{"id":"https://openalex.org/W2139287760","doi":"https://doi.org/10.1109/icra.2012.6224679","title":"Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)","display_name":"Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2139287760","doi":"https://doi.org/10.1109/icra.2012.6224679","mag":"2139287760"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5084359797","display_name":"Mohsen Moradi Dalvand","orcid":"https://orcid.org/0000-0001-8498-3865"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Mohsen Moradi Dalvand","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Monash University, Australia","Department of Mechanical & Aerospace Engineering, Monash University, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081891660","display_name":"Bijan Shirinzadeh","orcid":"https://orcid.org/0000-0001-8474-5445"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Bijan Shirinzadeh","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Monash University, Australia","Department of Mechanical & Aerospace Engineering, Monash University, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084359797"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":1.865,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.85245298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3401","last_page":"3406"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9993000030517578,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6041581034660339},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5972996354103088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5938913226127625},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5886880159378052},{"id":"https://openalex.org/keywords/microsurgery","display_name":"Microsurgery","score":0.5590450763702393},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.5024878978729248},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4664549231529236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45732155442237854},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4366307258605957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39117109775543213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3151768445968628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22483253479003906},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.20239576697349548},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13135209679603577},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0736173689365387},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07199090719223022}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6041581034660339},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5972996354103088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5938913226127625},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5886880159378052},{"id":"https://openalex.org/C2781437307","wikidata":"https://www.wikidata.org/wiki/Q977628","display_name":"Microsurgery","level":2,"score":0.5590450763702393},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.5024878978729248},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4664549231529236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45732155442237854},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4366307258605957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39117109775543213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3151768445968628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22483253479003906},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.20239576697349548},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13135209679603577},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0736173689365387},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07199090719223022},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dro.deakin.edu.au:DU:30056196","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402457","display_name":"Deakin Research Online (Deakin University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149704539","host_organization_name":"Deakin University","host_organization_lineage":["https://openalex.org/I149704539"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W30233023","https://openalex.org/W1566257892","https://openalex.org/W2021538025","https://openalex.org/W2023482669","https://openalex.org/W2046528545","https://openalex.org/W2075536441","https://openalex.org/W2089924608","https://openalex.org/W2091418584","https://openalex.org/W2092925708","https://openalex.org/W2100280167","https://openalex.org/W2102661338","https://openalex.org/W2107636159","https://openalex.org/W2114428836","https://openalex.org/W2117577549","https://openalex.org/W2126182407","https://openalex.org/W2137144825","https://openalex.org/W2141249618","https://openalex.org/W2143047169","https://openalex.org/W2149985621","https://openalex.org/W2152395261","https://openalex.org/W2156073621","https://openalex.org/W2157729122","https://openalex.org/W2158482478","https://openalex.org/W2160899683","https://openalex.org/W2163444133","https://openalex.org/W2166282476","https://openalex.org/W2171957538","https://openalex.org/W2200477333","https://openalex.org/W2755729372","https://openalex.org/W4229917796","https://openalex.org/W4242290957","https://openalex.org/W4243219830","https://openalex.org/W6687804191","https://openalex.org/W6744187531"],"related_works":["https://openalex.org/W2363205399","https://openalex.org/W2366357518","https://openalex.org/W2196822964","https://openalex.org/W130663481","https://openalex.org/W2335149285","https://openalex.org/W2370136058","https://openalex.org/W2414943783","https://openalex.org/W857944600","https://openalex.org/W2979398413","https://openalex.org/W1532677580"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3],"6-RRCRR":[4],"parallel":[5,63],"robot":[6,85],"assisted":[7],"minimally":[8,24,106],"invasive":[9,25,107],"surgery/microsurgery":[10],"system":[11],"(PRAMiSS)":[12],"is":[13,36],"introduced.":[14],"Remote":[15],"centre-of-motion":[16],"(RCM)":[17],"control":[18,103],"algorithms":[19,67,104],"of":[20,46,57,61,99],"PRAMiSS":[21],"suitable":[22],"for":[23,105],"surgery":[26],"and":[27,75,97],"microsurgery":[28],"are":[29,92],"also":[30,68],"presented.":[31],"The":[32],"programmable":[33],"RCM":[34,102],"approach":[35],"implemented":[37],"in":[38],"order":[39],"to":[40,72,80,83,94],"achieve":[41],"manipulation":[42],"under":[43],"the":[44,49,55,58,62,66,73,77,84,88,100],"constraint":[45,71],"moving":[47],"through":[48],"fixed":[50],"penetration":[51],"point.":[52],"Having":[53],"minimised":[54],"displacements":[56],"mobile":[59],"platform":[60],"micropositioning":[64],"robot,":[65],"apply":[69],"orientation":[70],"instrument":[74],"prevent":[76],"tool":[78],"tip":[79],"orient":[81],"due":[82],"movements":[86],"during":[87],"manipulation.":[89],"Experimental":[90],"results":[91],"provided":[93],"verify":[95],"accuracy":[96],"effectiveness":[98],"proposed":[101],"surgery.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}