{"id":"https://openalex.org/W3120257058","doi":"https://doi.org/10.1007/s11548-020-02290-0","title":"A cable-driven distal end-effector mechanism for single-port robotic surgery","display_name":"A cable-driven distal end-effector mechanism for single-port robotic surgery","publication_year":2021,"publication_date":"2021-01-03","ids":{"openalex":"https://openalex.org/W3120257058","doi":"https://doi.org/10.1007/s11548-020-02290-0","mag":"3120257058","pmid":"https://pubmed.ncbi.nlm.nih.gov/33389605"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-020-02290-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11548-020-02290-0","pdf_url":null,"source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","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/A5013881991","display_name":"Yizhao Wang","orcid":"https://orcid.org/0000-0002-8990-6663"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yizhao Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":"https://orcid.org/0000-0002-8990-6663","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["Institute of Medical Robotics, Shanghai Jiao Tong University, shanghai, 200240, China","School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, Shanghai Jiao Tong University, shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042961334","display_name":"Xiaoxiao Zhu","orcid":"https://orcid.org/0000-0002-7086-4256"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoxiao Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China. ttl@sjtu.edu.cn","School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China. ttl@sjtu.edu.cn","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100399551","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0002-2896-5379"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5013881991","https://openalex.org/A5042961334"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":{"value":4390,"currency":"USD","value_usd":4390},"apc_paid":null,"fwci":0.653,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.60813413,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"16","issue":"2","first_page":"301","last_page":"309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9452000260353088,"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":0.9452000260353088,"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/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.03060000017285347,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.005200000014156103,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.9333118200302124},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7825213074684143},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6933906078338623},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6806495785713196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5582432746887207},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.5251845121383667},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4303944706916809},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42089781165122986},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34621530771255493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3193358778953552},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26319175958633423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24242958426475525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1302236020565033}],"concepts":[{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.9333118200302124},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7825213074684143},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6933906078338623},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6806495785713196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5582432746887207},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.5251845121383667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4303944706916809},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42089781165122986},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34621530771255493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3193358778953552},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26319175958633423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24242958426475525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1302236020565033},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1007/s11548-020-02290-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11548-020-02290-0","pdf_url":null,"source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},{"id":"pmid:33389605","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33389605","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,"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":"International journal of computer assisted radiology and surgery","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5099999904632568,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2952671384","display_name":null,"funder_award_id":"61703273","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3213872790","display_name":null,"funder_award_id":"61673261","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G356449218","display_name":null,"funder_award_id":"2017YFC0110502","funder_id":"https://openalex.org/F4320335774","funder_display_name":"Key Technologies Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335774","display_name":"Key Technologies Research and Development Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1965058495","https://openalex.org/W1965778788","https://openalex.org/W1968112263","https://openalex.org/W1976270646","https://openalex.org/W1985568314","https://openalex.org/W1994579391","https://openalex.org/W2005776884","https://openalex.org/W2018071836","https://openalex.org/W2053597987","https://openalex.org/W2060007855","https://openalex.org/W2097243469","https://openalex.org/W2119531408","https://openalex.org/W2122748217","https://openalex.org/W2146461823","https://openalex.org/W2161859313","https://openalex.org/W2262497353","https://openalex.org/W2324321640","https://openalex.org/W2414468830","https://openalex.org/W2563346885","https://openalex.org/W2604477281","https://openalex.org/W2612452648","https://openalex.org/W2735568498","https://openalex.org/W2738800032","https://openalex.org/W2950570021","https://openalex.org/W2995976628"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W1557442844","https://openalex.org/W2326117494","https://openalex.org/W2102645302","https://openalex.org/W2083751951","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}