{"id":"https://openalex.org/W3094531798","doi":"https://doi.org/10.1109/access.2020.3032384","title":"A Stiffness Adjustable 6-DOF Robotic System for Pituitary Tumor Resection Under MRI","display_name":"A Stiffness Adjustable 6-DOF Robotic System for Pituitary Tumor Resection Under MRI","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3094531798","doi":"https://doi.org/10.1109/access.2020.3032384","mag":"3094531798"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3032384","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3032384","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09233314.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09233314.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086879312","display_name":"Muhammad Umar Farooq","orcid":"https://orcid.org/0000-0003-0443-8512"},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Muhammad Umar Farooq","raw_affiliation_strings":["Chonnam National University, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"Chonnam National University, Gwangju, South Korea","institution_ids":["https://openalex.org/I111277659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014403225","display_name":"Hyunwoo Baek","orcid":"https://orcid.org/0000-0001-8178-8466"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunwoo Baek","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027430023","display_name":"Sungmin Seung","orcid":"https://orcid.org/0000-0001-7143-3020"},"institutions":[{"id":"https://openalex.org/I4210162961","display_name":"Daegu-Gyeongbuk Medical Innovation Foundation","ror":"https://ror.org/05cc1v231","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210162961"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungmin Seung","raw_affiliation_strings":["Daegu-Gyeongbuk Medical Innovation Foundation, Daegu, South Korea"],"affiliations":[{"raw_affiliation_string":"Daegu-Gyeongbuk Medical Innovation Foundation, Daegu, South Korea","institution_ids":["https://openalex.org/I4210162961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073836261","display_name":"Kyoungrae Cha","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162961","display_name":"Daegu-Gyeongbuk Medical Innovation Foundation","ror":"https://ror.org/05cc1v231","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210162961"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoungrae Cha","raw_affiliation_strings":["Daegu-Gyeongbuk Medical Innovation Foundation, Daegu, South Korea","Korea Institute of Medical Microrobotics, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"Daegu-Gyeongbuk Medical Innovation Foundation, Daegu, South Korea","institution_ids":["https://openalex.org/I4210162961"]},{"raw_affiliation_string":"Korea Institute of Medical Microrobotics, Gwangju, South Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075905015","display_name":"Heon You","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120052","display_name":"National Cancer Center","ror":"https://ror.org/02tsanh21","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I1290491151","https://openalex.org/I2801339556","https://openalex.org/I4210120052"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heon You","raw_affiliation_strings":["National Cancer Center, Goyang, South Korea"],"affiliations":[{"raw_affiliation_string":"National Cancer Center, Goyang, South Korea","institution_ids":["https://openalex.org/I4210120052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072713763","display_name":"Dong\u2010Soo Kwon","orcid":"https://orcid.org/0000-0003-1540-3307"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Soo Kwon","raw_affiliation_strings":["EasyEndo Surgical Inc., Daejeon, South Korea","Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"EasyEndo Surgical Inc., Daejeon, South Korea","institution_ids":[]},{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086319636","display_name":"Seong Young Ko","orcid":"https://orcid.org/0000-0003-4316-0074"},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong Young Ko","raw_affiliation_strings":["Chonnam National University, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"Chonnam National University, Gwangju, South Korea","institution_ids":["https://openalex.org/I111277659"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5086879312"],"corresponding_institution_ids":["https://openalex.org/I111277659"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5208,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62012467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"192557","last_page":"192568"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9939000010490417,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9911999702453613,"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/magnetic-resonance-imaging","display_name":"Magnetic resonance imaging","score":0.661679744720459},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5993800163269043},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.46458035707473755},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4596083164215088},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.44445738196372986},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.43641820549964905},{"id":"https://openalex.org/keywords/resection","display_name":"Resection","score":0.4312947988510132},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.426937460899353},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.22478032112121582},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.20793190598487854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20620012283325195},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.17897731065750122},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.15613442659378052}],"concepts":[{"id":"https://openalex.org/C143409427","wikidata":"https://www.wikidata.org/wiki/Q161238","display_name":"Magnetic resonance imaging","level":2,"score":0.661679744720459},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5993800163269043},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.46458035707473755},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4596083164215088},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.44445738196372986},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.43641820549964905},{"id":"https://openalex.org/C159110652","wikidata":"https://www.wikidata.org/wiki/Q17078201","display_name":"Resection","level":2,"score":0.4312947988510132},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.426937460899353},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.22478032112121582},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.20793190598487854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20620012283325195},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.17897731065750122},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.15613442659378052},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3032384","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3032384","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09233314.