{"id":"https://openalex.org/W4389542995","doi":"https://doi.org/10.1109/embc40787.2023.10341109","title":"Combination design of drive mechanism considering delay of surgical robot","display_name":"Combination design of drive mechanism considering delay of surgical robot","publication_year":2023,"publication_date":"2023-07-24","ids":{"openalex":"https://openalex.org/W4389542995","doi":"https://doi.org/10.1109/embc40787.2023.10341109","pmid":"https://pubmed.ncbi.nlm.nih.gov/38083757"},"language":"en","primary_location":{"id":"doi:10.1109/embc40787.2023.10341109","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/embc40787.2023.10341109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 45th Annual International Conference of the IEEE Engineering in Medicine &amp; 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/A5011673335","display_name":"Ryo Sekine","orcid":"https://orcid.org/0000-0001-9980-0603"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Sekine","raw_affiliation_strings":["Tokyo Institute of Technology,School of Engineering,Department of Mechanical Engineering,Japan","Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,School of Engineering,Department of Mechanical Engineering,Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064884431","display_name":"Satoshi Miura","orcid":"https://orcid.org/0000-0001-5402-8074"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Miura","raw_affiliation_strings":["Tokyo Institute of Technology,School of Engineering,Department of Mechanical Engineering,Japan","Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,School of Engineering,Department of Mechanical Engineering,Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16333992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9973000288009644,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7917312383651733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6001244783401489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5252230167388916},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.428178071975708},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.41749411821365356},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3414270281791687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3352930545806885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24075540900230408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17683616280555725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16488265991210938},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14493173360824585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09759506583213806}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7917312383651733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6001244783401489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5252230167388916},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.428178071975708},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.41749411821365356},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3414270281791687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3352930545806885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24075540900230408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17683616280555725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16488265991210938},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14493173360824585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09759506583213806},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019635","descriptor_name":"Neurosurgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019635","descriptor_name":"Neurosurgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019635","descriptor_name":"Neurosurgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019635","descriptor_name":"Neurosurgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019635","descriptor_name":"Neurosurgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc40787.2023.10341109","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/embc40787.2023.10341109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 45th Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:38083757","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38083757","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1497801503","https://openalex.org/W1628967874","https://openalex.org/W1985385066","https://openalex.org/W2038934386","https://openalex.org/W2099830911","https://openalex.org/W2115054984","https://openalex.org/W2279614982","https://openalex.org/W2896033043","https://openalex.org/W2907208940","https://openalex.org/W2979022578","https://openalex.org/W3164830757","https://openalex.org/W6695514711"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W2390968135","https://openalex.org/W4235983279","https://openalex.org/W3123416035","https://openalex.org/W2947640074","https://openalex.org/W2366934955","https://openalex.org/W2390712896","https://openalex.org/W2182763921","https://openalex.org/W2908644825","https://openalex.org/W1979551339"],"abstract_inverted_index":{"Surgical":[0],"robots":[1,14],"have":[2],"contributed":[3],"greatly":[4],"to":[5,40],"the":[6,20,26,52,73,78,82,91,99,108,114,126],"development":[7],"of":[8,22,36,44,56,84,98],"minimally":[9],"invasive":[10],"surgery.":[11],"However,":[12],"these":[13],"suffer":[15],"from":[16],"issues":[17],"such":[18],"as":[19,25],"looseness":[21],"wires":[23,49,146],"acting":[24],"robot's":[27,92],"drive":[28,109,128,149],"mechanism,":[29],"and":[30,90,102,107,139,147],"high":[31],"maintenance":[32],"cost.":[33],"The":[34,60,96],"objective":[35],"this":[37],"study":[38],"was":[39,64,87,94,123,130],"derive":[41],"a":[42,57,67],"combination":[43],"driving":[45],"mechanisms":[46],"other":[47],"than":[48],"that":[50,112,143],"satisfies":[51],"required":[53,115],"positional":[54,116],"accuracy":[55,117,122],"surgical":[58,69,141],"robot.":[59],"robot":[61,100,142],"operation":[62,74],"trajectory":[63,75],"obtained":[65,76],"using":[66],"virtual":[68],"simulator.":[70],"Based":[71],"on":[72],"in":[77],"suture":[79],"task":[80],"experiment,":[81],"delay":[83,104],"each":[85],"joint":[86],"virtually":[88],"simulated,":[89],"position":[93],"calculated.":[95],"positions":[97],"with":[101],"without":[103],"were":[105,118],"compared,":[106],"mechanism":[110,129],"combinations":[111],"satisfy":[113],"obtained.":[119],"Thus,":[120],"satisfactory":[121],"achieved":[124],"when":[125],"alternative":[127,148],"properly":[131],"placed.Clinical":[132],"Relevance-":[133],"This":[134],"paper":[135],"presents":[136],"an":[137],"accurate":[138],"low-maintenance":[140],"uses":[144],"few":[145],"mechanisms.":[150]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
