{"id":"https://openalex.org/W1489280848","doi":"https://doi.org/10.1109/icra.2015.7139948","title":"Effects of master-slave tool misalignment in a teleoperated surgical robot","display_name":"Effects of master-slave tool misalignment in a teleoperated surgical robot","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1489280848","doi":"https://doi.org/10.1109/icra.2015.7139948","mag":"1489280848"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139948","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/A5065221891","display_name":"Lawrence H. Kim","orcid":"https://orcid.org/0000-0003-1278-5688"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lawrence H. Kim","raw_affiliation_strings":["Stanford University, Stanford, CA, US","Department of Mechanical Engineering, Stanford University, CA, 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, US","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033905416","display_name":"Clifford Bargar","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Clifford Bargar","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","Department of Mechanical Engineering, Stanford University, CA, 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010482244","display_name":"Yuhang Che","orcid":"https://orcid.org/0000-0002-4885-3462"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhang Che","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","Department of Mechanical Engineering, Stanford University, CA, 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","Department of Mechanical Engineering, Stanford University, CA, 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9512,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.75985977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5364","last_page":"5370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9961000084877014,"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":0.9951000213623047,"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/teleoperation","display_name":"Teleoperation","score":0.9573354125022888},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6553224325180054},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6053644418716431},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5913413763046265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5651817917823792},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5151389837265015},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.49944162368774414},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.44427490234375},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43292269110679626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31052082777023315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3054441809654236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20727220177650452},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07880634069442749}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9573354125022888},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6553224325180054},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6053644418716431},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5913413763046265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5651817917823792},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5151389837265015},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.49944162368774414},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.44427490234375},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43292269110679626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31052082777023315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3054441809654236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20727220177650452},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07880634069442749},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139948","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1511336021","https://openalex.org/W1974397650","https://openalex.org/W1988707210","https://openalex.org/W2006096099","https://openalex.org/W2015807465","https://openalex.org/W2031662877","https://openalex.org/W2051779754","https://openalex.org/W2056905399","https://openalex.org/W2070927739","https://openalex.org/W2088392499","https://openalex.org/W2126043438","https://openalex.org/W2142332594","https://openalex.org/W2155188066","https://openalex.org/W2159116815","https://openalex.org/W2189050031","https://openalex.org/W2567399505","https://openalex.org/W2798157462","https://openalex.org/W4206833234","https://openalex.org/W4234528037","https://openalex.org/W4240721812","https://openalex.org/W6687344527","https://openalex.org/W6807459751"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W2416670454","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2101849315"],"abstract_inverted_index":{"In":[0],"a":[1,89,133],"teleoperated":[2,130],"system,":[3],"misalignment":[4,33,49,84,103],"between":[5],"the":[6,17,26,35,38,43,61,65,80,94,125],"master":[7],"and":[8,30,45,53,64,114,127],"slave":[9],"manipulators":[10],"can":[11,120],"result":[12],"from":[13],"clutching,":[14],"errors":[15],"in":[16,76,110],"kinematic":[18],"model,":[19],"and/or":[20],"sensor":[21],"errors.":[22],"This":[23],"study":[24],"examines":[25],"effects":[27],"of":[28,32,37,47,57,82,88,129,135],"type":[29],"magnitude":[31,44],"on":[34,85],"performance":[36,87],"teleoperator.":[39],"We":[40,70],"first":[41],"characterized":[42],"direction":[46],"orientation":[48,113],"created":[50],"when":[51],"clutching":[52],"unclutching":[54],"during":[55],"use":[56],"two":[58],"surgical":[59],"robots:":[60],"Raven":[62,95],"II":[63],"da":[66],"Vinci":[67],"Research":[68],"Kit.":[69],"then":[71],"purposely":[72],"generated":[73],"typical":[74],"misalignments":[75],"order":[77],"to":[78,100,106,123],"measure":[79],"impact":[81],"such":[83],"user":[86],"peg":[90],"transfer":[91],"task":[92],"with":[93],"II.":[96],"Users":[97],"were":[98],"able":[99],"compensate":[101],"for":[102,132],"angles":[104],"up":[105],"approximately":[107],"20":[108],"degrees":[109],"both":[111],"tool":[112],"camera":[115],"viewpoint":[116],"misalignment.":[117],"These":[118],"results":[119],"be":[121],"used":[122],"guide":[124],"design":[126],"control":[128],"systems":[131],"variety":[134],"applications.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
