{"id":"https://openalex.org/W2117464517","doi":"https://doi.org/10.1109/amc.2010.5464119","title":"Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot","display_name":"Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W2117464517","doi":"https://doi.org/10.1109/amc.2010.5464119","mag":"2117464517"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464119","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","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/A5027519569","display_name":"Yusuke Kasahara","orcid":"https://orcid.org/0000-0003-2749-4138"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Kasahara","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016529985","display_name":"Kazuya Kitamura","orcid":"https://orcid.org/0000-0003-0117-4152"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Kitamura","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan","[Dept. of System Design Engineering, Keio University, Yokohama, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"[Dept. of System Design Engineering, Keio University, Yokohama, Japan]","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108634874","display_name":"Yasuhide Morikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhide Morikawa","raw_affiliation_strings":["Department of Surgery, School of medicine, Keio University, Tokyo, Japan","Department of Surgery; School of Medicine; Keio University; Tokyo; Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Surgery, School of medicine, Keio University, Tokyo, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of Surgery; School of Medicine; Keio University; Tokyo; Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011466517","display_name":"Naoki Shimojima","orcid":"https://orcid.org/0000-0001-5949-260X"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Shimojima","raw_affiliation_strings":["Department of Surgery, School of medicine, Keio University, Tokyo, Japan","Department of Surgery; School of Medicine; Keio University; Tokyo; Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Surgery, School of medicine, Keio University, Tokyo, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of Surgery; School of Medicine; Keio University; Tokyo; Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6324,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9560277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"284","last_page":"289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9926000237464905,"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":0.9681000113487244,"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/haptic-technology","display_name":"Haptic technology","score":0.7590869665145874},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.7559061050415039},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.7539139986038208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6203975081443787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5630220770835876},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5316104888916016},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4899839460849762},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4675026834011078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4422610402107239},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42598482966423035},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.41886287927627563},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3736840784549713},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.17544740438461304}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7590869665145874},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.7559061050415039},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.7539139986038208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6203975081443787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5630220770835876},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5316104888916016},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4899839460849762},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4675026834011078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4422610402107239},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42598482966423035},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.41886287927627563},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3736840784549713},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.17544740438461304},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464119","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1985062867","https://openalex.org/W2017280345","https://openalex.org/W2077544344","https://openalex.org/W2096323098","https://openalex.org/W2098063375","https://openalex.org/W2102279668","https://openalex.org/W2109876821","https://openalex.org/W2120214714","https://openalex.org/W2127550858","https://openalex.org/W2131457630","https://openalex.org/W2133996092","https://openalex.org/W2135464393","https://openalex.org/W2135875879","https://openalex.org/W2141718328","https://openalex.org/W2169924715","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2792190588","https://openalex.org/W1595549445","https://openalex.org/W3110397784","https://openalex.org/W4384625689","https://openalex.org/W4312343719","https://openalex.org/W2131557635","https://openalex.org/W2760674464","https://openalex.org/W2885222402","https://openalex.org/W2795232811","https://openalex.org/W2592088541"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,8,44,73],"novel":[4],"method":[5,19],"which":[6,26,79],"detects":[7,20],"rupture":[9,22,53],"of":[10,23,43,97],"organs":[11,25],"based":[12,84],"on":[13,85],"environmental":[14,34],"impedance":[15,35],"estimation.":[16],"The":[17,33,52,91],"proposed":[18,99],"the":[21,24,68,71,81,95,98],"is":[27,36,55,89],"conducive":[28],"to":[29,63,66],"serious":[30],"medical":[31],"accident.":[32],"estimated":[37],"from":[38],"position":[39],"and":[40,57],"force":[41],"responses":[42],"surgery":[45],"robot":[46,78],"by":[47],"using":[48],"recursive":[49],"least-squares":[50],"algorithm.":[51],"behavior":[54],"analyzed,":[56],"thresholds":[58],"are":[59],"settled":[60],"with":[61],"respect":[62],"each":[64],"organ":[65],"detect":[67],"rupture.":[69],"In":[70],"experiment,":[72],"two-DOF":[74],"haptic":[75],"surgical":[76],"forceps":[77],"implements":[80],"bilateral":[82],"control":[83,88],"robust":[86],"acceleration":[87],"used.":[90],"experimental":[92],"results":[93],"show":[94],"effectiveness":[96],"method.":[100]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}