{"id":"https://openalex.org/W2535899254","doi":"https://doi.org/10.1109/embc.2016.7591888","title":"Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery","display_name":"Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2535899254","doi":"https://doi.org/10.1109/embc.2016.7591888","mag":"2535899254","pmid":"https://pubmed.ncbi.nlm.nih.gov/28269426"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2016.7591888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2016.7591888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","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/A5042676837","display_name":"Nikhil Deshpande","orcid":"https://orcid.org/0000-0003-4851-5655"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikhil Deshpande","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071811663","display_name":"Manish Chauhan","orcid":"https://orcid.org/0000-0001-9742-5352"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manish Chauhan","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Prattichizzo","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066219856","display_name":"Leonardo S. Mattos","orcid":"https://orcid.org/0000-0002-8511-9144"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leonardo S. Mattos","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2253,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79725301,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2016","issue":null,"first_page":"5156","last_page":"5159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.995199978351593,"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/haptic-technology","display_name":"Haptic technology","score":0.8977354764938354},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7829259634017944},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.5633798241615295},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5515168905258179},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5073389410972595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.501828670501709},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44142797589302063},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.4411349892616272},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.43154746294021606},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4192817211151123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19571295380592346},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.1775781512260437},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13091138005256653},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.09181267023086548}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8977354764938354},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7829259634017944},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.5633798241615295},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5515168905258179},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5073389410972595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.501828670501709},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44142797589302063},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.4411349892616272},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.43154746294021606},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4192817211151123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19571295380592346},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.1775781512260437},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13091138005256653},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.09181267023086548},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D004869","descriptor_name":"Equipment Safety","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004869","descriptor_name":"Equipment Safety","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004869","descriptor_name":"Equipment Safety","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D013525","descriptor_name":"Surgical Instruments","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013525","descriptor_name":"Surgical Instruments","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013525","descriptor_name":"Surgical Instruments","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2016.7591888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2016.7591888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:28269426","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28269426","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},{"id":"pmh:oai:eprints.whiterose.ac.uk:166163","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1481857892","https://openalex.org/W1976775367","https://openalex.org/W1977480719","https://openalex.org/W2006633963","https://openalex.org/W2052507202","https://openalex.org/W2070328658","https://openalex.org/W2084714310","https://openalex.org/W2087104703","https://openalex.org/W2089913832","https://openalex.org/W2115961405","https://openalex.org/W2116822311","https://openalex.org/W2139596126","https://openalex.org/W2237068932"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W4311378573","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,17,25,53],"novel,":[4],"motorized,":[5],"multi-degrees-of-freedom":[6],"(DoF),":[7],"microsurgical":[8],"forceps":[9],"tool":[10],"is":[11,14,24,52],"presented,":[12],"which":[13,57],"based":[15],"on":[16],"master-slave":[18],"teleoperation":[19,119],"architecture.":[20],"The":[21,49,70,108,126],"slave":[22,60],"device":[23,51,74,83,157],"7-DoF":[26,54],"manipulator":[27],"with:":[28],"(i)":[29],"6-DoF":[30],"positioning":[31,132],"and":[32,39,62,75,86,121,142,148,161],"orientation,":[33],"(ii)":[34],"1":[35],"open/close":[36],"gripper":[37,68],"DoF;":[38],"(iii)":[40],"an":[41,130],"integrated":[42],"force/torque":[43],"sensor":[44],"for":[45,158],"tissue":[46,88],"grip-force":[47],"measurement.":[48],"master":[50],"haptic":[55,64],"interface":[56,78],"teleoperates":[58],"the":[59,73,76,80,91,96,104,111,116,152,156,159],"device,":[61],"provides":[63],"feedback":[65],"in":[66,103],"its":[67,140,162],"interface.":[69],"combination":[71],"of":[72,110,118,123,134,155],"surgeon":[77],"replaces":[79],"manual,":[81],"hand-held":[82],"providing":[84],"easy-to-use":[85],"ergonomic":[87],"control,":[89],"simplifying":[90],"surgical":[92,101],"tasks.":[93],"This":[94],"makes":[95],"system":[97,112,128,145],"suitable":[98],"to":[99,151,164],"real":[100],"scenarios":[102],"operating":[105],"room":[106],"(OR).":[107],"performance":[109],"was":[113],"analysed":[114],"through":[115],"evaluation":[117],"control":[120],"characterization":[122],"gripping":[124],"force.":[125],"new":[127],"offers":[129],"overall":[131],"error":[133],"less":[135],"than":[136],"400":[137],"\u03bcm":[138],"demonstrating":[139],"safety":[141],"accuracy.":[143],"Improved":[144],"precision,":[146],"usability,":[147],"ergonomics":[149],"point":[150],"potential":[153],"suitability":[154],"OR":[160],"ability":[163],"advance":[165],"haptic-feedback-enhanced":[166],"transoral":[167],"laser":[168],"microsurgeries.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
