{"id":"https://openalex.org/W3035872270","doi":"https://doi.org/10.1017/s026357472000051x","title":"Design and Kinematics of a Comanipulated Robot Dedicated to Prostate Brachytherapy","display_name":"Design and Kinematics of a Comanipulated Robot Dedicated to Prostate Brachytherapy","publication_year":2020,"publication_date":"2020-06-22","ids":{"openalex":"https://openalex.org/W3035872270","doi":"https://doi.org/10.1017/s026357472000051x","mag":"3035872270"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472000051x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472000051x","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/A5016861242","display_name":"Mozert Djohossou","orcid":null},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I4210161065","display_name":"Laboratoire de Traitement de l'Information M\u00e9dicale","ror":"https://ror.org/05mqemx33","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210105774","https://openalex.org/I4210161065"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mozert Djohossou","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France"],"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France","institution_ids":["https://openalex.org/I4210161065","https://openalex.org/I154526488"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055758664","display_name":"Aziza Ben Halima","orcid":"https://orcid.org/0000-0002-6781-8662"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I4210161065","display_name":"Laboratoire de Traitement de l'Information M\u00e9dicale","ror":"https://ror.org/05mqemx33","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210105774","https://openalex.org/I4210161065"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Aziza Ben Halima","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France"],"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France","institution_ids":["https://openalex.org/I4210161065","https://openalex.org/I154526488"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042231623","display_name":"Antoine Val\u00e9rie","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132604","display_name":"Centre Hospitalier R\u00e9gional Universitaire de Brest","ror":"https://ror.org/03evbwn87","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210105774","https://openalex.org/I4210132604","https://openalex.org/I4210161065"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Val\u00e9rie","raw_affiliation_strings":["Urology Department, Brest Regional University Hospital, Brest, France"],"affiliations":[{"raw_affiliation_string":"Urology Department, Brest Regional University Hospital, Brest, France","institution_ids":["https://openalex.org/I4210132604"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105822185","display_name":"Julien Bert","orcid":"https://orcid.org/0000-0002-2756-942X"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I4210161065","display_name":"Laboratoire de Traitement de l'Information M\u00e9dicale","ror":"https://ror.org/05mqemx33","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210105774","https://openalex.org/I4210161065"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Julien Bert","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France"],"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France","institution_ids":["https://openalex.org/I4210161065","https://openalex.org/I154526488"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017138072","display_name":"Dimitris Visvikis","orcid":"https://orcid.org/0000-0003-0831-3637"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I4210161065","display_name":"Laboratoire de Traitement de l'Information M\u00e9dicale","ror":"https://ror.org/05mqemx33","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210105774","https://openalex.org/I4210161065"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dimitris Visvikis","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France"],"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France","institution_ids":["https://openalex.org/I4210161065","https://openalex.org/I154526488"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5105822185"],"corresponding_institution_ids":["https://openalex.org/I154526488","https://openalex.org/I4210161065"],"apc_list":null,"apc_paid":null,"fwci":0.1736,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45854455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"39","issue":"3","first_page":"468","last_page":"482"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.994700014591217,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.7490915060043335},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.7279229164123535},{"id":"https://openalex.org/keywords/prostate-brachytherapy","display_name":"Prostate brachytherapy","score":0.699097752571106},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6975187659263611},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6607934236526489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5953843593597412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5334439873695374},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.4232589602470398},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39526182413101196},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35062652826309204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2363290786743164},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14508378505706787},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11095026135444641},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1098681092262268},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08183890581130981},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.07208061218261719}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7490915060043335},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.7279229164123535},{"id":"https://openalex.org/C2778648096","wikidata":"https://www.wikidata.org/wiki/Q17009878","display_name":"Prostate brachytherapy","level":4,"score":0.699097752571106},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6975187659263611},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6607934236526489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5953843593597412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5334439873695374},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.4232589602470398},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39526182413101196},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35062652826309204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2363290786743164},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14508378505706787},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11095026135444641},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1098681092262268},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08183890581130981},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.07208061218261719},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s026357472000051x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472000051x","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-05339089v1","is_oa":false,"landing_page_url":"https://hal.univ-brest.fr/hal-05339089","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2020, 39 (3), pp.468-482. ⟨10.1017/s026357472000051x⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W174691102","https://openalex.org/W1524609463","https://openalex.org/W1716671087","https://openalex.org/W1877351573","https://openalex.org/W1987960087","https://openalex.org/W2007732954","https://openalex.org/W2014450203","https://openalex.org/W2026769304","https://openalex.org/W2028236386","https://openalex.org/W2047402450","https://openalex.org/W2051086046","https://openalex.org/W2053343613","https://openalex.org/W2058934770","https://openalex.org/W2073588211","https://openalex.org/W2098369774","https://openalex.org/W2126675188","https://openalex.org/W2129173466","https://openalex.org/W2132167838","https://openalex.org/W2146475250","https://openalex.org/W2152079888","https://openalex.org/W2154400790","https://openalex.org/W2155524843","https://openalex.org/W2167104378","https://openalex.org/W2168699456","https://openalex.org/W2324745312"],"related_works":["https://openalex.org/W1968581313","https://openalex.org/W2597882543","https://openalex.org/W2102373670","https://openalex.org/W2809967836","https://openalex.org/W2810663015","https://openalex.org/W2807466365","https://openalex.org/W2133110153","https://openalex.org/W2408551504","https://openalex.org/W4256435254","https://openalex.org/W94890742"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1,60],"brachytherapy,":[2],"the":[3,17,34,46,49,62,85,106],"manual":[4],"implantation":[5],"of":[6,19,48,90,108],"seeds":[7],"is":[8],"not":[9],"accurate":[10],"leading":[11],"to":[12,25,103],"side":[13],"effects":[14],"and":[15,57,74,80,84,92],"limiting":[16],"use":[18],"new":[20],"procedures.":[21],"Robotics":[22],"solutions":[23],"have":[24],"be":[26],"fully":[27],"suitable":[28],"for":[29,44,70],"medical":[30],"applications":[31],"especially":[32],"considering":[33],"operating":[35],"room.":[36],"This":[37],"paper":[38],"investigates":[39],"a":[40,55,67,71],"delta":[41],"robot":[42,69,78],"solution":[43],"improving":[45],"accuracy":[47],"prostate":[50],"brachytherapy":[51],"procedure":[52],"by":[53],"proposing":[54],"compact":[56],"lightweight":[58],"robot.":[59],"addition,":[61],"design":[63],"was":[64,95,99],"thought":[65],"as":[66],"comanipulated":[68],"better":[72],"acceptability":[73],"human\u2013machine":[75],"interaction.":[76],"The":[77],"kinematics":[79],"singularities":[81],"were":[82],"determined":[83],"theoretical":[86],"capability":[87,107],"in":[88,101],"term":[89],"resolution":[91],"force":[93],"feedback":[94],"evaluated.":[96],"A":[97],"prototype":[98],"built":[100],"order":[102],"experimentally":[104],"measure":[105],"this":[109],"first":[110],"prototype.":[111]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}