{"id":"https://openalex.org/W4389482658","doi":"https://doi.org/10.1080/01691864.2023.2291137","title":"Early-stage modeling and analysis of continuum compliant structure for multi-DOF endoluminal forceps using pseudo-rigid-body model","display_name":"Early-stage modeling and analysis of continuum compliant structure for multi-DOF endoluminal forceps using pseudo-rigid-body model","publication_year":2023,"publication_date":"2023-12-02","ids":{"openalex":"https://openalex.org/W4389482658","doi":"https://doi.org/10.1080/01691864.2023.2291137"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2023.2291137","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1080/01691864.2023.2291137","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5088202632","display_name":"Keisuke Osawa","orcid":"https://orcid.org/0000-0003-1946-0763"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Keisuke Osawa","raw_affiliation_strings":["Graduate School of Information, Production and Systems, Waseda University, Kitakyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information, Production and Systems, Waseda University, Kitakyushu, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018922666","display_name":"D. S. V. Bandara","orcid":"https://orcid.org/0000-0002-8763-8474"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"D. S. V. Bandara","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024759505","display_name":"Ryu Nakadate","orcid":"https://orcid.org/0000-0002-2314-6921"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryu Nakadate","raw_affiliation_strings":["Center for Advanced Medical Engineering Research & Development, Kobe University, Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Medical Engineering Research & Development, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112638971","display_name":"Eiichiro Tanaka","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eiichiro Tanaka","raw_affiliation_strings":["Graduate School of Information, Production and Systems, Waseda University, Kitakyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information, Production and Systems, Waseda University, Kitakyushu, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060847762","display_name":"Yoshihiro Nagao","orcid":"https://orcid.org/0000-0003-4070-7329"},"institutions":[{"id":"https://openalex.org/I4210097767","display_name":"Kyushu University Hospital","ror":"https://ror.org/00ex2fc97","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I135598925","https://openalex.org/I4210097767"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiro Nagao","raw_affiliation_strings":["Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan","institution_ids":["https://openalex.org/I4210097767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083643100","display_name":"Tomohiko Akahoshi","orcid":"https://orcid.org/0000-0002-1750-2299"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]},{"id":"https://openalex.org/I4210097767","display_name":"Kyushu University Hospital","ror":"https://ror.org/00ex2fc97","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I135598925","https://openalex.org/I4210097767"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiko Akahoshi","raw_affiliation_strings":["Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka, Japan","Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan","institution_ids":["https://openalex.org/I4210097767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000508958","display_name":"Masatoshi Eto","orcid":"https://orcid.org/0000-0002-3312-9930"},"institutions":[{"id":"https://openalex.org/I4210097767","display_name":"Kyushu University Hospital","ror":"https://ror.org/00ex2fc97","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I135598925","https://openalex.org/I4210097767"]},{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Eto","raw_affiliation_strings":["Center for Advanced Medical Open Innovation, Kyushu University, Fukuoka, Japan","Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Medical Open Innovation, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan","institution_ids":["https://openalex.org/I4210097767"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080068495","display_name":"Jumpei Arata","orcid":"https://orcid.org/0000-0002-3388-5488"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jumpei Arata","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5088202632"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16662488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"23","first_page":"1485","last_page":"1494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9812999963760376,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.977400004863739,"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/hinge","display_name":"Hinge","score":0.7713130116462708},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.7550301551818848},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.6885555386543274},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5820918083190918},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.476086288690567},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4743310809135437},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.47057268023490906},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.43298637866973877},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4301735460758209},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4296709895133972},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.42180439829826355},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4195457696914673},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4181826412677765},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.383347749710083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37774354219436646},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33072954416275024},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19258207082