{"id":"https://openalex.org/W2113623662","doi":"https://doi.org/10.1109/icara.2000.4803998","title":"Development of the dexterous manipulator and the force sensor for Minimally Invasive Surgery","display_name":"Development of the dexterous manipulator and the force sensor for Minimally Invasive Surgery","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2113623662","doi":"https://doi.org/10.1109/icara.2000.4803998","mag":"2113623662"},"language":"en","primary_location":{"id":"doi:10.1109/icara.2000.4803998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara.2000.4803998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 4th International Conference on Autonomous Robots and Agents","raw_type":"proceedings-article"},"type":"conference-paper","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/A5102175664","display_name":"Hoseok Song","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ho-seok Song","raw_affiliation_strings":["Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Mechanical Engineering Department, Korea Advanced Institute of Science and Technology , Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Mechanical Engineering Department, Korea Advanced Institute of Science and Technology , Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719851","display_name":"Kiyoung Kim","orcid":"https://orcid.org/0000-0003-3700-6599"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ki-young Kim","raw_affiliation_strings":["Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Mechanical Engineering Department, Korea Advanced Institute of Science and Technology , Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Mechanical Engineering Department, Korea Advanced Institute of Science and Technology , Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101949584","display_name":"Jung\u2010Ju Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung-ju Lee","raw_affiliation_strings":["Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Mechanical Engineering Department, Korea Advanced Institute of Science and Technology , Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Mechanical Engineering Department, Korea Advanced Institute of Science and Technology , Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":2.7026,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8931931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"524","last_page":"528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9993000030517578,"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/T10888","display_name":"Augmented Reality Applications","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8481148481369019},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.7487163543701172},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6566922068595886},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5910556316375732},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5239567756652832},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.5144239068031311},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4922150671482086},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4825279414653778},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46640482544898987},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.42602190375328064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4052864611148834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37154048681259155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2252335250377655},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.20772966742515564},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1151319146156311},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10778796672821045}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8481148481369019},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.7487163543701172},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6566922068595886},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5910556316375732},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5239567756652832},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.5144239068031311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4922150671482086},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4825279414653778},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46640482544898987},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.42602190375328064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4052864611148834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37154048681259155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2252335250377655},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.20772966742515564},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1151319146156311},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10778796672821045},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara.2000.4803998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara.2000.4803998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 4th International Conference on Autonomous Robots and Agents","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W38176517","https://openalex.org/W1518938397","https://openalex.org/W1589859477","https://openalex.org/W1615247479","https://openalex.org/W1642092999","https://openalex.org/W2004067658","https://openalex.org/W2074409095","https://openalex.org/W2106821231","https://openalex.org/W2113858239","https://openalex.org/W2114428836","https://openalex.org/W2117682623","https://openalex.org/W2160899683","https://openalex.org/W2200947204","https://openalex.org/W2476882817"],"related_works":["https://openalex.org/W2546203678","https://openalex.org/W2391397427","https://openalex.org/W2111551460","https://openalex.org/W1996341361","https://openalex.org/W4392894440","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W4233764379","https://openalex.org/W2139286786","https://openalex.org/W2919815400"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,6,27,31,48,72,97,139,149],"design":[4,25,151],"and":[5,36,142,158],"performance":[7],"results":[8],"of":[9,26,33,58,74,99],"a":[10,21,44,51,86,90,135],"dexterous":[11],"manipulator":[12],"for":[13,42],"minimally":[14,163],"invasive":[15,164],"surgery":[16,140],"(MIS)":[17],"that":[18,71,116,148],"performs":[19],"like":[20],"human":[22,52],"arm.":[23],"The":[24],"loadcell":[28],"to":[29,84,93,121,128,137],"measure":[30],"force":[32],"its":[34,37],"tool-tip":[35],"method":[38],"are":[39,146],"also":[40,63,114],"presented":[41],"including":[43],"force-feedback":[45],"loop":[46],"in":[47,89],"future.":[49],"Because":[50],"whole":[53],"arm":[54],"has":[55],"7":[56,65],"degrees":[57],"freedom":[59],"(DoF),":[60],"we":[61,145],"have":[62],"designed":[64],"DoF":[66],"manipulator.":[67],"Some":[68],"researchers":[69],"reported":[70],"development":[73],"either":[75],"mechanical":[76],"or":[77],"electromechanical":[78],"teleoperators,":[79],"which":[80],"would":[81,118],"enable":[82],"surgeons":[83,117,154],"move":[85],"MIS":[87],"system":[88],"manner":[91],"analogous":[92],"an":[94],"open":[95],"instrument,":[96],"time":[98],"current":[100],"laparoscopic":[101],"procedures":[102,123],"could":[103],"potentially":[104],"be":[105,119],"reduced":[106],"by":[107],"at":[108],"least":[109],"15%.":[110],"Furthermore,":[111],"it":[112],"is":[113,134],"possible":[115],"able":[120],"perform":[122,138],"currently":[124],"considered":[125],"too":[126],"difficult":[127],"execute.":[129],"Additionally,":[130],"improved":[131,156],"haptic":[132,160],"Information":[133],"helpful":[136],"safer":[141],"faster.":[143],"Accordingly,":[144],"expecting":[147],"suggested":[150],"will":[152],"provide":[153],"with":[155],"dexterity":[157],"advanced":[159],"feeling":[161],"during":[162],"surgery.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}