{"id":"https://openalex.org/W2482908617","doi":"https://doi.org/10.1109/biorob.2016.7523661","title":"First step towards an automated designed Multi-Arm Snake-Like Robot for minimally invasive surgery","display_name":"First step towards an automated designed Multi-Arm Snake-Like Robot for minimally invasive surgery","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2482908617","doi":"https://doi.org/10.1109/biorob.2016.7523661","mag":"2482908617"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5017679786","display_name":"Yannick S. Krieger","orcid":"https://orcid.org/0000-0002-1670-3654"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Y. S. Krieger","raw_affiliation_strings":["Faculty of mechanical engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of mechanical engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029550692","display_name":"Daniel B. Roppenecker","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. B. Roppenecker","raw_affiliation_strings":["Faculty of mechanical engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of mechanical engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112409479","display_name":"J.\u2010U. Stolzenburg","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125843","display_name":"University Hospital Leipzig","ror":"https://ror.org/028hv5492","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I4210125843"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J.-U. Stolzenburg","raw_affiliation_strings":["Department of Urology of the Universit\u00e4tsklinikum Leipzig A\u00f6R, University of Leipzig, Leipzig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology of the Universit\u00e4tsklinikum Leipzig A\u00f6R, University of Leipzig, Leipzig, Germany","institution_ids":["https://openalex.org/I4210125843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005245664","display_name":"Tim C. Lueth","orcid":"https://orcid.org/0000-0001-8949-5764"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. C. Lueth","raw_affiliation_strings":["Faculty of mechanical engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of mechanical engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1919,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.87345906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"407","last_page":"412"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9929999709129333,"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"}},{"id":"https://openalex.org/T11485","display_name":"Gastrointestinal Tumor Research and Treatment","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"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/invasive-surgery","display_name":"Invasive surgery","score":0.735943615436554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6773746013641357},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5890560150146484},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.5552718043327332},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.5165430903434753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5157546997070312},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.45368751883506775},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.4511874318122864},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.4491913616657257},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.423572838306427},{"id":"https://openalex.org/keywords/laparoscopic-surgery","display_name":"Laparoscopic surgery","score":0.42075905203819275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4139823615550995},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3932141363620758},{"id":"https://openalex.org/keywords/laparoscopy","display_name":"Laparoscopy","score":0.28870242834091187},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.232713520526886}],"concepts":[{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.735943615436554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6773746013641357},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5890560150146484},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.5552718043327332},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.5165430903434753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5157546997070312},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.45368751883506775},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.4511874318122864},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.4491913616657257},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.423572838306427},{"id":"https://openalex.org/C2776111594","wikidata":"https://www.wikidata.org/wiki/Q675754","display_name":"Laparoscopic surgery","level":3,"score":0.42075905203819275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4139823615550995},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3932141363620758},{"id":"https://openalex.org/C2780047204","wikidata":"https://www.wikidata.org/wiki/Q675754","display_name":"Laparoscopy","level":2,"score":0.28870242834091187},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.232713520526886},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W367968993","https://openalex.org/W590978341","https://openalex.org/W1265086150","https://openalex.org/W1912324383","https://openalex.org/W1964874305","https://openalex.org/W1966102857","https://openalex.org/W1966594214","https://openalex.org/W1985568314","https://openalex.org/W1989694608","https://openalex.org/W2002544319","https://openalex.org/W2048166719","https://openalex.org/W2082798239","https://openalex.org/W2083016933","https://openalex.org/W2086504054","https://openalex.org/W2090104378","https://openalex.org/W2111159270","https://openalex.org/W2119723582","https://openalex.org/W2126182407","https://openalex.org/W2137409433","https://openalex.org/W2156069570","https://openalex.org/W2315036443","https://openalex.org/W2476704169","https://openalex.org/W4243591276","https://openalex.org/W4246041929","https://openalex.org/W4248508682","https://openalex.org/W6680057732"],"related_works":["https://openalex.org/W1595549445","https://openalex.org/W2252542483","https://openalex.org/W2592088541","https://openalex.org/W2111551460","https://openalex.org/W1560856716","https://openalex.org/W2561338268","https://openalex.org/W2002702504","https://openalex.org/W4391992474","https://openalex.org/W3017135891","https://openalex.org/W2937676518"],"abstract_inverted_index":{"The":[0,49,90],"development":[1],"of":[2,12,44,71,85,121,165],"minimally":[3,77,100],"invasive":[4,78,101],"surgery":[5,16,79,102],"will":[6],"lead":[7],"to":[8,33,53,62,107,114,135,140],"the":[9,47,55,63,69,112,122,153],"further":[10],"reduction":[11],"incisions":[13],"regarding":[14],"single-port":[15],"using":[17,125],"only":[18],"one":[19],"single":[20],"artificial":[21],"or":[22,147],"natural":[23],"incision.":[24],"Thus,":[25],"it":[26],"appears":[27],"that":[28,39],"instruments":[29,45,110],"and":[30,103,128,160],"workflow":[31],"have":[32],"be":[34,52],"designed":[35,93],"in":[36,99],"a":[37,41,58,157],"way":[38],"provides":[40],"dexterous":[42],"manipulation":[43],"inside":[46],"body.":[48],"aim":[50],"should":[51],"support":[54],"surgeon":[56,159],"with":[57],"system":[59,91],"most":[60],"suitable":[61],"specific":[64,162],"application.":[65],"This":[66,150],"article":[67],"presents":[68,152],"concept":[70],"designing":[72],"an":[73],"individualized":[74],"robot":[75],"for":[76,96],"(e.g.":[80],"partial":[81],"nephrectomy)":[82],"on":[83],"basis":[84],"our":[86],"Multi-Arm":[87],"Snake-Like":[88],"Robot.":[89],"is":[92],"as":[94,145],"overtube":[95],"standard":[97,109],"optics":[98],"possesses":[104],"articulated":[105],"arms":[106],"manipulate":[108,115],"enabling":[111],"physician":[113],"tissue":[116],"from":[117],"two":[118],"sides":[119],"(triangulation":[120],"instruments).":[123],"By":[124],"additive":[126],"manufacturing":[127],"new":[129],"design":[130,136,164],"algorithms,":[131],"we":[132],"were":[133],"able":[134],"robotic":[137],"structures":[138],"adaptable":[139],"different":[141],"clinical":[142],"applications":[143],"such":[144],"endoscopic":[146],"laparoscopic":[148],"interventions.":[149],"paper":[151],"first":[154],"step":[155],"towards":[156],"patient,":[158],"task":[161],"automated":[163],"disposable":[166],"robots.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}