{"id":"https://openalex.org/W2128242870","doi":"https://doi.org/10.1017/s0263574709990610","title":"A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results","display_name":"A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results","publication_year":2009,"publication_date":"2009-12-10","ids":{"openalex":"https://openalex.org/W2128242870","doi":"https://doi.org/10.1017/s0263574709990610","mag":"2128242870"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709990610","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709990610","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/A5101508776","display_name":"Kanako Harada","orcid":"https://orcid.org/0000-0002-0221-7890"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210164099","display_name":"Piaggio Aerospace (Italy)","ror":"https://ror.org/05qfbhd78","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210164099"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Kanako Harada","raw_affiliation_strings":["CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)"],"affiliations":[{"raw_affiliation_string":"CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I4210164099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004224258","display_name":"Denny Oetomo","orcid":"https://orcid.org/0000-0002-2680-6489"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU","FR"],"is_corresponding":false,"raw_author_name":"Denny Oetomo","raw_affiliation_strings":["Department of Mechanical Engineering, University of Melbourne, Victoria 3010, Australia","Project COPRIN, INRIA Sophia-Antipolis FR-06902, France","Department of Mechanical Engineering [Melbourne] (The University of Melbourne Victoria 3010 Australia - Australia)","COPRIN - Constraints solving, optimization and robust interval analysis (France)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Melbourne, Victoria 3010, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"Project COPRIN, INRIA Sophia-Antipolis FR-06902, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"Department of Mechanical Engineering [Melbourne] (The University of Melbourne Victoria 3010 Australia - Australia)","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"COPRIN - Constraints solving, optimization and robust interval analysis (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058902345","display_name":"E. Susilo","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I4210164099","display_name":"Piaggio Aerospace (Italy)","ror":"https://ror.org/05qfbhd78","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210164099"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ekawahyu Susilo","raw_affiliation_strings":["CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","The Italian Institute of Technology (IIT), Genova 16163, Italy","IIT - Italian Institute of Technology = Istituto Italiano di Tecnologia (Istituto Italiano di Tecnologia (IIT). Via Morego 30 16163 Genova, Italy - Italy)","CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)"],"affiliations":[{"raw_affiliation_string":"CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The Italian Institute of Technology (IIT), Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Italian Institute of Technology = Istituto Italiano di Tecnologia (Istituto Italiano di Tecnologia (IIT). Via Morego 30 16163 Genova, Italy - Italy)","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I4210164099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I4210164099","display_name":"Piaggio Aerospace (Italy)","ror":"https://ror.org/05qfbhd78","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210164099"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arianna Menciassi","raw_affiliation_strings":["CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","The Italian Institute of Technology (IIT), Genova 16163, Italy","IIT - Italian Institute of Technology = Istituto Italiano di Tecnologia (Istituto Italiano di Tecnologia (IIT). Via Morego 30 16163 Genova, Italy - Italy)","CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)"],"affiliations":[{"raw_affiliation_string":"CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The Italian Institute of Technology (IIT), Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Italian Institute of Technology = Istituto Italiano di Tecnologia (Istituto Italiano di Tecnologia (IIT). Via Morego 30 16163 Genova, Italy - Italy)","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I4210164099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018701715","display_name":"David Daney","orcid":"https://orcid.org/0000-0001-8538-5875"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Daney","raw_affiliation_strings":["Project COPRIN, INRIA Sophia-Antipolis FR-06902, France","COPRIN - Constraints solving, optimization and robust interval analysis (France)"],"affiliations":[{"raw_affiliation_string":"Project COPRIN, INRIA Sophia-Antipolis FR-06902, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"COPRIN - Constraints solving, optimization and robust interval analysis (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006390574","display_name":"Jean\u2010Pierre Merlet","orcid":"https://orcid.org/0000-0002-0401-5424"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Pierre Merlet","raw_affiliation_strings":["Project COPRIN, INRIA Sophia-Antipolis FR-06902, France","COPRIN - Constraints solving, optimization and robust interval analysis (France)"],"affiliations":[{"raw_affiliation_string":"Project COPRIN, INRIA Sophia-Antipolis FR-06902, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"COPRIN - Constraints solving, optimization and robust interval analysis (France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I4210164099","display_name":"Piaggio