{"id":"https://openalex.org/W4403676237","doi":"https://doi.org/10.1109/biorob60516.2024.10719745","title":"Design and Evaluation of a Surgical Tool Drive Unit for Sustainable Training in Robot-Assisted Minimally Invasive Surgery","display_name":"Design and Evaluation of a Surgical Tool Drive Unit for Sustainable Training in Robot-Assisted Minimally Invasive Surgery","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4403676237","doi":"https://doi.org/10.1109/biorob60516.2024.10719745"},"language":"en","primary_location":{"id":"doi:10.1109/biorob60516.2024.10719745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for 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/A5014757641","display_name":"Celal Umut Kenanoglu","orcid":"https://orcid.org/0000-0002-6556-7054"},"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":true,"raw_author_name":"Celal Umut Kenanoglu","raw_affiliation_strings":["MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092227781","display_name":"Valentin Le Mesle","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":"Valentin Le Mesle","raw_affiliation_strings":["MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114372291","display_name":"Gjergji Luarasi","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":"Gjergji Luarasi","raw_affiliation_strings":["MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059894624","display_name":"Hamid Sadeghian","orcid":"https://orcid.org/0000-0001-8390-3480"},"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":"Hamid Sadeghian","raw_affiliation_strings":["MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"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":"Sami Haddadin","raw_affiliation_strings":["MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5014757641"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35270508,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1555","last_page":"1560"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9958999752998352,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9958999752998352,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9886000156402588,"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":0.9016000032424927,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.6571451425552368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6552741527557373},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5721455216407776},{"id":"https://openalex.org/keywords/unit","display_name":"Unit (ring theory)","score":0.5261092782020569},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4728693664073944},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.43310412764549255},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.41389399766921997},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3813399374485016},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3557196259498596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23459991812705994},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10810193419456482}],"concepts":[{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.6571451425552368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6552741527557373},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5721455216407776},{"id":"https://openalex.org/C122637931","wikidata":"https://www.wikidata.org/wiki/Q118084","display_name":"Unit (ring theory)","level":2,"score":0.5261092782020569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4728693664073944},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.43310412764549255},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.41389399766921997},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3813399374485016},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3557196259498596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23459991812705994},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10810193419456482},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob60516.2024.10719745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1150479695","https://openalex.org/W1934600457","https://openalex.org/W1964047266","https://openalex.org/W1991476457","https://openalex.org/W2008817337","https://openalex.org/W2010703117","https://openalex.org/W2061417916","https://openalex.org/W2064457183","https://openalex.org/W2083826275","https://openalex.org/W2088392499","https://openalex.org/W2101464102","https://openalex.org/W2111950928","https://openalex.org/W2131929627","https://openalex.org/W2146626663","https://openalex.org/W2153923500","https://openalex.org/W2169817992","https://openalex.org/W2623521343","https://openalex.org/W2789029145","https://openalex.org/W2885222402","https://openalex.org/W2969843359","https://openalex.org/W3003282653","https://openalex.org/W3025971814","https://openalex.org/W3080220822","https://openalex.org/W3087342347","https://openalex.org/W3092183742","https://openalex.org/W3095317576","https://openalex.org/W3209761038","https://openalex.org/W4283208378","https://openalex.org/W4306677706"],"related_works":["https://openalex.org/W1979551339","https://openalex.org/W1992272106","https://openalex.org/W3206562583","https://openalex.org/W2113311578","https://openalex.org/W2431417330","https://openalex.org/W2252542483","https://openalex.org/W2809792835","https://openalex.org/W1560856716","https://openalex.org/W2561338268","https://openalex.org/W2002702504"],"abstract_inverted_index":{"The":[0,82,106],"integration":[1],"of":[2,29,38,93,108,121],"robotic":[3],"technology":[4],"in":[5,9,51,91],"surgical":[6,61],"interventions,":[7],"particularly":[8],"Robotic-Assisted":[10],"Minimally":[11],"Inva-sive":[12],"Surgery":[13],"(RAMIS),":[14],"is":[15,114],"increasingly":[16],"recognized":[17],"as":[18,101,130],"a":[19,64,140,144],"pivotal":[20],"application":[21],"within":[22],"the":[23,27,31,35,42,89,109],"medical":[24,39],"domain.":[25],"With":[26],"objective":[28],"addressing":[30],"need":[32,43],"to":[33,44,47,73,78,87],"reduce":[34],"carbon":[36],"footprint":[37],"devices":[40],"and":[41,104,125,132,143],"facilitate":[45],"access":[46],"training":[48],"for":[49,60],"RAMIS":[50],"realistic":[52,126],"scenarios,":[53],"we":[54],"propose":[55],"an":[56],"alternative":[57],"recovery":[58],"scheme":[59],"tools":[62,113],"employing":[63],"nonspecific":[65],"Surgical":[66],"Tool":[67],"Drive":[68],"Unit":[69],"(STDU)":[70],"that":[71],"aims":[72],"connect":[74],"any":[75,79],"given":[76],"tool":[77],"robot":[80],"manipulator.":[81],"paper":[83],"also":[84],"discusses":[85],"strategies":[86],"mitigate":[88],"decrease":[90],"performance":[92,107],"repurposed":[94,112],"tools,":[95],"specifically":[96],"focusing":[97],"on":[98],"issues":[99],"such":[100,129],"tendon":[102],"backlash":[103,123],"coupling.":[105],"STDU":[110],"with":[111],"validated":[115],"through":[116],"various":[117],"experiments,":[118],"including":[119],"assessments":[120],"repeatability,":[122],"compensation,":[124],"surgery":[127],"scenarios":[128],"suturing":[131],"pick-and-place":[133],"tasks.":[134],"These":[135],"experiments":[136],"are":[137],"conducted":[138],"using":[139],"pre-defined":[141],"trajectory":[142],"remote":[145],"haptic":[146],"console.":[147]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}