{"id":"https://openalex.org/W2294886887","doi":"https://doi.org/10.1109/embc.2015.7319579","title":"A surgical parallel continuum manipulator with a cable-driven grasper","display_name":"A surgical parallel continuum manipulator with a cable-driven grasper","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W2294886887","doi":"https://doi.org/10.1109/embc.2015.7319579","mag":"2294886887","pmid":"https://pubmed.ncbi.nlm.nih.gov/26737479"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2015.7319579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2015.7319579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5009195946","display_name":"Andrew L. Orekhov","orcid":"https://orcid.org/0000-0003-3803-2326"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew L. Orekhov","raw_affiliation_strings":["University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074377682","display_name":"Caroline E. Bryson","orcid":null},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caroline E. Bryson","raw_affiliation_strings":["University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063746236","display_name":"John Till","orcid":"https://orcid.org/0000-0002-4563-6884"},"institutions":[{"id":"https://openalex.org/I2802706902","display_name":"Knoxville College","ror":"https://ror.org/02bxrp522","country_code":"US","type":"education","lineage":["https://openalex.org/I2802706902"]},{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Till","raw_affiliation_strings":["University of Tennessee Knoxville, Knoxville, TN, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tennessee Knoxville, Knoxville, TN, US","institution_ids":["https://openalex.org/I2802706902","https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015361313","display_name":"Scotty Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I2802706902","display_name":"Knoxville College","ror":"https://ror.org/02bxrp522","country_code":"US","type":"education","lineage":["https://openalex.org/I2802706902"]},{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scotty Chung","raw_affiliation_strings":["University of Tennessee Knoxville, Knoxville, TN, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tennessee Knoxville, Knoxville, TN, US","institution_ids":["https://openalex.org/I2802706902","https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I2802706902","display_name":"Knoxville College","ror":"https://ror.org/02bxrp522","country_code":"US","type":"education","lineage":["https://openalex.org/I2802706902"]},{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Caleb Rucker","raw_affiliation_strings":["University of Tennessee Knoxville, Knoxville, TN, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tennessee Knoxville, Knoxville, TN, US","institution_ids":["https://openalex.org/I2802706902","https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2015","issue":null,"first_page":"5264","last_page":"5267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9789999723434448,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.970300018787384,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/parallel-manipulator","display_name":"Parallel manipulator","score":0.7863870859146118},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7118129134178162},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6112605333328247},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5901150107383728},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5279126763343811},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5102391242980957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47759318351745605},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.4673863649368286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45399340987205505},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3804466724395752},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.34398728609085083},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3358343839645386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3320203423500061},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32614439725875854},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14763906598091125},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13393771648406982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09207752346992493}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7863870859146118},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7118129134178162},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6112605333328247},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5901150107383728},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5279126763343811},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5102391242980957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47759318351745605},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.4673863649368286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45399340987205505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3804466724395752},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34398728609085083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3358343839645386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3320203423500061},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32614439725875854},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14763906598091125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13393771648406982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09207752346992493},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013523","descriptor_name":"Surgical Equipment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013523","descriptor_name":"Surgical Equipment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013523","descriptor_name":"Surgical Equipment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2015.7319579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2015.7319579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:26737479","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26737479","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1508808146","https://openalex.org/W1858817876","https://openalex.org/W1953891512","https://openalex.org/W1985568314","https://openalex.org/W1987076896","https://openalex.org/W1998905792","https://openalex.org/W2050268494","https://openalex.org/W2053614949","https://openalex.org/W2077568148","https://openalex.org/W2082080433","https://openalex.org/W2084271048","https://openalex.org/W2103660764","https://openalex.org/W2126182407","https://openalex.org/W2131150943","https://openalex.org/W2138564331","https://openalex.org/W2147492425","https://openalex.org/W2462654948","https://openalex.org/W4251181231","https://openalex.org/W6662903101","https://openalex.org/W6719065306"],"related_works":["https://openalex.org/W2357010517","https://openalex.org/W2392630999","https://openalex.org/W2758274745","https://openalex.org/W1944326388","https://openalex.org/W2007701578","https://openalex.org/W2138377666","https://openalex.org/W2069228476","https://openalex.org/W2076711944","https://openalex.org/W2366276599","https://openalex.org/W2127654528"],"abstract_inverted_index":{"In":[0],"this":[1,35,128],"paper,":[2],"we":[3],"present":[4],"the":[5,86,89,94,114,123],"design,":[6],"construction,":[7],"and":[8,44,69,117,125],"control":[9,105],"of":[10,34,37,58,77,88,127],"a":[11,21,28,65],"six-degree-of-freedom":[12],"(DOF),":[13],"12":[14],"mm":[15],"diameter,":[16],"parallel":[17],"continuum":[18],"manipulator":[19,38],"with":[20,73],"2-DOF,":[22],"cable-driven":[23],"grasper.":[24],"This":[25],"work":[26],"is":[27],"proof-of-concept":[29],"first":[30],"step":[31],"towards":[32],"miniaturization":[33],"type":[36],"design":[39,129],"to":[40,92,107],"provide":[41],"increased":[42],"dexterity":[43],"stability":[45],"in":[46,64],"confined-space":[47],"surgical":[48],"applications,":[49],"particularly":[50],"for":[51,135],"endoscopic":[52],"procedures.":[53],"Our":[54],"robotic":[55],"system":[56],"consists":[57],"six":[59],"superelastic":[60],"NiTi":[61],"(Nitinol)":[62],"tubes":[63],"standard":[66],"Stewart-Gough":[67,115],"configuration":[68],"an":[70],"end":[71,95],"effector":[72],"180":[74],"degree":[75],"motion":[76],"its":[78],"two":[79],"jaws.":[80],"Two":[81],"Kevlar":[82],"cables":[83],"pass":[84],"through":[85],"centers":[87],"tube":[90],"legs":[91],"actuate":[93],"effector.":[96],"A":[97],"computationally":[98],"efficient":[99],"inverse":[100],"kinematics":[101],"model":[102],"provides":[103],"low-level":[104],"inputs":[106],"ten":[108],"independent":[109],"linear":[110],"actuators,":[111],"which":[112],"drive":[113],"platform":[116],"end-effector":[118],"actuation":[119],"cables.":[120],"We":[121],"demonstrate":[122],"performance":[124],"feasibility":[126],"by":[130],"conducting":[131],"open-loop":[132],"range-of-motion":[133],"tests":[134],"our":[136],"system.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}