{"id":"https://openalex.org/W2142632680","doi":"https://doi.org/10.1109/icra.2011.5979987","title":"Algorithms and design considerations for robot assisted insertion of Perimodiolar Electrode Arrays","display_name":"Algorithms and design considerations for robot assisted insertion of Perimodiolar Electrode Arrays","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2142632680","doi":"https://doi.org/10.1109/icra.2011.5979987","mag":"2142632680"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5077924758","display_name":"Jason Pile","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jason Pile","raw_affiliation_strings":["ARMA Laboratory at the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","ARMA lab at the department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"ARMA Laboratory at the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"ARMA lab at the department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026972376","display_name":"Mei Yi Cheung","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mei Yi Cheung","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA","[Department of Mechanical Engineering, Columbia University, New York, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Columbia University, New York, USA]","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409926","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0002-1349-2724"},"institutions":[{"id":"https://openalex.org/I3150213","display_name":"Intuitive Surgical (Switzerland)","ror":"https://ror.org/022r80268","country_code":"CH","type":"company","lineage":["https://openalex.org/I3150213","https://openalex.org/I4210161447"]},{"id":"https://openalex.org/I4210161447","display_name":"Intuitive Surgical (United States)","ror":"https://ror.org/05g2n4m79","country_code":"US","type":"company","lineage":["https://openalex.org/I4210161447"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["Intuitive Surgical, Inc., Sunnyvale, CA, USA","Intuitive Surgical, Sunnivale, CA"],"affiliations":[{"raw_affiliation_string":"Intuitive Surgical, Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I4210161447"]},{"raw_affiliation_string":"Intuitive Surgical, Sunnivale, CA","institution_ids":["https://openalex.org/I3150213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007822020","display_name":"Nabil Simaan","orcid":"https://orcid.org/0000-0002-6125-3891"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nabil Simaan","raw_affiliation_strings":["ARMA Laboratory at the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","ARMA lab at the department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"ARMA Laboratory at the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"ARMA lab at the department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077924758"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":0.4121,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.62919823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":null,"first_page":"2898","last_page":"2904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10283","display_name":"Hearing Loss and Rehabilitation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10283","display_name":"Hearing Loss and Rehabilitation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10822","display_name":"Acoustic Wave Phenomena Research","score":0.9980999827384949,"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/T10860","display_name":"Speech and Audio Processing","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/stylet","display_name":"Stylet","score":0.8269963264465332},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6700034141540527},{"id":"https://openalex.org/keywords/repeatability","display_name":"Repeatability","score":0.5490619540214539},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5396814942359924},{"id":"https://openalex.org/keywords/cochlear-implant","display_name":"Cochlear implant","score":0.5359929800033569},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.505955159664154},{"id":"https://openalex.org/keywords/electrode-array","display_name":"Electrode