{"id":"https://openalex.org/W2004937500","doi":"https://doi.org/10.1109/amc.2012.6197041","title":"Development of Actively-controllable endoscopic forceps","display_name":"Development of Actively-controllable endoscopic forceps","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2004937500","doi":"https://doi.org/10.1109/amc.2012.6197041","mag":"2004937500"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5021108426","display_name":"Keisuke Sugawara","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":"Keisuke Sugawara","raw_affiliation_strings":["Graduate School of Science and Technology, Keio University, Yokohama, Japan","Graduate School of Science and Technology, Keio University, Yokohana, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohana, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","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","Department of System Design Engineering, Keio University, Yokohana, 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":"Department of System Design Engineering, Keio University, Yokohana, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11696643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9976000189781189,"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":0.9976000189781189,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9839000105857849,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9584000110626221,"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/forceps","display_name":"Forceps","score":0.9755204916000366},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5388180613517761},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.45719659328460693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3730796277523041},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.34772637486457825},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3136157989501953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2319333255290985},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23071780800819397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13432061672210693},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.08333569765090942}],"concepts":[{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.9755204916000366},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5388180613517761},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.45719659328460693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3730796277523041},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.34772637486457825},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3136157989501953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2319333255290985},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23071780800819397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13432061672210693},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.08333569765090942}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2012.6197041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1969432117","https://openalex.org/W1983551172","https://openalex.org/W2005365619","https://openalex.org/W2049042686","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2102698703","https://openalex.org/W2107531962","https://openalex.org/W2132005662","https://openalex.org/W2169282883","https://openalex.org/W2429498845","https://openalex.org/W2540893129","https://openalex.org/W2544679778","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W2898370298","https://openalex.org/W2137437058","https://openalex.org/W2004937500","https://openalex.org/W2729803772","https://openalex.org/W2955471867","https://openalex.org/W2535190015","https://openalex.org/W2726872469","https://openalex.org/W2646634901"],"abstract_inverted_index":{"An":[0],"endoscopic":[1,16,25,38,50,63,68,84,102,122],"forceps":[2,17,26,51,64,69,85,103,123],"is":[3,23,48,65,104,124,131],"one":[4],"of":[5,36,44,100,120,128],"the":[6,15,24,37,49,83,101,110,121],"efficient":[7],"medical":[8],"device":[9],"in":[10,59],"minimally":[11],"invasive":[12],"surgery.":[13],"However,":[14],"has":[18,27,52,70],"two":[19],"big":[20],"problems.":[21],"First":[22],"friction,":[28],"and":[29,77,126],"it":[30],"nonlinearly":[31],"changes":[32],"depend":[33],"on":[34],"posture":[35,90,99],"forceps.":[39],"The":[40],"friction":[41,95,111],"cause":[42],"deterioration":[43],"operation":[45],"performance.":[46],"Second":[47],"only":[53],"1-DOF":[54],"for":[55,74],"grasping":[56,75],"motion.":[57,79],"Therefore,":[58],"this":[60],"paper,":[61],"Actively-controllable":[62],"developed.":[66],"This":[67],"2-DOF":[71],"which":[72],"are":[73,113],"motion":[76],"bending":[78,81],"By":[80],"motion,":[82],"can":[86],"keep":[87],"or":[88],"change":[89],"by":[91,106],"itself.":[92],"In":[93],"addition,":[94],"associated":[96],"with":[97],"changing":[98],"modeled":[105],"least-square":[107],"method.":[108],"Finally,":[109],"models":[112],"applied":[114],"to":[115],"bilateral":[116],"control":[117],"system.":[118],"Friction":[119],"compensated,":[125],"improvement":[127],"operational":[129],"performance":[130],"achieved.":[132]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}