{"id":"https://openalex.org/W2783577713","doi":"https://doi.org/10.1109/cbs.2017.8266064","title":"Kinematics analysis and motion planning of a redundant robotic manipulator for surgical intervention","display_name":"Kinematics analysis and motion planning of a redundant robotic manipulator for surgical intervention","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2783577713","doi":"https://doi.org/10.1109/cbs.2017.8266064","mag":"2783577713"},"language":"en","primary_location":{"id":"doi:10.1109/cbs.2017.8266064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs.2017.8266064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cyborg and Bionic Systems (CBS)","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/A5019030923","display_name":"Quanquan Liu","orcid":"https://orcid.org/0000-0002-2044-6160"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Quanquan Liu","raw_affiliation_strings":["Faculty of Engineering, Waseda University, Tokyo, Japan","School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","Shenzhen Institute of Geriatrics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Shenzhen Institute of Geriatrics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065529317","display_name":"Chunbao Wang","orcid":"https://orcid.org/0000-0002-8795-0142"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Chunbao Wang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","Faculty of Engineering, Waseda University, Tokyo, Japan","School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","Shenzhen Institute of Geriatrics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Faculty of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Shenzhen Institute of Geriatrics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320398","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0003-1288-1549"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","Faculty of Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Faculty of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101748798","display_name":"Lihong Duan","orcid":"https://orcid.org/0000-0002-4840-6873"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lihong Duan","raw_affiliation_strings":["Shenzhen Institute of Geriatrics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Geriatrics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327387","display_name":"Xin Zhang","orcid":"https://orcid.org/0000-0001-9654-3859"},"institutions":[{"id":"https://openalex.org/I4210094699","display_name":"Shenzhen Sixth People's Hospital","ror":"https://ror.org/00qftst12","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210094699"]},{"id":"https://openalex.org/I4210164332","display_name":"Shenzhen Second People's Hospital","ror":"https://ror.org/05c74bq69","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210164332"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhang","raw_affiliation_strings":["Shenzhen Dapeng New District Nan'ao People's Hospital, China","The Second People's Hospital of Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Dapeng New District Nan'ao People's Hospital, China","institution_ids":["https://openalex.org/I4210094699"]},{"raw_affiliation_string":"The Second People's Hospital of Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210164332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049965398","display_name":"Tongyang Sun","orcid":"https://orcid.org/0000-0001-5582-1947"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tongyang Sun","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053307968","display_name":"Wanfeng Shang","orcid":"https://orcid.org/0000-0002-3256-3268"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wanfeng Shang","raw_affiliation_strings":["Shenzhen Institute of Geriatrics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Geriatrics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035206248","display_name":"Yajing Shen","orcid":"https://orcid.org/0000-0001-5799-7524"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yajing Shen","raw_affiliation_strings":["Mechanical and Biomedical Engineering, City Uni. of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Biomedical Engineering, City Uni. of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101664595","display_name":"Zhuohua Lin","orcid":"https://orcid.org/0000-0003-4195-8349"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhuohua Lin","raw_affiliation_strings":["Faculty of Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101556023","display_name":"Xiaorui Li","orcid":"https://orcid.org/0000-0002-0627-3101"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaorui Li","raw_affiliation_strings":["Science in Mechanical Engineering, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science in Mechanical Engineering, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393228","display_name":"Weiguang Li","orcid":"https://orcid.org/0000-0002-0389-0956"},"institutions":[{"id":"https://openalex.org/I4210164332","display_name":"Shenzhen Second People's Hospital","ror":"https://ror.org/05c74bq69","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210164332"]},{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiguang Li","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","The Second People's Hospital of Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"The Second People's Hospital of Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210164332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415565","display_name":"Weiping Li","orcid":"https://orcid.org/0000-0002-9171-6439"},"institutions":[{"id":"https://openalex.org/I4210164332","display_name":"Shenzhen Second People's Hospital","ror":"https://ror.org/05c74bq69","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210164332"]},{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiping Li","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","The Second People's Hospital of Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"The Second People's Hospital of Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210164332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100449190","display_name":"Yulong Wang","orcid":"https://orcid.org/0000-0001-5940-1448"},"institutions":[{"id":"https://openalex.org/I4210164332","display_name":"Shenzhen Second People's Hospital","ror":"https://ror.org/05c74bq69","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210164332"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Wang","raw_affiliation_strings":["The Second People's Hospital of Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Second People's Hospital of Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210164332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Masakatsu G. Fujie","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","Faculty of Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Faculty of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058423213","display_name":"Zhengzhi Wu","orcid":"https://orcid.org/0000-0002-8819-609X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhengzhi Wu","raw_affiliation_strings":["Shenzhen Institute of Geriatrics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Geriatrics, Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.514,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82188444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"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":0.9991000294685364,"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":0.9991000294685364,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9882000088691711,"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/workspace","display_name":"Workspace","score":0.9248191714286804},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8099442720413208},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7727218270301819},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.632377028465271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5616604685783386},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5017800331115723},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.49452850222587585},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.490211546421051},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47753751277923584},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4730590581893921},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.46599116921424866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4648197293281555},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.45783495903015137},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4361552894115448},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.43059271574020386},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4266250729560852},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4248875379562378},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.366108238697052},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3097316026687622},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3020278811454773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2960991859436035},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.152750164270401},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08983424305915833}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9248191714286804},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8099442720413208},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7727218270301819},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.632377028465271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5616604685783386},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5017800331115723},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.49452850222587585},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.490211546421051},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47753751277923584},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4730590581893921},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.46599116921424866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4648197293281555},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.45783495903015137},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4361552894115448},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.43059271574020386},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4266250729560852},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4248875379562378},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.366108238697052},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3097316026687622},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3020278811454773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2960991859436035},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.152750164270401},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08983424305915833},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cbs.2017.8266064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs.2017.8266064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cyborg and Bionic Systems (CBS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-119831","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000426790400001","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2005776884","https://openalex.org/W2042913147","https://openalex.org/W2045048508","https://openalex.org/W2066828627","https://openalex.org/W2070133526","https://openalex.org/W2088392499","https://openalex.org/W2111866551","https://openalex.org/W2114872772","https://openalex.org/W2160899683","https://openalex.org/W6673609794"],"related_works":["https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2906293295","https://openalex.org/W2573562027","https://openalex.org/W2245353192","https://openalex.org/W2004793478","https://openalex.org/W76816740","https://openalex.org/W1916203309","https://openalex.org/W2185220635"],"abstract_inverted_index":{"Robotic":[0],"assisted":[1],"technologies":[2],"benefit":[3],"surgeon":[4],"for":[5,53],"less":[6],"workload":[7],"via":[8],"dexterous":[9,54,129],"manipulation":[10,130],"in":[11,27,99,138],"minimally":[12],"invasive":[13],"surgeries":[14],"(MIS).":[15],"Redundant":[16],"manipulator":[17,65,124],"can":[18],"provide":[19],"sufficient":[20],"dexterity":[21],"and":[22,30,71,117],"is":[23,77,93,125],"potential":[24],"to":[25,79,95,107],"use":[26],"a":[28,36,73,89,100,132,139],"confined":[29],"narrow":[31,101,140],"workspace.":[32,102,142],"We":[33],"had":[34],"designed":[35],"master-slave":[37],"paediatric":[38],"surgical":[39,141],"assist":[40],"robot,":[41],"which":[42],"consists":[43],"of":[44,62,111,127],"two":[45],"symmetric":[46],"slave":[47],"arms":[48],"with":[49,131],"nine":[50],"DOFs":[51],"each":[52],"manipulation.":[55],"This":[56],"paper":[57],"presents":[58],"the":[59,63,81,85,109,112,118,122],"kinematics":[60,115],"computation":[61],"redundant":[64,86,123],"based":[66],"on":[67],"its":[68],"geometrical":[69],"structure,":[70],"then,":[72],"shape":[74],"optimization":[75],"algorithm":[76,92,116],"constructed":[78,94],"calculate":[80],"posture":[82],"configuration":[83],"along":[84],"manipulator,":[87],"subsequently,":[88],"collision":[90],"avoidance":[91],"perform":[96],"motion":[97],"planning":[98],"The":[103],"experiments":[104],"were":[105],"executed":[106],"validate":[108],"correctness":[110],"derived":[113],"inverse":[114],"results":[119],"demonstrated":[120],"that":[121],"capable":[126],"performing":[128],"positioning":[133],"accuracy":[134],"within":[135],"1.5":[136],"mm":[137]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}