{"id":"https://openalex.org/W4289656798","doi":"https://doi.org/10.1007/978-3-031-13835-5_37","title":"Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery","display_name":"Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4289656798","doi":"https://doi.org/10.1007/978-3-031-13835-5_37"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-13835-5_37","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-13835-5_37","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"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/A5008800811","display_name":"Gang Zhang","orcid":"https://orcid.org/0000-0001-9843-1818"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gang Zhang","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, 250061, Shandong, China","School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-9843-1818","affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, 250061, Shandong, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039459176","display_name":"Hangxing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangxing Wei","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-4530-9995","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025104684","display_name":"Peng Qi","orcid":"https://orcid.org/0000-0003-0514-9464"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Qi","raw_affiliation_strings":["Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0514-9464","affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082699808","display_name":"Honghui Wang","orcid":"https://orcid.org/0000-0002-5845-6209"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honghui Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5845-6209","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115604668","display_name":"Hao Cheng","orcid":"https://orcid.org/0000-0002-6602-0296"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Cheng","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-6602-0296","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087366165","display_name":"Fuxin Du","orcid":"https://orcid.org/0000-0001-9781-9677"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuxin Du","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, 250061, Shandong, China","School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-9781-9677","affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, 250061, Shandong, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5008800811"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":1.2944,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79313882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"409","last_page":"419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/concentric","display_name":"Concentric","score":0.9229530096054077},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6551352143287659},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6544492840766907},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.6308570504188538},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5735883712768555},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5560697913169861},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5124714970588684},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.510522723197937},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.43352261185646057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3831024765968323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3764176070690155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36910855770111084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32911813259124756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.259802907705307},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24440565705299377},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2370389699935913},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23663094639778137},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22521156072616577},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15168964862823486},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1409531533718109},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09413290023803711}],"concepts":[{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.9229530096054077},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6551352143287659},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6544492840766907},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.6308570504188538},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5735883712768555},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5560697913169861},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5124714970588684},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.510522723197937},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.43352261185646057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3831024765968323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3764176070690155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36910855770111084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32911813259124756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.259802907705307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24440565705299377},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2370389699935913},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23663094639778137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22521156072616577},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15168964862823486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1409531533718109},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09413290023803711},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-031-13835-5_37","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-13835-5_37","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1528755127","https://openalex.org/W1984950488","https://openalex.org/W1994168595","https://openalex.org/W2063706473","https://openalex.org/W2101667962","https://openalex.org/W2110062942","https://openalex.org/W2138233825","https://openalex.org/W2147875966","https://openalex.org/W2462654948","https://openalex.org/W2944483310","https://openalex.org/W2969606876","https://openalex.org/W2996926041","https://openalex.org/W3002329912","https://openalex.org/W3048308257","https://openalex.org/W3121833421","https://openalex.org/W3155981689","https://openalex.org/W3157533866","https://openalex.org/W4205519524","https://openalex.org/W4210927443","https://openalex.org/W4221027409","https://openalex.org/W4224725446","https://openalex.org/W4226075646","https://openalex.org/W4229897703","https://openalex.org/W4281721597"],"related_works":["https://openalex.org/W2736959968","https://openalex.org/W845804895","https://openalex.org/W2922441285","https://openalex.org/W2124274328","https://openalex.org/W2563925968","https://openalex.org/W2059706327","https://openalex.org/W4231681387","https://openalex.org/W3163162109","https://openalex.org/W2368078820","https://openalex.org/W2111449477"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}