{"id":"https://openalex.org/W2731342681","doi":"https://doi.org/10.1108/ir-12-2016-0351","title":"Modular design of a teleoperated robotic control system for laparoscopic minimally invasive surgery based on ROS and RT-Middleware","display_name":"Modular design of a teleoperated robotic control system for laparoscopic minimally invasive surgery based on ROS and RT-Middleware","publication_year":2017,"publication_date":"2017-07-05","ids":{"openalex":"https://openalex.org/W2731342681","doi":"https://doi.org/10.1108/ir-12-2016-0351","mag":"2731342681"},"language":"en","primary_location":{"id":"doi:10.1108/ir-12-2016-0351","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2016-0351","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5031905138","display_name":"Weibang Bai","orcid":"https://orcid.org/0000-0002-8937-8485"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibang Bai","raw_affiliation_strings":["Research Institute of Robotics, Research Institute of of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Research Institute of of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["Research Institute of Robotics, Research Institute of of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Research Institute of of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399551","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0002-2896-5379"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["Research Institute of Robotics, Research Institute of of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2896-5379","affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Research Institute of of Biomedical Manufacturing and Life Quality Engineering, State Key Lab of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069741452","display_name":"Peng Chen","orcid":"https://orcid.org/0000-0002-2757-2549"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Chen","raw_affiliation_strings":["Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048127002","display_name":"Chuntao Leng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuntao Leng","raw_affiliation_strings":["Engineering Training Center, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Training Center, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083505271","display_name":"Tiewen Pan","orcid":"https://orcid.org/0000-0001-7263-0421"},"institutions":[{"id":"https://openalex.org/I177933477","display_name":"Second Military Medical University","ror":"https://ror.org/04tavpn47","country_code":"CN","type":"education","lineage":["https://openalex.org/I177933477"]},{"id":"https://openalex.org/I4210137389","display_name":"Eastern Hepatobiliary Surgery Hospital","ror":"https://ror.org/043sbvg03","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210137389"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiewen Pan","raw_affiliation_strings":["Division of Thoracic Surgery, Eastern Hepatobiliary Surgery Hospital, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Thoracic Surgery, Eastern Hepatobiliary Surgery Hospital, Shanghai, China","institution_ids":["https://openalex.org/I4210137389","https://openalex.org/I177933477"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2036,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.53446653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"44","issue":"5","first_page":"596","last_page":"608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8778342008590698},{"id":"https://openalex.org/keywords/modular-programming","display_name":"Modular programming","score":0.7612543106079102},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6884905099868774},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.6791096925735474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.555631160736084},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46938249468803406},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4584465026855469},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43634337186813354},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4106122553348541},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37597158551216125},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.363467276096344},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.28381240367889404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23340657353401184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22898182272911072},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.15999680757522583}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8778342008590698},{"id":"https://openalex.org/C88482812","wikidata":"https://www.wikidata.org/wiki/Q6453666","display_name":"Modular