{"id":"https://openalex.org/W2146461823","doi":"https://doi.org/10.1109/icra.2011.5980261","title":"An articulated universal joint based flexible access robot for minimally invasive surgery","display_name":"An articulated universal joint based flexible access robot for minimally invasive surgery","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2146461823","doi":"https://doi.org/10.1109/icra.2011.5980261","mag":"2146461823"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980261","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/A5101947566","display_name":"Jianzhong Shang","orcid":"https://orcid.org/0000-0002-4576-5651"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"J. Shang","raw_affiliation_strings":["Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","The Hamlyn Centre for Robotic Surgery,Imperial College London,UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery,Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105526092","display_name":"David P. Noonan","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"D.P. Noonan","raw_affiliation_strings":["Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","The Hamlyn Centre for Robotic Surgery,Imperial College London,UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery,Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032238485","display_name":"Christopher J. Payne","orcid":"https://orcid.org/0000-0002-5741-8948"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"C. Payne","raw_affiliation_strings":["Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","The Hamlyn Centre for Robotic Surgery,Imperial College London,UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery,Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075055269","display_name":"Jane Clark","orcid":"https://orcid.org/0000-0001-9396-2193"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"J. Clark","raw_affiliation_strings":["Department of Surgery & Cancer, Imperial College London, London, UK","[The Dept. of Surgery & Cancer, Imperial College London, UK]"],"affiliations":[{"raw_affiliation_string":"Department of Surgery & Cancer, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"[The Dept. of Surgery & Cancer, Imperial College London, UK]","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060429192","display_name":"Mikael H. Sodergren","orcid":"https://orcid.org/0000-0002-7141-3924"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"M.H. Sodergren","raw_affiliation_strings":["Department of Surgery & Cancer, Imperial College London, London, UK","[The Dept. of Surgery & Cancer, Imperial College London, UK]"],"affiliations":[{"raw_affiliation_string":"Department of Surgery & Cancer, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"[The Dept. of Surgery & Cancer, Imperial College London, UK]","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055785355","display_name":"Ara Darzi","orcid":"https://orcid.org/0000-0001-7815-7989"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"A. Darzi","raw_affiliation_strings":["Department of Surgery & Cancer, Imperial College London, London, UK","[The Dept. of Surgery & Cancer, Imperial College London, UK]"],"affiliations":[{"raw_affiliation_string":"Department of Surgery & Cancer, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"[The Dept. of Surgery & Cancer, Imperial College London, UK]","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"G.-Z. Yang","raw_affiliation_strings":["Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","The Hamlyn Centre for Robotic Surgery,Imperial College London,UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre of Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery,Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101947566"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":13.7625,"has_fulltext":false,"cited_by_count":153,"citation_normalized_percentile":{"value":0.99254642,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1147","last_page":"1152"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":1.0,"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/T10916","display_name":"Surgical Simulation and Training","score":0.994700014591217,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9634000062942505,"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/invasive-surgery","display_name":"Invasive surgery","score":0.6402084827423096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5303678512573242},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5121018886566162},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49734166264533997},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48800817131996155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46561291813850403},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.4505683183670044},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4403035640716553},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.43795377016067505},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.21194562315940857},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13043072819709778}],"concepts":[{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.6402084827423096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5303678512573242},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5121018886566162},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49734166264533997},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48800817131996155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46561291813850403},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.4505683183670044},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4403035640716553},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.43795377016067505},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.21194562315940857},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13043072819709778},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980261","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1486153701","https://openalex.org/W1751508427","https://openalex.org/W1975617195","https://openalex.org/W2027637252","https://openalex.org/W2049549105","https://openalex.org/W2052927736","https://openalex.org/W2066731360","https://openalex.org/W2087675256","https://openalex.org/W2103522978","https://openalex.org/W2126182407","https://openalex.org/W2151886599","https://openalex.org/W2161198056","https://openalex.org/W2161681721","https://openalex.org/W2170623737","https://openalex.org/W3024238660","https://openalex.org/W6628960405"],"related_works":["https://openalex.org/W2431417330","https://openalex.org/W2088246884","https://openalex.org/W2111551460","https://openalex.org/W2809792835","https://openalex.org/W2002702504","https://openalex.org/W2082531254","https://openalex.org/W2104370419","https://openalex.org/W73793441","https://openalex.org/W2887905217","https://openalex.org/W2125619224"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,22,54,104],"articulated":[4,23],"robotic":[5],"device":[6,20,88],"based":[7],"on":[8],"universal":[9,35],"joints":[10,36,45],"with":[11,26],"embedded":[12],"micro":[13],"motors":[14],"for":[15,53,57,62,119],"minimally":[16],"invasive":[17],"surgery.":[18],"The":[19,66],"features":[21],"distal":[24],"tip":[25],"seven":[27],"independently":[28],"controllable":[29],"degrees-of-freedom":[30],"(DoF),":[31],"arranged":[32],"as":[33,94],"two":[34,48],"(intersecting":[37],"pitch":[38],"and":[39,41,59,102],"yaw)":[40],"three":[42],"single":[43,80],"DoF":[44],"(yaw":[46],"only);":[47],"\u00d83mm":[49],"internal":[50],"channels,":[51],"one":[52],"on-board":[55],"camera":[56],"visualization":[58],"the":[60,69,73,87,91,117],"other":[61],"passing":[63],"interventional":[64],"instruments.":[65],"design":[67],"allows":[68],"robot":[70],"to":[71,89,115],"explore":[72],"entire":[74],"peritoneal":[75],"cavity":[76],"from":[77],"a":[78,95,98,111,121],"chosen":[79],"incision":[81],"point.":[82],"A":[83],"trans-vaginal":[84],"procedure":[85],"using":[86],"locate":[90],"uterine":[92],"horn,":[93],"model":[96],"of":[97],"human":[99],"fallopian":[100],"tube,":[101],"apply":[103],"endoscopic":[105],"clip":[106],"was":[107],"carried":[108],"out":[109],"during":[110],"live":[112],"porcine":[113],"trial":[114],"demonstrate":[116],"potential":[118],"performing":[120],"Natural":[122],"Orifice":[123],"Translumenal":[124],"Endoscopic":[125],"Surgery":[126],"(NOTES)":[127],"tubal":[128],"ligation":[129],"procedure.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":17},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":21},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":15}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}