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:25bc7318836c404d994e583637a91e59","is_oa":true,"landing_page_url":"https://doaj.org/article/25bc7318836c404d994e583637a91e59","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 192557-192568 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3032384","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3032384","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09233314.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G2353252713","display_name":null,"funder_award_id":"10080609","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G3402694404","display_name":null,"funder_award_id":"HI19C0642","funder_id":"https://openalex.org/F4320324333","funder_display_name":"Ministry of Health and Family Welfare"},{"id":"https://openalex.org/G7855437934","display_name":null,"funder_award_id":"HI19C0642","funder_id":"https://openalex.org/F4320322107","funder_display_name":"Korea Health Industry Development Institute"},{"id":"https://openalex.org/G992484961","display_name":null,"funder_award_id":"Korea","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322107","display_name":"Korea Health Industry Development Institute","ror":"https://ror.org/00fdzyk40"},{"id":"https://openalex.org/F4320324333","display_name":"Ministry of Health and Family Welfare","ror":"https://ror.org/04pqetg36"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3094531798.pdf","grobid_xml":"https://content.openalex.org/works/W3094531798.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1588269491","https://openalex.org/W1601667748","https://openalex.org/W1919781749","https://openalex.org/W1966705057","https://openalex.org/W1974010890","https://openalex.org/W1981989201","https://openalex.org/W1984767063","https://openalex.org/W1996666143","https://openalex.org/W2010999467","https://openalex.org/W2033481362","https://openalex.org/W2053659605","https://openalex.org/W2067220520","https://openalex.org/W2068723976","https://openalex.org/W2070511695","https://openalex.org/W2072293370","https://openalex.org/W2113019860","https://openalex.org/W2114678653","https://openalex.org/W2116145321","https://openalex.org/W2129918473","https://openalex.org/W2130217551","https://openalex.org/W2131150943","https://openalex.org/W2133231729","https://openalex.org/W2139562753","https://openalex.org/W2140633495","https://openalex.org/W2146031911","https://openalex.org/W2155512611","https://openalex.org/W2156137014","https://openalex.org/W2162175246","https://openalex.org/W2184993170","https://openalex.org/W2512281893","https://openalex.org/W2734643885","https://openalex.org/W2763080578","https://openalex.org/W2771636580","https://openalex.org/W2804900779","https://openalex.org/W2997864133","https://openalex.org/W3003784372","https://openalex.org/W3045260992","https://openalex.org/W3206095270","https://openalex.org/W4234065825","https://openalex.org/W4248481482"],"related_works":["https://openalex.org/W4232857084","https://openalex.org/W2417440389","https://openalex.org/W4245233074","https://openalex.org/W2167384162","https://openalex.org/W4244157427","https://openalex.org/W2734382758","https://openalex.org/W4385556839","https://openalex.org/W4402492658","https://openalex.org/W4378746257","https://openalex.org/W1517555227"],"abstract_inverted_index":{"Magnetic":[0],"resonance":[1,45],"imaging":[2,46],"offers":[3],"better":[4,42],"visualization":[5],"for":[6,58,68,155,185],"tumors":[7,28],"present":[8,52],"in":[9,159,231],"the":[10,14,23,31,38,82,91,94,101,133,148,176,189,194,213,217,226],"delicate":[11],"parts":[12],"of":[13,22,26,93,110,167,205,216],"human":[15],"body.":[16],"A":[17],"pituitary":[18,59,218],"tumor":[19,60,219],"is":[20,78,138,212],"one":[21],"common":[24],"types":[25],"brain-related":[27],"located":[29],"underside":[30],"brain.":[32],"It":[33,104],"can":[34,178,199],"be":[35,179,229],"accessed":[36],"through":[37],"nostrils":[39],"and":[40,84,87,114,128,161,224],"visualized":[41],"using":[43],"magnetic":[44],"(MRI).":[47],"In":[48],"this":[49],"work,":[50],"we":[51],"a":[53,63,69,106,111,115,141,201,232],"6-degree-of-freedom":[54],"(DOF)":[55],"robotic":[56,76],"system":[57,77,211,221],"resection":[61,220],"via":[62],"transsphenoidal":[64],"approach":[65],"designed":[66,79],"specifically":[67],"commercially":[70],"available":[71],"3T":[72],"MRI":[73,95,160],"scanner.":[74],"The":[75,136,152,171,209],"to":[80,88,96,123,131,140,144,188,228],"follow":[81],"anatomical":[83],"surgical":[85,102,134,150,190,234],"constraints":[86],"work":[89],"inside":[90],"bore":[92],"allow":[97],"image":[98],"acquisition":[99],"during":[100],"procedure.":[103],"has":[105],"6-DOF":[107],"manipulator":[108,137],"consisting":[109],"concentric":[112],"tube":[113],"tendon-driven":[116],"bendable":[117],"section.":[118],"Both":[119],"mechanisms":[120],"are":[121,157],"merged":[122],"have":[124],"stiffness":[125,177],"changing":[126],"capability,":[127],"payload":[129],"capacity":[130],"aid":[132],"task.":[135],"attached":[139],"flexure":[142],"shaft":[143],"bend":[145],"it":[146,198],"at":[147],"desired":[149],"angles.":[151],"materials":[153],"used":[154,230],"development":[156,223],"analyzed":[158],"exhibit":[162],"signal-noise":[163],"ratio":[164],"(SNR)":[165],"reduction":[166],"less":[168],"than":[169,182,207],"10%.":[170],"experimental":[172],"results":[173],"show":[174],"that":[175],"changed":[180],"more":[181,206],"ten":[183],"times":[184],"safe":[186],"navigation":[187],"site":[191],"without":[192],"damaging":[193],"surrounding":[195],"tissues.":[196],"Also,":[197],"provide":[200],"maximum":[202],"lifting":[203],"force":[204],"2N.":[208],"presented":[210],"preliminary":[214],"version":[215],"under":[222],"shows":[225],"feasibility":[227],"real":[233],"environment.":[235]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}
