{"id":"https://openalex.org/W2896319846","doi":"https://doi.org/10.1109/biorob.2018.8487892","title":"A Stiffness-Changing Continuum Robotic Manipulator for Possible Use in MRI-Guided Neurosurgical Interventions","display_name":"A Stiffness-Changing Continuum Robotic Manipulator for Possible Use in MRI-Guided Neurosurgical Interventions","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2896319846","doi":"https://doi.org/10.1109/biorob.2018.8487892","mag":"2896319846"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2018.8487892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th 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/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":["Department of mechanical engineering, Chonnam National University, Gwangju, Korea"],"affiliations":[{"raw_affiliation_string":"Department of mechanical engineering, Chonnam National University, Gwangju, Korea","institution_ids":["https://openalex.org/I111277659"]}]},{"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":["School of mechanical engineering, Chonnam National University, Gwangju, Korea"],"affiliations":[{"raw_affiliation_string":"School of mechanical engineering, Chonnam National University, Gwangju, Korea","institution_ids":["https://openalex.org/I111277659"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086879312"],"corresponding_institution_ids":["https://openalex.org/I111277659"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.11465811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1260","last_page":"1265"},"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":0.9944000244140625,"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":0.9667999744415283,"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/stiffness","display_name":"Stiffness","score":0.8469184637069702},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6663625836372375},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6349974274635315},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5661616325378418},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5648152232170105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5015389919281006},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.48473259806632996},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4396352767944336},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.42029494047164917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3685692548751831},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3482781648635864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30115950107574463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15113261342048645},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13094007968902588}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8469184637069702},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6663625836372375},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6349974274635315},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5661616325378418},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5648152232170105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5015389919281006},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.48473259806632996},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4396352767944336},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.42029494047164917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3685692548751831},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3482781648635864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30115950107574463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15113261342048645},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13094007968902588},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2018.8487892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.47999998927116394,"display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1919781749","https://openalex.org/W1966705057","https://openalex.org/W1968964344","https://openalex.org/W1987434590","https://openalex.org/W2000745129","https://openalex.org/W2041018497","https://openalex.org/W2056191762","https://openalex.org/W2072293370","https://openalex.org/W2092391367","https://openalex.org/W2111866551","https://openalex.org/W2116145321","https://openalex.org/W2146031911","https://openalex.org/W2340219707","https://openalex.org/W2734643885","https://openalex.org/W2763080578","https://openalex.org/W2771636580","https://openalex.org/W6744747592"],"related_works":["https://openalex.org/W2648339586","https://openalex.org/W2127232207","https://openalex.org/W2391238498","https://openalex.org/W2732119783","https://openalex.org/W2012152565","https://openalex.org/W2042803082","https://openalex.org/W2329696538","https://openalex.org/W944897683","https://openalex.org/W4386066875","https://openalex.org/W2631569290"],"abstract_inverted_index":{"Surgical":[0],"robotics":[1],"have":[2,20],"helped":[3],"surgeons":[4],"for":[5,23,88],"more":[6,124],"than":[7,125,131],"two":[8],"decades":[9],"using":[10],"sophisticated":[11],"and":[12,59,112,127,142,144,148,159],"operation-based":[13],"devices.":[14],"Different":[15],"kinds":[16],"of":[17,106,154,169],"surgical":[18,49,73],"robots":[19,31],"been":[21],"developed":[22],"specific":[24],"purposes.":[25],"In":[26,75],"recent":[27],"times,":[28],"stiffness":[29,58,61,83,120],"changing":[30,84],"are":[32],"in":[33,91,140,146,177],"the":[34,56,60,72,103,107,119,132,155,165],"spotlight":[35],"due":[36],"to":[37,48,55,65,109,174],"their":[38],"necessity.":[39],"The":[40,135,151],"interaction":[41],"force":[42],"on":[43],"neighboring":[44],"tissues":[45],"during":[46],"navigation":[47],"target":[50],"can":[51,62,137,160],"be":[52,63,122,161,175],"reduced":[53],"owing":[54],"low":[57],"increased":[64],"provide":[66],"high":[67],"payloads":[68],"as":[69],"it":[70,173],"reaches":[71],"site.":[74],"this":[76],"work,":[77],"a":[78,128],"2-DOF":[79],"soft":[80],"robot":[81,136,156],"with":[82],"capability":[85],"is":[86,99,157,167],"presented":[87],"tumor":[89],"removal":[90],"neurosurgery":[92],"under":[93],"MRI-guidance.":[94],"A":[95],"floating":[96],"fixed-point":[97],"approach":[98],"used":[100,176],"that":[101,118],"changes":[102],"physical":[104],"length":[105],"manipulator":[108,166],"decrease":[110],"deflection":[111],"increase":[113],"stiffness.":[114],"Experimental":[115],"results":[116],"confirmed":[117],"could":[121],"varied":[123],"three":[126],"half":[129],"times":[130],"initial":[133],"value.":[134],"bend":[138],"37.46\u00b0":[139],"right":[141],"left":[143],"38.56\u00b0":[145],"up":[147],"down":[149],"direction.":[150],"current":[152],"version":[153],"joystick-operated":[158],"controlled":[162],"manually.":[163],"Finally,":[164],"composed":[168],"MR-compatible":[170],"materials":[171],"allowing":[172],"MR-guided":[178],"interventions.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}
