{"id":"https://openalex.org/W2766796613","doi":"https://doi.org/10.1109/icinfa.2017.8078916","title":"Design and analysis of a haptic master manipulator for minimally invasive surgery","display_name":"Design and analysis of a haptic master manipulator for minimally invasive surgery","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2766796613","doi":"https://doi.org/10.1109/icinfa.2017.8078916","mag":"2766796613"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2017.8078916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2017.8078916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},"type":"article","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/A5101921017","display_name":"Xu Chen","orcid":"https://orcid.org/0000-0003-1117-8720"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Chen","raw_affiliation_strings":["Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037123233","display_name":"Xiaoxiao Xin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxiao Xin","raw_affiliation_strings":["Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042608392","display_name":"Baoliang Zhao","orcid":"https://orcid.org/0000-0002-8157-5951"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoliang Zhao","raw_affiliation_strings":["Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051096302","display_name":"Yucheng He","orcid":"https://orcid.org/0000-0003-2459-597X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yucheng He","raw_affiliation_strings":["Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007334674","display_name":"Shoubin Liu","orcid":"https://orcid.org/0000-0002-0472-0983"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shoubin Liu","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, Shenzhen, Guangdong Province, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, Shenzhen, Guangdong Province, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101921017"],"corresponding_institution_ids":["https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.3824,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.60567986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"260","last_page":"265"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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":0.9980000257492065,"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":0.9957000017166138,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9853000044822693,"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/haptic-technology","display_name":"Haptic technology","score":0.8437275886535645},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7060839533805847},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6986138224601746},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5904632806777954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5613731145858765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5019216537475586},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.49259239435195923},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48542889952659607},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.44429728388786316},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4341527223587036},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42796021699905396},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4273108243942261},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35238873958587646},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.19527271389961243},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10284724831581116}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8437275886535645},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7060839533805847},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6986138224601746},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5904632806777954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5613731145858765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5019216537475586},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.49259239435195923},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48542889952659607},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.44429728388786316},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4341527223587036},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42796021699905396},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4273108243942261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35238873958587646},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.19527271389961243},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10284724831581116},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2017.8078916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2017.8078916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1508984145","https://openalex.org/W1976569838","https://openalex.org/W2020864819","https://openalex.org/W2021346372","https://openalex.org/W2022977275","https://openalex.org/W2025939589","https://openalex.org/W2031033715","https://openalex.org/W2049410986","https://openalex.org/W2062691475","https://openalex.org/W2070917084","https://openalex.org/W2076005773","https://openalex.org/W2104370419","https://openalex.org/W2128763625","https://openalex.org/W2167505600","https://openalex.org/W2258184371","https://openalex.org/W4246744050","https://openalex.org/W6644487779"],"related_works":["https://openalex.org/W2419248997","https://openalex.org/W4205284030","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W2546203678","https://openalex.org/W848152769"],"abstract_inverted_index":{"Robot-assisted":[0],"minimally":[1],"invasive":[2],"surgery":[3,70],"has":[4,140],"gained":[5],"popularity":[6],"in":[7,165],"recent":[8],"years,":[9],"such":[10],"as":[11],"Zeus,":[12],"da-Vinci":[13],"and":[14,25,46,59,107,134,157],"MicroHand":[15],"A,":[16],"which":[17],"can":[18],"provide":[19],"surgeons":[20],"with":[21,94,126],"enhanced":[22],"visual":[23],"feedback":[24,48,80,96,160],"dexterity":[26,45],"of":[27,35,63,90,100,123],"instruments.":[28],"Master":[29],"manipulator":[30,93,154],"is":[31,82,113,155,162],"an":[32],"important":[33],"component":[34],"the":[36,55,61,64,78,147,151,158],"surgical":[37],"robot":[38],"system,":[39],"whose":[40],"posture":[41],"recognition":[42],"accuracy,":[43],"operation":[44],"force":[47,79,95,159],"feature":[49,81],"will":[50],"have":[51,72],"profound":[52],"influence":[53],"to":[54],"surgeons'":[56],"user":[57],"experience":[58],"affect":[60],"quality":[62],"surgery.":[65],"At":[66],"present,":[67],"different":[68],"robotic":[69],"systems":[71],"their":[73],"own":[74],"master":[75,92,153],"manipulators,":[76],"but":[77],"missing.":[83],"This":[84],"paper":[85],"proposes":[86],"a":[87],"8-DOF":[88],"(degree":[89],"freedom)":[91],"function.":[97],"It":[98],"consists":[99,122],"three":[101],"parts:":[102],"arm":[103,111,138],"mechanism,":[104],"wrist":[105,120],"mechanism":[106,112,121,139],"clamp":[108],"mechanism.":[109],"The":[110,132],"driven":[114],"by":[115],"cables":[116],"for":[117,137,150],"better":[118],"backdrivability,":[119],"four":[124],"joints":[125],"axes":[127],"intersected":[128],"at":[129],"one":[130],"point.":[131],"configuration":[133],"link":[135],"length":[136],"been":[141],"optimized":[142],"based":[143],"on":[144],"kinematic":[145],"analysis,":[146],"detailed":[148,164],"design":[149],"whole":[152],"described,":[156],"algorithm":[161],"also":[163],"this":[166],"paper.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
