{"id":"https://openalex.org/W1977176825","doi":"https://doi.org/10.1109/icra.2014.6907037","title":"A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery","display_name":"A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1977176825","doi":"https://doi.org/10.1109/icra.2014.6907037","mag":"1977176825","pmid":"https://pubmed.ncbi.nlm.nih.gov/25383234"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4220308","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100804014","display_name":"Xingchi He","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingchi He","raw_affiliation_strings":["Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072682541","display_name":"Marcin Balicki","orcid":"https://orcid.org/0000-0003-4340-6222"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcin Balicki","raw_affiliation_strings":["Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051080702","display_name":"Peter Gehlbach","orcid":"https://orcid.org/0000-0002-9608-9171"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Gehlbach","raw_affiliation_strings":["Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067830794","display_name":"James T. Handa","orcid":"https://orcid.org/0000-0003-1314-1745"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Handa","raw_affiliation_strings":["Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor","Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell Taylor","raw_affiliation_strings":["Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor","Computer Science Department, Johns Hopkins University, Baltimore, MD, 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"Computer Science Department, Johns Hopkins University, Baltimore, MD, 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063913520","display_name":"Iulian Iordachita","orcid":"https://orcid.org/0000-0002-2510-9008"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iulian Iordachita","raw_affiliation_strings":["Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1162,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.86003237,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2014","issue":null,"first_page":"1411","last_page":"1418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11377","display_name":"Retinal and Macular Surgery","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5789310932159424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5450222492218018},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.535036027431488},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5092247724533081},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49630028009414673},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.4927842915058136},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4571596682071686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4292581081390381},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3229977488517761},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.18493035435676575},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15540388226509094}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5789310932159424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5450222492218018},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.535036027431488},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5092247724533081},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49630028009414673},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.4927842915058136},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4571596682071686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4292581081390381},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3229977488517761},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.18493035435676575},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15540388226509094},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmid:25383234","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25383234","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:4220308","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4220308","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:4220308","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4220308","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W124560532","https://openalex.org/W1821537228","https://openalex.org/W1964461287","https://openalex.org/W1973377703","https://openalex.org/W1974070762","https://openalex.org/W1987715976","https://openalex.org/W2002048240","https://openalex.org/W2017484120","https://openalex.org/W2031328518","https://openalex.org/W2037068092","https://openalex.org/W2038853452","https://openalex.org/W2044544244","https://openalex.org/W2049739652","https://openalex.org/W2058809611","https://openalex.org/W2081398090","https://openalex.org/W2084780923","https://openalex.org/W2086283017","https://openalex.org/W2087665419","https://openalex.org/W2094904022","https://openalex.org/W2095771936","https://openalex.org/W2097155231","https://openalex.org/W2105161487","https://openalex.org/W2108817574","https://openalex.org/W2111551460","https://openalex.org/W2116833377","https://openalex.org/W2121821432","https://openalex.org/W2122850646","https://openalex.org/W2125429845","https://openalex.org/W2137011683","https://openalex.org/W2143007441","https://openalex.org/W2149985621","https://openalex.org/W2153752636","https://openalex.org/W2155300620","https://openalex.org/W2167487997","https://openalex.org/W2167971611","https://openalex.org/W2170514420","https://openalex.org/W2170632959","https://openalex.org/W4233243442","https://openalex.org/W6605120561","https://openalex.org/W6643529360","https://openalex.org/W6682623553","https://openalex.org/W6684734564"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W2200472972","https://openalex.org/W1989694608","https://openalex.org/W2031643172","https://openalex.org/W2139876914","https://openalex.org/W2731583012","https://openalex.org/W2116848172","https://openalex.org/W28635375"],"abstract_inverted_index":{"Robotic":[0],"systems":[1],"have":[2],"the":[3,15,60,65,80,85,89,94,98,133,136,140,145,162,176],"potential":[4],"to":[5,20,49,59,107,126],"assist":[6],"vitreoretinal":[7],"surgeons":[8],"in":[9],"extremely":[10],"difficult":[11],"surgical":[12],"tasks":[13],"inside":[14,84],"human":[16],"eye.":[17],"In":[18,147],"addition":[19],"reducing":[21],"hand":[22],"tremor":[23],"and":[24,39,87,97,159,172],"improving":[25],"tool":[26],"positioning,":[27],"a":[28],"robotic":[29],"assistant":[30],"can":[31],"provide":[32],"assistive":[33],"motion":[34],"guidance":[35],"using":[36],"virtual":[37],"fixtures,":[38],"incorporate":[40],"real-time":[41],"feedback":[42],"from":[43],"intraocular":[44],"force":[45,151,155,164],"sensing":[46,165],"ophthalmic":[47],"instruments":[48],"present":[50],"tissue":[51],"manipulation":[52],"forces,":[53],"that":[54,72],"are":[55,167],"otherwise":[56],"physically":[57],"imperceptible":[58],"surgeon.":[61],"This":[62,117],"paper":[63],"presents":[64],"design":[66],"of":[67,75,135,161,175],"an":[68,120,182],"FBG-based,":[69],"multi-function":[70,163],"instrument":[71,81,95,141,166],"is":[73,105,142],"capable":[74],"measuring":[76],"mN-level":[77],"forces":[78],"at":[79],"tip":[82],"located":[83],"eye,":[86],"also":[88,131],"sclera":[90,154],"contact":[91,100],"location":[92,138],"on":[93,181],"shaft":[96],"corresponding":[99],"force.":[101],"The":[102,157],"given":[103],"information":[104],"used":[106],"augment":[108],"cooperatively":[109],"controlled":[110],"robot":[111,179],"behavior":[112],"with":[113,170],"variable":[114,177],"admittance":[115,178],"control.":[116],"effectively":[118],"creates":[119],"adaptive":[121],"remote":[122],"center-of-motion":[123],"(RCM)":[124],"constraint":[125],"minimize":[127],"eye":[128,183],"motion,":[129],"but":[130],"allows":[132],"translation":[134],"RCM":[137],"if":[139],"not":[143],"near":[144],"retina.":[146],"addition,":[148],"it":[149],"provides":[150],"scaling":[152],"for":[153],"feedback.":[156],"calibration":[158],"validation":[160],"presented,":[168],"along":[169],"demonstration":[171],"performance":[173],"assessment":[174],"control":[180],"phantom.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}