{"id":"https://openalex.org/W3178310667","doi":"https://doi.org/10.1007/s11548-021-02442-w","title":"Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery","display_name":"Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3178310667","doi":"https://doi.org/10.1007/s11548-021-02442-w","mag":"3178310667","pmid":"https://pubmed.ncbi.nlm.nih.gov/34235629"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-021-02442-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-021-02442-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-021-02442-w.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11548-021-02442-w.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008622920","display_name":"Dingzhi Zhang","orcid":"https://orcid.org/0000-0002-2556-5935"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dingzhi Zhang","raw_affiliation_strings":["Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073614594","display_name":"Yilun Sun","orcid":"https://orcid.org/0000-0002-6688-6356"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yilun Sun","raw_affiliation_strings":["Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany. yilun.sun@tum.de","Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany. yilun.sun@tum.de","institution_ids":[]},{"raw_affiliation_string":"Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005245664","display_name":"Tim C. Lueth","orcid":"https://orcid.org/0000-0001-8949-5764"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim C. Lueth","raw_affiliation_strings":["Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Boltzmannstra\u00dfe 15, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008622920"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":3390,"currency":"EUR","value_usd":4390},"apc_paid":{"value":3390,"currency":"EUR","value_usd":4390},"fwci":1.6921,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.82833539,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"16","issue":"9","first_page":"1615","last_page":"1625"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9916999936103821,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9882000088691711,"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/compliant-mechanism","display_name":"Compliant mechanism","score":0.7020472884178162},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6709317564964294},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.60654217004776},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5897659659385681},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5621945858001709},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.557631254196167},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5464469790458679},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4935497045516968},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.49058619141578674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4710405170917511},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.46318650245666504},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.45898565649986267},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39432692527770996},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.38747870922088623},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3320341110229492},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.21393024921417236},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1836932897567749},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16846850514411926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1505606770515442},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12061348557472229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10532400012016296},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.10493364930152893}],"concepts":[{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.7020472884178162},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6709317564964294},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.60654217004776},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5897659659385681},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5621945858001709},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.557631254196167},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5464469790458679},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4935497045516968},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.49058619141578674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4710405170917511},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.46318650245666504},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.45898565649986267},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39432692527770996},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.38747870922088623},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3320341110229492},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.21393024921417236},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1836932897567749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16846850514411926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1505606770515442},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12061348557472229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10532400012016296},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.10493364930152893},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","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},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.1007/s11548-021-02442-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-021-02442-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-021-02442-w.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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:34235629","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34235629","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},{"id":"pmh:oai:frl.publisso.de:frl:6444517","is_oa":true,"landing_page_url":"https://repository.publisso.de/resource/frl:6444517","pdf_url":null,"source":{"id":"https://openalex.org/S4377196269","display_name":"PUBLISSO (German National Library of Medicine)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210112663","host_organization_name":"ZB MED - Information Centre for Life Sciences","host_organization_lineage":["https://openalex.org/I4210112663"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://lobid.org/resources/99370675073906441#!, 16(9):1615-1625","raw_type":"Zeitschriftenartikel"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1704890","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1704890","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:8354933","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8354933","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Comput Assist Radiol Surg","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s11548-021-02442-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-021-02442-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-021-02442-w.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3178310667.pdf","grobid_xml":"https://content.openalex.org/works/W3178310667.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W971953305","https://openalex.org/W1602150054","https://openalex.org/W1934410567","https://openalex.org/W1988208719","https://openalex.org/W2046927039","https://openalex.org/W2137351594","https://openalex.org/W2144709180","https://openalex.org/W2147492425","https://openalex.org/W2184993170","https://openalex.org/W2284390012","https://openalex.org/W2292414083","https://openalex.org/W2484090098","https://openalex.org/W2737312317","https://openalex.org/W2749782040","https://openalex.org/W2897571229","https://openalex.org/W2913335728","https://openalex.org/W2936586047","https://openalex.org/W2938187078","https://openalex.org/W3002838030","https://openalex.org/W3003784383","https://openalex.org/W3021937872","https://openalex.org/W3044836249","https://openalex.org/W3049089272","https://openalex.org/W3120257058","https://openalex.org/W3204385446","https://openalex.org/W4244193885"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"A":[0,13],"dexterous":[1],"tendon-driven":[2],"monolithic":[3],"manipulator":[4,20],"structure":[5],"based":[6,34],"on":[7,35],"CRCJ":[8,26],"for":[9,27,46],"MIS":[10],"is":[11],"proposed.":[12],"preliminary":[14],"prototype":[15],"of":[16,24],"a":[17],"handheld":[18],"laparoscopic":[19],"demonstrates":[21],"the":[22,25],"capability":[23],"steerable":[28],"medical":[29],"devices.":[30],"However,":[31],"design":[32],"improvements":[33],"FEA":[36],"and":[37],"application-orientated":[38],"prototypes":[39],"considering":[40],"anatomical":[41],"requirements":[42],"still":[43],"show":[44],"room":[45],"improvements.":[47]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
