{"id":"https://openalex.org/W2980981290","doi":"https://doi.org/10.1109/aim.2019.8868571","title":"Development of a cost-effective actuation unit for three DOF concentric tube robot in minimally invasive surgery","display_name":"Development of a cost-effective actuation unit for three DOF concentric tube robot in minimally invasive surgery","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980981290","doi":"https://doi.org/10.1109/aim.2019.8868571","mag":"2980981290"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5057520378","display_name":"Shunmugasundar Esakkiappan","orcid":"https://orcid.org/0000-0002-4922-0675"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shunmugasundar Esakkiappan","raw_affiliation_strings":["Robotics and Mechatronics Research Laboratory(RMRL), Monash University, Victoria, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Laboratory(RMRL), Monash University, Victoria, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081891660","display_name":"Bijan Shirinzadeh","orcid":"https://orcid.org/0000-0001-8474-5445"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Bijan Shirinzadeh","raw_affiliation_strings":["Robotics and Mechatronics Research Laboratory(RMRL), Monash University, Victoria, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Laboratory(RMRL), Monash University, Victoria, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102810339","display_name":"Weichen Wei","orcid":"https://orcid.org/0000-0003-0659-1369"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Weichen Wei","raw_affiliation_strings":["Robotics and Mechatronics Research Laboratory(RMRL), Monash University, Victoria, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Laboratory(RMRL), Monash University, Victoria, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.11690681,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1013","last_page":"1018"},"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/T10888","display_name":"Augmented Reality Applications","score":0.9781000018119812,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.968999981880188,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.9539433717727661},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6988858580589294},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.6739343404769897},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.6245028972625732},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.5883796811103821},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5845734477043152},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5269827842712402},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4926667809486389},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4708656370639801},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.33821821212768555},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33669859170913696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29956281185150146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29305148124694824},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.18002372980117798},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13892599940299988},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12672889232635498}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9539433717727661},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6988858580589294},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.6739343404769897},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.6245028972625732},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.5883796811103821},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5845734477043152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5269827842712402},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4926667809486389},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4708656370639801},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.33821821212768555},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33669859170913696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29956281185150146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29305148124694824},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.18002372980117798},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13892599940299988},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12672889232635498},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"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:10.1109/aim.2019.8868571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1528755127","https://openalex.org/W2000691728","https://openalex.org/W2003391301","https://openalex.org/W2004910967","https://openalex.org/W2021538025","https://openalex.org/W2037228912","https://openalex.org/W2046144595","https://openalex.org/W2050458225","https://openalex.org/W2079574144","https://openalex.org/W2085029912","https://openalex.org/W2101667962","https://openalex.org/W2123297103","https://openalex.org/W2134555091","https://openalex.org/W2138564331","https://openalex.org/W2156218502","https://openalex.org/W2164013717","https://openalex.org/W2169164876","https://openalex.org/W2184993170","https://openalex.org/W2197902643","https://openalex.org/W2295380675","https://openalex.org/W2406634771","https://openalex.org/W2462654948","https://openalex.org/W2490886749","https://openalex.org/W2527408187","https://openalex.org/W2541954607","https://openalex.org/W2563976359","https://openalex.org/W2564941590","https://openalex.org/W2566338237","https://openalex.org/W2784446850","https://openalex.org/W4251181231","https://openalex.org/W6748237052"],"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/W1875852913","https://openalex.org/W1518655544","https://openalex.org/W3162047364"],"abstract_inverted_index":{"Concentric":[0],"tube":[1,80],"robot":[2],"(CTR)":[3],"has":[4,32],"shown":[5],"great":[6],"potential":[7],"in":[8,63,68,137],"minimally":[9,138],"invasive":[10,139],"surgery":[11],"with":[12,45,60,78],"its":[13],"small-scale":[14],"construction":[15],"and":[16,26,65,75,91],"unique":[17],"structure.":[18],"It":[19],"is":[20,84,129],"highly":[21],"suitable":[22],"for":[23],"reaching":[24],"tight":[25],"non-linear":[27],"surgical":[28,140],"spaces.":[29],"Much":[30],"research":[31],"been":[33],"conducted":[34],"on":[35,104],"the":[36,87,92,97,106,117,125],"workspace":[37,83],"simulation.":[38],"However,":[39],"most":[40],"results":[41,93,103,118],"are":[42,94,113],"not":[43],"validated":[44,95],"experimental":[46,100],"data.":[47,101],"In":[48],"this":[49,121],"paper,":[50],"we":[51],"propose":[52],"a":[53,76,130],"three":[54],"Degree":[55],"of":[56,71],"Freedom":[57],"(DOF)":[58],"CTR":[59,127],"50":[61],"cm":[62],"length":[64],"3.3":[66],"kg":[67],"weight,":[69],"consisting":[70],"an":[72],"actuation":[73],"unit":[74],"manipulator":[77],"two":[79],"assembly.":[81],"The":[82],"developed":[85],"using":[86,96,110],"kinematic":[88],"model":[89],"simulation,":[90],"laser":[98],"based":[99],"Experiment":[102],"testing":[105],"tip":[107],"targeting":[108],"mechanism":[109],"visual":[111],"feedback":[112],"also":[114],"presented.":[115],"All":[116],"obtained":[119],"from":[120],"study":[122],"show":[123],"that":[124],"proposed":[126],"device":[128],"promising":[131],"tool":[132],"which":[133],"can":[134],"be":[135],"used":[136],"applications.":[141]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
