{"id":"https://openalex.org/W4295434359","doi":"https://doi.org/10.1109/embc48229.2022.9871310","title":"Stiffness Adaptation of a Hybrid Soft Surgical Robot for Improved Safety in Interventional Surgery","display_name":"Stiffness Adaptation of a Hybrid Soft Surgical Robot for Improved Safety in Interventional Surgery","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4295434359","doi":"https://doi.org/10.1109/embc48229.2022.9871310","pmid":"https://pubmed.ncbi.nlm.nih.gov/36085721"},"language":"en","primary_location":{"id":"doi:10.1109/embc48229.2022.9871310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc48229.2022.9871310","pdf_url":null,"source":{"id":"https://openalex.org/S4363607706","display_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & 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/A5052201634","display_name":"Majid Roshanfar","orcid":"https://orcid.org/0000-0003-3738-7782"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Majid Roshanfar","raw_affiliation_strings":["Concordia University,Mechanical Eng. Dept.,Montreal,Canada","Mechanical Eng. Dept., Concordia University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University,Mechanical Eng. Dept.,Montreal,Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Mechanical Eng. Dept., Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077169995","display_name":"Amir Sayadi","orcid":"https://orcid.org/0000-0002-5831-2344"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Sayadi","raw_affiliation_strings":["McGill University,Department of Surgery,Montreal,Canada","Department of Surgery, McGill University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill University,Department of Surgery,Montreal,Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Surgery, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072140277","display_name":"Javad Dargahi","orcid":"https://orcid.org/0000-0002-6198-5080"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Javad Dargahi","raw_affiliation_strings":["Concordia University,Mechanical Eng. Dept.,Montreal,Canada","Mechanical Eng. Dept., Concordia University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University,Mechanical Eng. Dept.,Montreal,Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Mechanical Eng. Dept., Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088381242","display_name":"Amir Hooshiar","orcid":"https://orcid.org/0000-0002-9036-5331"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Hooshiar","raw_affiliation_strings":["McGill University,Department of Surgery,Montreal,Canada","Department of Surgery, McGill University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill University,Department of Surgery,Montreal,Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Surgery, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.2818,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97625179,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"2022","issue":null,"first_page":"4853","last_page":"4859"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.993399977684021,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9682999849319458,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6813212633132935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5081586837768555},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45866575837135315},{"id":"https://openalex.org/keywords/hyperelastic-material","display_name":"Hyperelastic material","score":0.45196303725242615},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.43697279691696167},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43494361639022827},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.42799174785614014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4126121997833252},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39969152212142944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.364129900932312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3624974489212036},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.35020869970321655},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.33444973826408386},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3336247205734253},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30611854791641235},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.2551487982273102},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21840143203735352},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.17782384157180786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13765999674797058},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08793437480926514}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6813212633132935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5081586837768555},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45866575837135315},{"id":"https://openalex.org/C147370603","wikidata":"https://www.wikidata.org/wiki/Q3801506","display_name":"Hyperelastic