{"id":"https://openalex.org/W2129048324","doi":"https://doi.org/10.1017/s0263574700019986","title":"Multi-link active catheter snake-like motion","display_name":"Multi-link active catheter snake-like motion","publication_year":1996,"publication_date":"1996-09-01","ids":{"openalex":"https://openalex.org/W2129048324","doi":"https://doi.org/10.1017/s0263574700019986","mag":"2129048324"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700019986","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700019986","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5018500712","display_name":"Geunbae Lim","orcid":"https://orcid.org/0000-0002-7062-3575"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Geunbae Lim","raw_affiliation_strings":["Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","Tohoku Univ.#TAB#"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku Univ.#TAB#","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089677895","display_name":"Kazuyuki MINAMI","orcid":"https://orcid.org/0000-0002-8121-5331"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuyuki Minami","raw_affiliation_strings":["Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","Tohoku Univ.#TAB#"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku Univ.#TAB#","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035369256","display_name":"Keisuke Yamamoto","orcid":"https://orcid.org/0000-0001-8730-598X"},"institutions":[{"id":"https://openalex.org/I1306287861","display_name":"Mitsubishi Group (Japan)","ror":"https://ror.org/0234cd281","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Yamamoto","raw_affiliation_strings":["Mitsubishi Cable Industries, LTD., Itami, 664 (Japan","\u2020 Mitsubishi Cable Industries, LTD., Itami, 664 (Japan)"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Cable Industries, LTD., Itami, 664 (Japan","institution_ids":["https://openalex.org/I1306287861"]},{"raw_affiliation_string":"\u2020 Mitsubishi Cable Industries, LTD., Itami, 664 (Japan)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109337165","display_name":"Masahisa Sugihara","orcid":null},"institutions":[{"id":"https://openalex.org/I1306287861","display_name":"Mitsubishi Group (Japan)","ror":"https://ror.org/0234cd281","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahisa Sugihara","raw_affiliation_strings":["Mitsubishi Cable Industries, LTD., Itami, 664 (Japan","\u2020 Mitsubishi Cable Industries, LTD., Itami, 664 (Japan)"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Cable Industries, LTD., Itami, 664 (Japan","institution_ids":["https://openalex.org/I1306287861"]},{"raw_affiliation_string":"\u2020 Mitsubishi Cable Industries, LTD., Itami, 664 (Japan)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","Tohoku Univ.#TAB#"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku Univ.#TAB#","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348625","display_name":"Masayoshi Esashi","orcid":"https://orcid.org/0000-0001-8779-4306"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayoshi Esashi","raw_affiliation_strings":["Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","Tohoku Univ.#TAB#"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tohoku University, Sendai, 980\u201377 (Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku Univ.#TAB#","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5018500712"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.9038,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.75730452,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"14","issue":"5","first_page":"499","last_page":"506"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9804999828338623,"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":0.9804999828338623,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9704999923706055,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9089000225067139,"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/actuator","display_name":"Actuator","score":0.6986594200134277},{"id":"https://openalex.org/keywords/catheter","display_name":"Catheter","score":0.6955581903457642},{"id":"https://openalex.org/keywords/surface-micromachining","display_name":"Surface micromachining","score":0.5581080317497253},{"id":"https://openalex.org/keywords/silicon","display_name":"Silicon","score":0.5466095805168152},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5298668742179871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5239108800888062},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.5100715756416321},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.4924558103084564},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.36629706621170044},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3390430808067322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27058297395706177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22775453329086304},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.1571441888809204},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.13646546006202698},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09179222583770752},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07033470273017883}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6986594200134277},{"id":"https://openalex.org/C2781267111","wikidata":"https://www.wikidata.org/wiki/Q652297","display_name":"Catheter","level":2,"score":0.6955581903457642},{"id":"https://openalex.org/C145667562","wikidata":"https://www.wikidata.org/wiki/Q7646003","display_name":"Surface micromachining","level":4,"score":0.5581080317497253},{"id":"https://openalex.org/C544956773","wikidata":"https://www.wikidata.org/wiki/Q670","display_name":"Silicon","level":2,"score":0.5466095805168152},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5298668742179871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239108800888062},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.5100715756416321},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.4924558103084564},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36629706621170044},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3390430808067322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27058297395706177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22775453329086304},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.1571441888809204},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.13646546006202698},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09179222583770752},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07033470273017883},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574700019986","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700019986","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/25513","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/25513","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2002415337","https://openalex.org/W2048454496","https://openalex.org/W2088095884","https://openalex.org/W2091895272","https://openalex.org/W2534337640"],"related_works":["https://openalex.org/W2082914599","https://openalex.org/W2756570351","https://openalex.org/W2367499065","https://openalex.org/W2102015927","https://openalex.org/W4211139140","https://openalex.org/W2007805353","https://openalex.org/W2061864336","https://openalex.org/W2132500134","https://openalex.org/W2387433897","https://openalex.org/W2367582941"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,74],"prototype":[2],"of":[3,41,67],"a":[4,10],"catheter":[5,23,44],"which":[6,82],"can":[7],"move":[8],"like":[9],"snake,":[11],"incorporating":[12],"distributed":[13],"shape":[14],"memory":[15],"alloy":[16],"actuators,":[17],"is":[18,45,80,83,89],"described.":[19],"Since":[20],"this":[21],"active":[22,43],"has":[24,50],"an":[25],"instrumental":[26],"navigation":[27],"ability,":[28],"minimally":[29],"invasive":[30],"diagnosis":[31],"and":[32,48],"interventional":[33],"therapy":[34],"will":[35],"be":[36],"possible.":[37],"The":[38,58],"outer":[39],"diameter":[40],"the":[42,65,68,86,92],"2.8":[46],"mm":[47],"it":[49],"many":[51],"links":[52],"fabricated":[53],"by":[54],"3-dimensional":[55],"silicon":[56,59],"micromachining.":[57],"batch":[60],"process":[61],"was":[62],"used":[63],"for":[64],"fabrication":[66],"link":[69],"to":[70],"minimize":[71],"assembly":[72],"work.":[73],"new":[75],"heating":[76],"method":[77],"(indirect":[78],"heating)":[79],"suggested":[81],"necessary":[84],"when":[85],"JC":[87],"chip":[88],"mounted":[90],"on":[91],"link.":[93]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}