Aerospace (Italy)","ror":"https://ror.org/05qfbhd78","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210164099"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)"],"affiliations":[{"raw_affiliation_string":"CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"CRIM Lab (Viale Rinaldo Piaggio, 34 56025 Pontedera (Pisa) / Italy - Italy)","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I4210164099"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101508776"],"corresponding_institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304","https://openalex.org/I4210164099"],"apc_list":null,"apc_paid":null,"fwci":10.7564,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.98544154,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"28","issue":"2","first_page":"171","last_page":"183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9951000213623047,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7644103765487671},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5054428577423096},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45548078417778015},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43570008873939514},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3960234522819519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3860163986682892},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36182907223701477},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34466010332107544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3400818705558777},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.20671850442886353}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7644103765487671},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5054428577423096},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45548078417778015},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43570008873939514},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3960234522819519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3860163986682892},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36182907223701477},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34466010332107544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3400818705558777},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.20671850442886353},{"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/s0263574709990610","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709990610","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:HAL:hal-00907577v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-00907577","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2010, 28, pp.171--183. &#x27E8;10.1017/S0263574709990610&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1213207800","https://openalex.org/W1483874187","https://openalex.org/W1548650523","https://openalex.org/W1588693185","https://openalex.org/W1595068075","https://openalex.org/W1975372135","https://openalex.org/W1979135718","https://openalex.org/W1984848474","https://openalex.org/W1990074607","https://openalex.org/W1993625580","https://openalex.org/W1998152844","https://openalex.org/W2005944081","https://openalex.org/W2019665943","https://openalex.org/W2037988980","https://openalex.org/W2039822296","https://openalex.org/W2067648572","https://openalex.org/W2100828327","https://openalex.org/W2101044015","https://openalex.org/W2103312220","https://openalex.org/W2118554577","https://openalex.org/W2124489373","https://openalex.org/W2130624027","https://openalex.org/W2140684624","https://openalex.org/W2147904646","https://openalex.org/W2149841830","https://openalex.org/W2157609059","https://openalex.org/W2157615999","https://openalex.org/W2169195613","https://openalex.org/W2172093214","https://openalex.org/W2913288853","https://openalex.org/W3141444908","https://openalex.org/W3146520007","https://openalex.org/W4234811226","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2088988140","https://openalex.org/W2803103875","https://openalex.org/W2103019253","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W2297768894","https://openalex.org/W2097995569"],"abstract_inverted_index":{"SUMMARY":[0],"Miniaturized":[1],"surgical":[2],"devices":[3,24],"are":[4,25,53,69],"promising":[5],"for":[6,93,121],"the":[7,17,43,47,64,73,90,94,98,103,107,114,118,122],"future":[8],"development":[9],"of":[10,22,117],"minimally":[11],"invasive":[12],"and":[13,19,40,55,106],"endoluminal":[14,95],"surgery.":[15],"However,":[16],"dexterity":[18],"therapeutic":[20],"functions":[21],"these":[23],"limited.":[26],"In":[27,46],"this":[28,82],"paper,":[29],"a":[30,84],"reconfigurable":[31,96,119],"modular":[32],"robotic":[33,51,91],"system":[34],"is":[35,87],"proposed":[36,48],"to":[37,57,72,76,112],"perform":[38,77],"screening":[39],"interventions":[41],"in":[42,63],"gastrointestinal":[44],"tract.":[45],"system,":[49],"millimeter-sized":[50],"modules":[52,68],"ingested":[54],"tasked":[56],"assemble":[58],"into":[59],"an":[60],"articulated":[61],"mechanism":[62],"stomach":[65],"cavity.":[66],"The":[67],"assembled":[70],"according":[71],"target":[74],"location":[75],"precise":[78],"intervention.":[79],"Based":[80],"on":[81],"concept,":[83],"preliminary":[85],"report":[86],"presented":[88],"covering":[89],"schemes":[92],"platform,":[97],"design":[99],"with":[100],"structural":[101],"functions,":[102],"control":[104],"strategy,":[105],"interval-based":[108],"constraint":[109],"satisfaction":[110],"algorithm":[111],"determine":[113],"suitable":[115],"topologies":[116],"robot":[120],"given":[123],"task.":[124]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":11}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
