CTR:":[55],"Caturo,":[56],"which":[57],"is":[58,67,85,108,168,171],"flexible":[61],"miniaturized":[63],"submillimeter":[64],"tubes,":[66],"presented.":[68],"Caturo":[69],"has":[70],"also":[71,172],"an":[72],"unprecedented":[73],"radius":[74],"curvature":[76],"that":[77],"reaches":[78],"as":[79,81,123],"low":[80,113],"5":[82],"mm.":[83],"It":[84],"fabricated":[86],"through":[87,135],"thermal":[89],"treatment":[90],"a":[92,98,102,173,178],"thin":[93],"heat\u2010shrink":[94],"polymer":[95],"on":[97],"glass":[99],"capillary":[100],"3D\u2010printed":[103],"mold.":[104],"The":[105,138],"fabrication":[106],"process":[107],"quick,":[109],"versatile,":[110],"relatively":[112],"cost.":[114],"Various":[115],"free":[116],"space":[117],"deployment":[118,134,157],"operations":[119],"demonstrated,":[121],"such":[122],"helical":[125],"precurved":[126,154],"deployment,":[128,130],"conical\u2013spiral":[129],"constrained":[132],"needle":[136],"orifices.":[137],"forward":[139],"kinematic":[140,144],"model":[141,145],"(FKM),":[142],"inverse":[143],"(IKM),":[146],"stability":[148],"analysis":[149],"experimentally":[151],"validated.":[152],"Finally,":[153],"optic":[155],"fiber":[156],"with":[158],"laser":[159],"emission":[160],"capability,":[161],"fluid":[162],"sample":[163],"suction,":[164],"delivery":[166],"operation":[167],"There":[170],"proposed":[174],"vitreoretinal":[175],"surgery":[176],"using":[177],"fish\u2010eye":[179],"under":[180],"optical":[181],"coherence":[182],"tomography":[183],"(OCT)":[184],"visualization.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}