{"id":"https://openalex.org/W2055619641","doi":"https://doi.org/10.1109/coase.2012.6386429","title":"Design of a bending mechanism for automated cystoscope","display_name":"Design of a bending mechanism for automated cystoscope","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W2055619641","doi":"https://doi.org/10.1109/coase.2012.6386429","mag":"2055619641"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2012.6386429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5057075440","display_name":"Xianming Ye","orcid":"https://orcid.org/0000-0002-6158-1377"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xianming Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5101760270","display_name":"W. Jong Yoon","orcid":"https://orcid.org/0000-0001-7892-8413"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"W. Jong Yoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2071,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5749754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"261","last_page":"266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9858999848365784,"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/kinematics","display_name":"Kinematics","score":0.7431893348693848},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6902216672897339},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.5805482864379883},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5703808665275574},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5529638528823853},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.453584223985672},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42043182253837585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4130939841270447},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3877376616001129},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3542170524597168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3246559500694275},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31192445755004883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2332574427127838},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23180299997329712},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18781834840774536},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15079781413078308},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10760977864265442}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7431893348693848},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6902216672897339},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.5805482864379883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5703808665275574},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5529638528823853},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.453584223985672},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42043182253837585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4130939841270447},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3877376616001129},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3542170524597168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3246559500694275},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31192445755004883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2332574427127838},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23180299997329712},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18781834840774536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15079781413078308},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10760977864265442},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2012.6386429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6299999952316284,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1976775775","https://openalex.org/W2042122858","https://openalex.org/W2047754860","https://openalex.org/W2063797945","https://openalex.org/W2068816162","https://openalex.org/W2069191531","https://openalex.org/W2096645690","https://openalex.org/W2100949194","https://openalex.org/W2101667962","https://openalex.org/W2131150943","https://openalex.org/W2133231729","https://openalex.org/W2144709180","https://openalex.org/W2148021792","https://openalex.org/W2155829623","https://openalex.org/W2158734599","https://openalex.org/W2403297090","https://openalex.org/W4291302063","https://openalex.org/W6713452832"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W1996912299"],"abstract_inverted_index":{"Bladder":[0],"cancer":[1,16],"has":[2],"a":[3,37,75],"high":[4],"recurrence":[5],"rate,":[6],"which":[7],"requires":[8],"years":[9],"of":[10,19,36,51,55,63,74,81,90,122,125,135,141,176],"regular":[11],"postoperative":[12],"surveillance":[13],"to":[14,41,161],"monitor":[15,28],"recurrence.":[17],"Both":[18],"patients":[20],"and":[21,70,97,112,120,181],"urologists":[22],"will":[23],"be":[24,101],"benefited":[25],"from":[26],"automated":[27,48],"processes.":[29],"This":[30],"paper":[31],"presents":[32],"the":[33,52,56,72,109,114,118,123,126,142,156,174,177,186],"preliminary":[34],"design":[35],"segmented":[38],"bending":[39,60,65,95,98,133,164,179],"mechanism":[40,61,145,180],"steer":[42],"an":[43],"embedded":[44],"imaging":[45,127],"probe":[46,128],"for":[47,166,184],"visual":[49],"inspection":[50],"inside":[53],"surface":[54,111],"bladder.":[57],"The":[58],"suggested":[59],"consists":[62],"three":[64],"segments":[66],"connected":[67],"in":[68,155],"series":[69],"forms":[71],"shape":[73],"continuum":[76],"robot":[77],"with":[78],"redundant":[79],"degree":[80],"freedom.":[82],"Every":[83],"segment":[84],"is":[85,146,159],"controlled":[86,102,130],"by":[87,131],"two":[88],"pairs":[89],"distributed":[91],"thin":[92],"wires.":[93],"Its":[94],"angle":[96],"direction":[99],"can":[100],"independently.":[103],"To":[104],"obtain":[105],"perpendicular":[106],"view":[107,168],"on":[108,151],"bladder":[110,188],"maintain":[113],"required":[115],"safety":[116],"distance,":[117],"positions":[119],"orientations":[121],"tip":[124],"are":[129],"synchronized":[132],"motions":[134],"all":[136],"segments.":[137],"Forward":[138],"kinematics":[139,149],"model":[140],"proposed":[143,178],"hyper-redundant":[144],"developed.":[147],"Inverse":[148],"based":[150],"exhaustive":[152],"searching":[153],"algorithm":[154],"configuration":[157],"space":[158],"used":[160],"find":[162],"suitable":[163],"configurations":[165],"specific":[167],"centers.":[169],"Kinematics":[170],"simulation":[171],"results":[172],"verify":[173],"effectiveness":[175],"control":[182],"method":[183],"scanning":[185],"entire":[187],"inner":[189],"surface.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}