{"id":"https://openalex.org/W2150676551","doi":"https://doi.org/10.1017/s0263574711001299","title":"Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery","display_name":"Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery","publication_year":2012,"publication_date":"2012-01-10","ids":{"openalex":"https://openalex.org/W2150676551","doi":"https://doi.org/10.1017/s0263574711001299","mag":"2150676551"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574711001299","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711001299","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/A5074942370","display_name":"Doina P\u00eesl\u0103","orcid":"https://orcid.org/0000-0001-7014-9431"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Doina Pisla","raw_affiliation_strings":["Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043172047","display_name":"Bogdan Gherman","orcid":"https://orcid.org/0000-0002-4427-6231"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":true,"raw_author_name":"Bogdan Gherman","raw_affiliation_strings":["Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082014108","display_name":"C\u0103lin Vaida","orcid":"https://orcid.org/0000-0003-2822-9790"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Calin Vaida","raw_affiliation_strings":["Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058639468","display_name":"Nicolae Plitea","orcid":"https://orcid.org/0000-0002-2318-600X"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Nicolae Plitea","raw_affiliation_strings":["Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043172047"],"corresponding_institution_ids":["https://openalex.org/I158333966"],"apc_list":null,"apc_paid":null,"fwci":7.9566,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.97245539,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"7","first_page":"1095","last_page":"1107"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.900733232498169},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8614729642868042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6594586968421936},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5436195731163025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5390526652336121},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5015928745269775},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4535350799560547},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.45130455493927},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4252264201641083},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.41006284952163696},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39391404390335083},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34333205223083496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.311901330947876},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23253494501113892},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14970344305038452},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1031251847743988},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09577715396881104}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.900733232498169},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8614729642868042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6594586968421936},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5436195731163025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5390526652336121},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5015928745269775},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4535350799560547},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.45130455493927},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4252264201641083},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.41006284952163696},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39391404390335083},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34333205223083496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.311901330947876},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23253494501113892},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14970344305038452},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1031251847743988},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09577715396881104},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574711001299","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711001299","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1188283","https://openalex.org/W138758304","https://openalex.org/W365028950","https://openalex.org/W431218005","https://openalex.org/W1795176215","https://openalex.org/W1964021614","https://openalex.org/W1977855590","https://openalex.org/W1979643836","https://openalex.org/W1995802301","https://openalex.org/W2002937962","https://openalex.org/W2009499286","https://openalex.org/W2042849704","https://openalex.org/W2044792130","https://openalex.org/W2051317696","https://openalex.org/W2052421803","https://openalex.org/W2054475862","https://openalex.org/W2068192567","https://openalex.org/W2072031602","https://openalex.org/W2087104703","https://openalex.org/W2088109603","https://openalex.org/W2111866551","https://openalex.org/W2117577549","https://openalex.org/W2117997952","https://openalex.org/W2138355347","https://openalex.org/W2146475250","https://openalex.org/W2149961271","https://openalex.org/W2151548787","https://openalex.org/W2166012384","https://openalex.org/W2182561382","https://openalex.org/W2182662302","https://openalex.org/W2287742954","https://openalex.org/W2341668857","https://openalex.org/W2418722478","https://openalex.org/W2600351635","https://openalex.org/W4205937065","https://openalex.org/W4233704565","https://openalex.org/W4238280349","https://openalex.org/W4242290957","https://openalex.org/W4300522514","https://openalex.org/W6638081056","https://openalex.org/W6677419812","https://openalex.org/W6680753884","https://openalex.org/W6685807154","https://openalex.org/W6717327361","https://openalex.org/W6735287526"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W2537091977","https://openalex.org/W2158938020","https://openalex.org/W2004793478"],"abstract_inverted_index":{"SUMMARY":[0],"Robotic-assisted":[1],"surgery":[2,25],"is":[3,53,64,69],"a":[4,36],"continuously":[5],"developing":[6],"field":[7],"because":[8],"robots":[9,22],"have":[10],"demonstrated":[11],"clear":[12],"benefits":[13],"in":[14,24,43],"operating":[15],"rooms.":[16],"Until":[17],"now,":[18],"vast":[19],"majority":[20],"of":[21,35,38,50,59],"used":[23],"had":[26],"serial":[27],"structures.":[28],"This":[29],"paper":[30],"presents":[31],"the":[32,57,61,73],"kinematic":[33],"modelling":[34],"5-degree":[37],"freedom":[39],"hybrid":[40],"parallel":[41],"architecture":[42],"two":[44],"slightly":[45],"different":[46],"variants.":[47],"The":[48,66],"kinematics":[49],"this":[51],"structure":[52],"determined,":[54],"and":[55,71,76],"following":[56],"analysis":[58],"singularities,":[60],"best":[62],"variant":[63],"chosen.":[65],"robot":[67],"workspace":[68],"computed":[70],"finally":[72],"experimental":[74],"model":[75],"some":[77],"simulation":[78],"results":[79],"are":[80],"presented.":[81]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}