{"id":"https://openalex.org/W4362458071","doi":"https://doi.org/10.1007/s11548-023-02875-5","title":"A variable stiffness manipulator with multifunctional channels for endoscopic submucosal dissection","display_name":"A variable stiffness manipulator with multifunctional channels for endoscopic submucosal dissection","publication_year":2023,"publication_date":"2023-04-01","ids":{"openalex":"https://openalex.org/W4362458071","doi":"https://doi.org/10.1007/s11548-023-02875-5","pmid":"https://pubmed.ncbi.nlm.nih.gov/37002467"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-023-02875-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11548-023-02875-5","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/A5085279803","display_name":"Liang Tao","orcid":"https://orcid.org/0000-0002-6001-8259"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China","School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086284919","display_name":"Kang Kong","orcid":"https://orcid.org/0000-0001-5646-8807"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I4210160994","display_name":"Ministry of Education","ror":"https://ror.org/05w8pph52","country_code":"KN","type":"government","lineage":["https://openalex.org/I4210160994"]}],"countries":["CN","KN"],"is_corresponding":true,"raw_author_name":"Kang Kong","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China. kongkang103@tju.edu.cn","School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China. kongkang103@tju.edu.cn","Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China"],"raw_orcid":"https://orcid.org/0000-0001-5646-8807","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China. kongkang103@tju.edu.cn","institution_ids":["https://openalex.org/I4210160994"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China. kongkang103@tju.edu.cn","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644556","display_name":"Shuxin Wang","orcid":"https://orcid.org/0000-0003-1609-5326"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuxin Wang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China","School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086284919"],"corresponding_institution_ids":["https://openalex.org/I162868743","https://openalex.org/I4210160994"],"apc_list":{"value":3390,"currency":"EUR","value_usd":4390},"apc_paid":null,"fwci":0.5113,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58963121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"18","issue":"10","first_page":"1795","last_page":"1810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8300999999046326,"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":0.8300999999046326,"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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.012000000104308128,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.009200000204145908,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.9048634767532349},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7841768860816956},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6709570288658142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5801873803138733},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5573354959487915},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5568140745162964},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5130616426467896},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.41363003849983215},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3810810148715973},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33511069416999817},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3322725296020508},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3191184997558594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23075518012046814},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15021434426307678},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.111758291721344},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10678562521934509},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06627762317657471}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9048634767532349},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7841768860816956},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6709570288658142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5801873803138733},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5573354959487915},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5568140745162964},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5130616426467896},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.41363003849983215},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3810810148715973},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33511069416999817},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3322725296020508},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3191184997558594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23075518012046814},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15021434426307678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.111758291721344},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10678562521934509},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06627762317657471},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","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":"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":"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":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1007/s11548-023-02875-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11548-023-02875-5","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:37002467","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37002467","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":[],"awards":[{"id":"https://openalex.org/G5306592367","display_name":null,"funder_award_id":"No. 2019YFB1311502","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2083296191","https://openalex.org/W2084165297","https://openalex.org/W2102491248","https://openalex.org/W2146031911","https://openalex.org/W2184993170","https://openalex.org/W2284390012","https://openalex.org/W2284910182","https://openalex.org/W2734643885","https://openalex.org/W2807820203","https://openalex.org/W2809024533","https://openalex.org/W2901164831","https://openalex.org/W2925266131","https://openalex.org/W2936480793","https://openalex.org/W2978410619","https://openalex.org/W3013929861","https://openalex.org/W3024300224","https://openalex.org/W3045883135","https://openalex.org/W3088733902","https://openalex.org/W3157145339","https://openalex.org/W3166846846","https://openalex.org/W3169965853","https://openalex.org/W3179982033","https://openalex.org/W3214986386"],"related_works":["https://openalex.org/W2352679030","https://openalex.org/W2043707300","https://openalex.org/W2029701323","https://openalex.org/W106178679","https://openalex.org/W2048761404","https://openalex.org/W2350915801","https://openalex.org/W4285172044","https://openalex.org/W2321448062","https://openalex.org/W2116823784","https://openalex.org/W2145154791"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}