array","score":0.4631355106830597},{"id":"https://openalex.org/keywords/electrode","display_name":"Electrode","score":0.4369908571243286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4366075098514557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3653731048107147},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32423603534698486},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1198752224445343},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08847856521606445}],"concepts":[{"id":"https://openalex.org/C2776410716","wikidata":"https://www.wikidata.org/wiki/Q7629472","display_name":"Stylet","level":2,"score":0.8269963264465332},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6700034141540527},{"id":"https://openalex.org/C154020017","wikidata":"https://www.wikidata.org/wiki/Q520171","display_name":"Repeatability","level":2,"score":0.5490619540214539},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5396814942359924},{"id":"https://openalex.org/C2778882171","wikidata":"https://www.wikidata.org/wiki/Q724965","display_name":"Cochlear implant","level":2,"score":0.5359929800033569},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.505955159664154},{"id":"https://openalex.org/C97562148","wikidata":"https://www.wikidata.org/wiki/Q5357989","display_name":"Electrode array","level":3,"score":0.4631355106830597},{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.4369908571243286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4366075098514557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3653731048107147},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32423603534698486},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1198752224445343},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08847856521606445},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W107085177","https://openalex.org/W1945278645","https://openalex.org/W1976915065","https://openalex.org/W1979842856","https://openalex.org/W1987080528","https://openalex.org/W1987939680","https://openalex.org/W1995028227","https://openalex.org/W2024487015","https://openalex.org/W2096328612","https://openalex.org/W2099481667","https://openalex.org/W2103150132","https://openalex.org/W2122717568","https://openalex.org/W2123720782","https://openalex.org/W2124651328","https://openalex.org/W2143200041","https://openalex.org/W2149904637","https://openalex.org/W2475349104","https://openalex.org/W6640726613","https://openalex.org/W6674508571","https://openalex.org/W6721105189"],"related_works":["https://openalex.org/W2147970649","https://openalex.org/W1969917400","https://openalex.org/W2008607030","https://openalex.org/W2936462964","https://openalex.org/W4293149513","https://openalex.org/W2075478190","https://openalex.org/W2091309120","https://openalex.org/W2475349104","https://openalex.org/W2911380898","https://openalex.org/W2070412358"],"abstract_inverted_index":{"This":[0,76],"paper":[1,77],"evaluates":[2],"the":[3,10,35,42,51,68,79,96,105,126,147,170,177,195],"potential":[4],"for":[5,9,30,55,63,117,157,166,197,214,219],"using":[6,125],"robotic":[7,32,56,91,155,199,216],"assistance":[8],"insertion":[11,33,57,123,168,200],"of":[12,34,41,67,71,81,95,99,101,111,133,150,169,176],"commercial":[13],"Perimodiolar":[14],"Electrode":[15],"Arrays":[16],"(PEA's)":[17],"that":[18,181,209],"use":[19],"a":[20,23,60,131],"stylet":[21,43],"and":[22,39,86,104,145,152,174],"pre-curved":[24,36],"electrode":[25,37,128,141,171],"body.We":[26],"propose":[27],"an":[28,65],"algorithm":[29,165],"coordinated":[31,167],"body":[38,173],"pulling":[40,175],"in":[44],"order":[45],"to":[46,58,194],"provide":[47,186,212],"partial":[48],"control":[49],"over":[50],"PEA":[52,158],"shape.":[53],"However,":[54],"be":[59],"viable":[61],"option":[62],"PEA's,":[64,82],"understanding":[66],"statistical":[69],"variability":[70,113,135],"their":[72,83,87],"characteristics":[73],"is":[74,107,114,136],"essential.":[75],"investigates":[78],"kinematics":[80],"shape":[84,112,119,134,188],"variability,":[85],"expected":[88,148],"performance":[89,149],"during":[90],"insertion.":[92,159],"An":[93],"investigation":[94],"required":[97],"number":[98],"Degrees":[100],"Freedom":[102],"(DoF)":[103],"workspace":[106],"presented.":[108],"A":[109],"study":[110,132],"carried":[115,137],"out":[116,138],"characterizing":[118],"repeatability":[120],"across":[121],"different":[122,140],"trials":[124],"same":[127],"array.":[129],"Also":[130],"between":[139],"arrays.":[142],"We":[143,207],"simulate":[144],"evaluate":[146],"three":[151],"four":[153,205],"DoF":[154],"instruments":[156],"The":[160],"results":[161,191,211],"support":[162],"our":[163],"proposed":[164],"array":[172],"stylet.":[178],"They":[179],"show":[180],"existing":[182],"commerical":[183],"perimodiolar":[184],"arrays":[185],"good":[187],"repeatability.":[189],"These":[190],"also":[192],"point":[193],"need":[196],"designing":[198],"tools":[201],"with":[202],"at":[203],"least":[204],"DoF.":[206],"believe":[208],"these":[210],"guidelines":[213],"future":[215],"instrument":[217],"design":[218],"cochlear":[220],"implant":[221],"PEA's.":[222]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}