748413},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.13980534672737122},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12830573320388794},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12114217877388},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11090776324272156}],"concepts":[{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.7713130116462708},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.7550301551818848},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.6885555386543274},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5820918083190918},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.476086288690567},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4743310809135437},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.47057268023490906},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.43298637866973877},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4301735460758209},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4296709895133972},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.42180439829826355},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4195457696914673},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4181826412677765},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.383347749710083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37774354219436646},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33072954416275024},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19258207082748413},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.13980534672737122},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12830573320388794},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12114217877388},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11090776324272156},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2023.2291137","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1080/01691864.2023.2291137","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1934410567","https://openalex.org/W2001803686","https://openalex.org/W2019094980","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2771781405","https://openalex.org/W2888753980","https://openalex.org/W2897571229","https://openalex.org/W2909032350","https://openalex.org/W2926374707","https://openalex.org/W2937885510","https://openalex.org/W2942096073","https://openalex.org/W2967379086","https://openalex.org/W2969115053","https://openalex.org/W3038785926","https://openalex.org/W3049556395","https://openalex.org/W3115786292","https://openalex.org/W3120257058","https://openalex.org/W3127964809","https://openalex.org/W3182331417","https://openalex.org/W4200131911","https://openalex.org/W4200562988","https://openalex.org/W4210347567","https://openalex.org/W4210993197","https://openalex.org/W4214777666","https://openalex.org/W4243550142","https://openalex.org/W4289653908","https://openalex.org/W4309114790"],"related_works":["https://openalex.org/W3117533319","https://openalex.org/W4205680839","https://openalex.org/W1996180058","https://openalex.org/W2466644104","https://openalex.org/W141777478","https://openalex.org/W3130181116","https://openalex.org/W1992507547","https://openalex.org/W1967384772","https://openalex.org/W1971246626","https://openalex.org/W2381221311"],"abstract_inverted_index":{"Early":[0],"detection":[1],"and":[2,11,32,69,128,131,160,180,212,223],"treatment":[3],"of":[4,24,53,62,76,106,150,188],"intraluminal":[5,29],"diseases":[6],"enable":[7],"minimally":[8],"invasive":[9],"surgery":[10],"can":[12],"lead":[13],"to":[14,87,173],"a":[15,35,40,46,63,73,83,88,97,125,165,190,195],"high":[16],"cure":[17],"rate.":[18],"Advanced":[19],"devices":[20],"with":[21,45,82,194],"multiple":[22],"degrees":[23],"freedom":[25],"(DOFs)":[26],"make":[27],"narrow":[28,98,228],"procedures":[30],"easier":[31],"safer.":[33],"In":[34,115],"previous":[36],"study,":[37],"we":[38,101],"developed":[39],"multi-DOF":[41],"compliant":[42,64,89,108,120,161],"endoluminal":[43,214],"forceps":[44,71,211],"tendon-sheath":[47],"mechanism.":[48],"The":[49],"maximum":[50],"bending":[51,139],"stress":[52],"this":[54,107],"design":[55],"was":[56],"reduced":[57],"by":[58,124,142,153],"changing":[59],"the":[60,70,116,132,138,143,148,155,158,186,200],"thickness":[61],"hinge":[65,91,110,121],"in":[66,96,177,227],"each":[67,119],"segment,":[68],"achieved":[72],"wide":[74],"range":[75],"motion.":[77],"However,":[78],"its":[79],"deformed":[80,133],"shapes":[81],"non-constant":[84],"curvature,":[85],"due":[86],"inhomogeneous-thickness":[90,109],"structure,":[92],"hinder":[93],"fine":[94],"manipulation":[95],"lumen.":[99],"Here,":[100],"construct":[102],"an":[103],"accurate":[104,192],"model":[105,193],"structure":[111],"using":[112],"pseudo-rigid-body":[113],"model.":[114,168],"proposed":[117],"method,":[118],"is":[122,135],"represented":[123],"torsion":[126],"spring":[127],"rotational":[129],"joint,":[130],"shape":[134],"estimated":[136],"from":[137],"angle":[140],"caused":[141],"tensile":[144],"force.":[145],"We":[146,183],"derive":[147],"coefficient":[149],"dynamic":[151],"friction":[152,156,167],"considering":[154],"between":[157],"wire":[159],"joint":[162],"based":[163],"on":[164],"belt":[166],"These":[169],"novel":[170],"calculations":[171],"allow":[172],"consider":[174],"individual":[175],"differences":[176],"material":[178],"properties":[179],"surface":[181],"roughness.":[182],"experimentally":[184],"confirm":[185],"feasibility":[187],"constructing":[189],"highly":[191],"lower":[196],"calculation":[197],"cost":[198],"than":[199],"finite":[201],"element":[202],"method.":[203],"Our":[204],"proposal":[205],"seems":[206],"suitable":[207],"for":[208],"developing":[209],"dexterous":[210],"other":[213],"devices,":[215],"such":[216],"as":[217],"catheters,":[218],"which":[219],"mitigate":[220],"operation":[221],"errors":[222],"help":[224],"approach":[225],"lesions":[226],"lumens.":[229]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}