material","level":3,"score":0.45196303725242615},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.43697279691696167},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43494361639022827},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.42799174785614014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4126121997833252},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39969152212142944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.364129900932312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3624974489212036},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.35020869970321655},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.33444973826408386},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3336247205734253},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30611854791641235},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2551487982273102},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21840143203735352},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.17782384157180786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13765999674797058},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08793437480926514},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000064","descriptor_name":"Acclimatization","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000064","descriptor_name":"Acclimatization","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000064","descriptor_name":"Acclimatization","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012106","descriptor_name":"Research","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012106","descriptor_name":"Research","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012106","descriptor_name":"Research","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"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":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc48229.2022.9871310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc48229.2022.9871310","pdf_url":null,"source":{"id":"https://openalex.org/S4363607706","display_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:36085721","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36085721","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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W599342115","https://openalex.org/W1564897360","https://openalex.org/W1613131328","https://openalex.org/W1988000217","https://openalex.org/W2005284429","https://openalex.org/W2083498294","https://openalex.org/W2101667962","https://openalex.org/W2135485145","https://openalex.org/W2136672355","https://openalex.org/W2151968342","https://openalex.org/W2168393068","https://openalex.org/W2286148712","https://openalex.org/W2290611374","https://openalex.org/W2412810726","https://openalex.org/W2553241245","https://openalex.org/W2803735436","https://openalex.org/W2804537022","https://openalex.org/W2926374707","https://openalex.org/W2934885963","https://openalex.org/W2942096073","https://openalex.org/W2947094677","https://openalex.org/W2966892768","https://openalex.org/W3036952963","https://openalex.org/W3037722175","https://openalex.org/W3043636492","https://openalex.org/W3081786822","https://openalex.org/W3090875899","https://openalex.org/W3094186510","https://openalex.org/W3096604775","https://openalex.org/W3157533866","https://openalex.org/W3206322420","https://openalex.org/W6680340458","https://openalex.org/W6696773452","https://openalex.org/W6782952252","https://openalex.org/W6784482725"],"related_works":["https://openalex.org/W4318070857","https://openalex.org/W4289888891","https://openalex.org/W2353996222","https://openalex.org/W2054885914","https://openalex.org/W3032419129","https://openalex.org/W4280618034","https://openalex.org/W2765325264","https://openalex.org/W3012177792","https://openalex.org/W2992443586","https://openalex.org/W2526555730"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1],"instruments":[2,17],"are":[3,7],"inserted":[4],"per-cutaneously":[5],"and":[6,48,101,130,148,170,186,212,225,231],"steered":[8,61,85],"toward":[9],"the":[10,23,27,36,42,63,102,105,109,112,139,153,161,177,192,205,216],"desired":[11],"anatomy.":[12],"The":[13,38,157,174,223],"low":[14],"stiffness":[15,44,96,110,180,232],"of":[16,41,50,104,111,152,176,197,207,218,240],"is":[18,25,30,45,66],"an":[19,94],"advantage;":[20],"however,":[21],"once":[22],"target":[24],"reached,":[26],"instrument":[28],"usually":[29],"required":[31],"to":[32,35,190,209,220],"transmit":[33],"force":[34,51],"environment.":[37],"main":[39],"limitation":[40],"constant":[43],"predetermined":[46],"maneuverability":[47],"cap":[49],"transmission.":[52],"Whereas,":[53],"a":[54,73,120,133,164,195,237],"highly":[55,74,87],"flexible":[56],"device":[57,76],"can":[58,77],"be":[59,84],"safely":[60],"through":[62],"body":[64],"but":[65,82],"not":[67],"suitable":[68],"for":[69,228],"payload":[70],"limit,":[71],"while":[72],"stiff":[75],"have":[78],"relatively":[79],"high":[80],"loads":[81],"cannot":[83],"in":[86,204,215],"tortuous":[88],"trajectories.":[89],"To":[90,117],"overcome":[91],"this":[92,118],"limitation,":[93],"adaptive":[95],"soft":[97,113,123],"robot":[98,114,124,154],"was":[99,128,155],"proposed,":[100],"effects":[103],"chamber":[106],"pressure":[107,203],"on":[108,138],"were":[115,200],"investigated.":[116],"end,":[119],"single-chamber":[121],"pneumatic":[122,187],"with":[125,144,168,183,202,236],"one":[126],"tendon":[127,213],"designed":[129],"fabricated.":[131],"Afterward,":[132],"continuum":[134],"mechanics":[135],"model":[136,143,147,162,178],"based":[137],"nonlinear":[140],"Cosserat":[141],"rod":[142],"hyperelastic":[145],"material":[146],"large":[149],"deformation":[150],"kinematics":[151],"developed.":[156],"shooting":[158],"method":[159],"solved":[160],"as":[163],"boundary":[165,172],"value":[166],"problem":[167],"Dirichlet":[169],"Neumann":[171],"conditions.":[173],"results":[175,227],"showed":[179,233],"adaptation":[181],"feasibility":[182],"simultaneous":[184],"tendon-driving":[185],"actuation.":[188],"Thus,":[189],"validate":[191],"theoretical":[193,224],"findings,":[194],"series":[196],"experimental":[198,226],"studies":[199],"performed":[201],"range":[206,217],"33":[208],"44":[210],"kPa":[211],"tensions":[214],"0":[219],"2.7":[221],"N.":[222],"tip":[229],"displacement":[230],"similar":[234],"trends":[235],"maximum":[238],"error":[239],"8.25%.":[241]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}