programming","level":2,"score":0.7612543106079102},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6884905099868774},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.6791096925735474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555631160736084},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46938249468803406},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4584465026855469},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43634337186813354},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4106122553348541},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37597158551216125},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.363467276096344},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.28381240367889404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23340657353401184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22898182272911072},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.15999680757522583},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-12-2016-0351","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2016-0351","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W8430898","https://openalex.org/W34771496","https://openalex.org/W55510257","https://openalex.org/W70046024","https://openalex.org/W203622588","https://openalex.org/W1696328855","https://openalex.org/W1837469122","https://openalex.org/W1963716360","https://openalex.org/W1975949753","https://openalex.org/W1984560212","https://openalex.org/W2003117117","https://openalex.org/W2004082405","https://openalex.org/W2008817337","https://openalex.org/W2015573616","https://openalex.org/W2024439876","https://openalex.org/W2027653328","https://openalex.org/W2037988980","https://openalex.org/W2048523841","https://openalex.org/W2051317696","https://openalex.org/W2070328658","https://openalex.org/W2075919122","https://openalex.org/W2090628037","https://openalex.org/W2101968840","https://openalex.org/W2139921960","https://openalex.org/W2344251544","https://openalex.org/W2344366204","https://openalex.org/W2401644324","https://openalex.org/W2615250177","https://openalex.org/W2901136733","https://openalex.org/W3179493071"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W2366513699","https://openalex.org/W4281562784","https://openalex.org/W2811249935","https://openalex.org/W2356817053","https://openalex.org/W2761604292","https://openalex.org/W3099701552"],"abstract_inverted_index":{"Purpose":[0],"Robotic":[1],"systems":[2,49],"for":[3,45,50,201,229,236],"laparoscopic":[4,237],"minimally":[5,204],"invasive":[6,205],"surgery":[7],"(MIS)":[8],"always":[9],"end":[10],"up":[11],"with":[12,28,132,208],"highly":[13],"sophisticated":[14],"mechanisms":[15],"and":[16,24,37,42,52,77,93,109,119,122,136,147,160,163,171,176,188,211,218,225],"control":[17,48,100,149,234],"schemes":[18],"\u2013":[19],"making":[20],"it":[21],"a":[22,29,39,82,145,220,226,231],"long":[23],"hard":[25],"development":[26,128],"process":[27],"steep":[30],"price.":[31],"This":[32,141,215],"paper":[33],"aims":[34],"to":[35,154,158,165,173,197],"propose":[36],"realize":[38],"new,":[40],"efficient":[41],"convenient":[43,157],"strategy":[44,129],"building":[46,230],"effective":[47],"surgical":[51,186,206],"even":[53],"other":[54],"complex":[55,203],"robotic":[56,78,192],"systems.":[57,181],"Design/methodology/approach":[58],"A":[59],"novel":[60,221,227],"method":[61,142,224],"that":[62,151,185],"takes":[63],"advantage":[64],"of":[65,89,97,190],"the":[66,87,98,107,116,126,191,209],"modularization":[67,222],"concept":[68],"by":[69],"integrating":[70],"two":[71],"middleware":[72],"technologies":[73],"(robot":[74],"operating":[75,180],"system":[76,101,150,193,235],"technology":[79],"middleware)":[80],"into":[81],"common":[83],"architecture":[84,228],"based":[85],"on":[86,115],"strengths":[88],"both":[90],"was":[91],"designed":[92],"developed.":[94],"Findings":[95],"Tests":[96],"developed":[99,212,219],"showed":[102],"very":[103],"low":[104],"time-delay":[105],"between":[106],"master":[108],"slave":[110,117],"sides;":[111],"good":[112],"movement":[113],"representation":[114],"manipulator;":[118],"high":[120],"positional":[121],"operational":[123],"accuracy.":[124],"Moreover,":[125],"new":[127],"trial":[130],"came":[131],"much":[133],"higher":[134],"efficiency":[135],"lower":[137],"costs.":[138],"Research":[139],"limitations/implications":[140],"results":[143],"in":[144],"modularized":[146],"distributed":[148,232],"is":[152],"amenable":[153],"collaboratively":[155],"develop;":[156],"modify":[159],"update;":[161],"componentized":[162],"easy":[164],"extend;":[166],"mutually":[167],"independent":[168],"among":[169],"subsystems;":[170],"practicable":[172],"be":[174],"running":[175],"communicating":[177],"across":[178],"multiple":[179],"However,":[182],"experiments":[183],"show":[184],"training":[187],"updates":[189],"are":[194],"still":[195],"required":[196],"achieve":[198],"better":[199],"proficiency":[200],"completing":[202],"operations":[207],"proposed":[210,217],"system.":[213],"Originality/value":[214],"research":[216],"design":[223],"teleoperation":[233],"MIS.":[238]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}