{"id":"https://openalex.org/W1506157690","doi":"https://doi.org/10.1109/icra.2015.7139236","title":"Articulating minimally invasive ultrasonic tool for robotics-assisted surgery","display_name":"Articulating minimally invasive ultrasonic tool for robotics-assisted surgery","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1506157690","doi":"https://doi.org/10.1109/icra.2015.7139236","mag":"1506157690"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5014986943","display_name":"Iman Khalaji","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]},{"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"]}],"countries":["CA","CH"],"is_corresponding":false,"raw_author_name":"Iman Khalaji","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, Western University, London, Ontario, Canada","Intuitive Surgical Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, Western University, London, Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Intuitive Surgical Inc","institution_ids":["https://openalex.org/I3150213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039782206","display_name":"Michael D. Naish","orcid":"https://orcid.org/0000-0001-7603-7182"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael D. Naish","raw_affiliation_strings":["Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering, Western University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering, Western University","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rajni V. Patel","raw_affiliation_strings":["Department of Electrical and Computer Engineering and the Department of Surgery, Western University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and the Department of Surgery, Western University","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.02309124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"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":0.9491000175476074,"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/robotics","display_name":"Robotics","score":0.7314140796661377},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.659503698348999},{"id":"https://openalex.org/keywords/transducer","display_name":"Transducer","score":0.5847121477127075},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5399617552757263},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.522786557674408},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5163879990577698},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.5072500109672546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5009222030639648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4937945306301117},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4906086027622223},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.4547313153743744},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4534991383552551},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4430699348449707},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4193876385688782},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4080888032913208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3998109698295593},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33866384625434875},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3199114203453064},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.30837857723236084},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15458902716636658},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15221241116523743}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7314140796661377},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.659503698348999},{"id":"https://openalex.org/C56318395","wikidata":"https://www.wikidata.org/wiki/Q215928","display_name":"Transducer","level":2,"score":0.5847121477127075},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5399617552757263},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.522786557674408},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5163879990577698},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.5072500109672546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5009222030639648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4937945306301117},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4906086027622223},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.4547313153743744},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4534991383552551},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4430699348449707},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4193876385688782},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4080888032913208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3998109698295593},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33866384625434875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3199114203453064},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.30837857723236084},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15458902716636658},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15221241116523743},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.lib.uwo.ca:mechanicalpub-1050","is_oa":false,"landing_page_url":"https://ir.lib.uwo.ca/mechanicalpub/48","pdf_url":null,"source":{"id":"https://openalex.org/S4306400648","display_name":"Scholarship@Western (Western University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I125749732","host_organization_name":"Western University","host_organization_lineage":["https://openalex.org/I125749732"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical and Materials Engineering Publications","raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1567834739","https://openalex.org/W1567863002","https://openalex.org/W1575589734","https://openalex.org/W1593786620","https://openalex.org/W1595498733","https://openalex.org/W1610380697","https://openalex.org/W1653502332","https://openalex.org/W1802416945","https://openalex.org/W1866968156","https://openalex.org/W1995337056","https://openalex.org/W1995935856","https://openalex.org/W1998512825","https://openalex.org/W2061417916","https://openalex.org/W2077862952","https://openalex.org/W2080139714","https://openalex.org/W2097910551","https://openalex.org/W2123251470","https://openalex.org/W2146632966","https://openalex.org/W2157633876","https://openalex.org/W2158093415","https://openalex.org/W2201483828","https://openalex.org/W6634006181"],"related_works":["https://openalex.org/W1595549445","https://openalex.org/W2131557635","https://openalex.org/W2760674464","https://openalex.org/W2885222402","https://openalex.org/W2910696801","https://openalex.org/W2592088541","https://openalex.org/W1560856716","https://openalex.org/W4391992474","https://openalex.org/W2967139906","https://openalex.org/W2937676518"],"abstract_inverted_index":{"In":[0],"this":[1,22],"paper,":[2],"a":[3,28,62],"robotics-assisted":[4],"articulating":[5],"ultrasonic":[6,47],"surgical":[7,67,86,106],"scalpel":[8,48],"for":[9,37],"minimally":[10],"invasive":[11],"soft":[12],"tissue":[13],"cutting":[14],"and":[15,19,43,55,101],"coagulation":[16],"is":[17,35,77,80,91],"designed":[18],"developed.":[20],"For":[21],"purpose,":[23],"the":[24,46,83,95,102],"optimal":[25],"design":[26,44],"of":[27,45],"Langevin":[29],"transducer":[30],"with":[31,74,82],"stepped":[32],"horn":[33],"profile":[34],"presented":[36],"internal-body":[38],"applications.":[39],"The":[40,88],"modeling,":[41],"optimization":[42],"are":[49],"performed":[50],"through":[51],"equivalent":[52],"circuit":[53],"theory":[54],"verified":[56],"by":[57],"finite":[58],"element":[59],"analysis.":[60],"Moreover,":[61],"novel":[63],"two":[64],"degrees-of-freedom":[65],"(DOFs)":[66],"end":[68],"effector":[69],"(1-DOF":[70],"pitch,":[71],"1-DOF":[72],"grip)":[73],"decoupled":[75],"motions":[76],"developed":[78,89],"that":[79],"compatible":[81],"da":[84,104],"Vinci\u00ae":[85,98,105],"system.":[87,107],"instrument":[90],"then":[92],"driven":[93],"using":[94],"dVRK":[96],"(da":[97],"research":[99],"kit)":[100],"Classic":[103]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}