{"id":"https://openalex.org/W2036454563","doi":"https://doi.org/10.1109/icra.2014.6907466","title":"Kinematic control of redundant arms based on the virtual incision ports for robotic single-port access surgery","display_name":"Kinematic control of redundant arms based on the virtual incision ports for robotic single-port access surgery","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2036454563","doi":"https://doi.org/10.1109/icra.2014.6907466","mag":"2036454563"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907466","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":"conference-paper","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/A5103190670","display_name":"Junwon Jang","orcid":"https://orcid.org/0000-0001-8402-1252"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junwon Jang","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103167524","display_name":"Hyundo Choi","orcid":"https://orcid.org/0000-0001-6730-4525"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyundo Choi","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101794539","display_name":"Hyungjoo Kim","orcid":"https://orcid.org/0000-0002-1340-6523"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungjoo Kim","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087759678","display_name":"Hoseong Kwak","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoseong Kwak","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Yongin-si, Gyeonggi -do, Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Advanced Institute of Technology, San 14, Nongseo-dong, Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2250650973"],"apc_list":null,"apc_paid":null,"fwci":2.2793,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86757473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"4176","last_page":"4181"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9965000152587891,"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/T10916","display_name":"Surgical Simulation and Training","score":0.970300018787384,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7246197462081909},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6915988922119141},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6660987734794617},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6373323798179626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.581847071647644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5633680820465088},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.4993884563446045},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4578584134578705},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.4357645809650421},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4270366430282593},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4115879535675049},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37453556060791016},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3730664849281311},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3621387481689453},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32143524289131165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2554914653301239},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14280027151107788},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1328824758529663}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7246197462081909},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6915988922119141},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6660987734794617},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6373323798179626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.581847071647644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5633680820465088},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.4993884563446045},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4578584134578705},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.4357645809650421},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4270366430282593},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4115879535675049},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37453556060791016},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3730664849281311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3621387481689453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32143524289131165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2554914653301239},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14280027151107788},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1328824758529663},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907466","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7099999785423279,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1510918013","https://openalex.org/W1976255235","https://openalex.org/W1992791708","https://openalex.org/W1999660210","https://openalex.org/W2012945284","https://openalex.org/W2022514885","https://openalex.org/W2034235606","https://openalex.org/W2054773666","https://openalex.org/W2055023783","https://openalex.org/W2082343717","https://openalex.org/W2102904058","https://openalex.org/W2126182407","https://openalex.org/W2156041305","https://openalex.org/W2161859313","https://openalex.org/W2395251126","https://openalex.org/W6630510879","https://openalex.org/W6664169614","https://openalex.org/W6682975094","https://openalex.org/W6712092162","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552"],"abstract_inverted_index":{"This":[0,83],"paper":[1],"presents":[2],"a":[3,47,87,98,102,118,146,152],"novel":[4],"kinematic":[5],"control":[6,139],"scheme":[7,140],"based":[8],"on":[9],"the":[10,40,93,134,143,162],"Virtual":[11],"Incision":[12],"Ports":[13],"(VIPs)":[14],"for":[15,22,50,97,121,157],"redundancy":[16,88,99],"resolution":[17,89,100],"of":[18,72,92,109,133,145],"redundant":[19],"robotic":[20,110],"arms":[21],"single-port":[23],"access":[24],"(SPA)":[25],"surgery.":[26],"In":[27,107],"general,":[28],"manipulators":[29],"have":[30,86],"6":[31,55,75],"DoFs":[32,76],"except":[33],"grippers":[34],"to":[35,38,80],"be":[36,61],"able":[37],"reach":[39],"desired":[41],"pose":[42],"in":[43],"3D":[44],"space.":[45],"If":[46],"surgical":[48,158],"robot":[49,70],"SPA":[51,111],"surgery":[52],"has":[53,117],"only":[54],"DoFs,":[56],"then":[57],"its":[58],"workspace":[59],"could":[60],"restricted":[62],"severely.":[63],"Therefore":[64],"most":[65,94],"robots":[66],"including":[67],"our":[68],"developed":[69],"consist":[71],"more":[73,153],"than":[74],"with":[77,129,148],"an":[78],"elbow":[79,136],"maintain":[81],"triangulation.":[82],"means":[84],"they":[85],"problem.":[90],"One":[91],"popular":[95],"methods":[96],"is":[101],"pseudo-inverse":[103],"Jacobian":[104],"method":[105,115],"[1].":[106],"case":[108],"surgery,":[112],"however,":[113],"this":[114],"intrinsically":[116],"high":[119],"possibility":[120,144],"hurting":[122],"abdominal":[123],"organs":[124],"and":[125,150,168],"muscles":[126],"or":[127],"conflicting":[128],"other":[130],"instruments":[131],"because":[132],"unexpected":[135],"movements.":[137],"Our":[138],"can":[141],"decrease":[142],"collision":[147],"them":[149],"provide":[151],"flexible":[154],"working":[155],"area":[156],"tasks":[159],"by":[160],"reallocating":[161],"VIP.":[163],"Results":[164],"presented":[165],"from":[166],"simulation":[167],"experiment":[169],"will":[170],"demonstrate":[171],"them.":[172]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
