{"id":"https://openalex.org/W2890554843","doi":"https://doi.org/10.1109/icra.2018.8460921","title":"Requirements Based Design and End-to-End Dynamic Modeling of a Robotic Tool for Vitreoretinal Surgery","display_name":"Requirements Based Design and End-to-End Dynamic Modeling of a Robotic Tool for Vitreoretinal Surgery","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890554843","doi":"https://doi.org/10.1109/icra.2018.8460921","mag":"2890554843"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://kclpure.kcl.ac.uk/ws/files/101810722/mablekos_alexiou2018requirements.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045470145","display_name":"Anestis Mablekos-Alexiou","orcid":"https://orcid.org/0000-0003-4320-9886"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Anestis Mablekos-Alexiou","raw_affiliation_strings":["Wellcome/EPSRC Centre for Interventional and Surgical Sciences, UCL, London, UK"],"affiliations":[{"raw_affiliation_string":"Wellcome/EPSRC Centre for Interventional and Surgical Sciences, UCL, London, UK","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082106258","display_name":"S\u00e9bastien Ourselin","orcid":"https://orcid.org/0000-0002-5694-5340"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sebastien Ourselin","raw_affiliation_strings":["Centre for Medical Image Computing, UCL, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Medical Image Computing, UCL, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052578273","display_name":"Lyndon da Cruz","orcid":"https://orcid.org/0000-0002-7695-6354"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyndon Da Cruz","raw_affiliation_strings":["Wellcome/EPSRC Centre for Interventional and Surgical Sciences, UCL, London, UK"],"affiliations":[{"raw_affiliation_string":"Wellcome/EPSRC Centre for Interventional and Surgical Sciences, UCL, London, UK","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos Bergeles","raw_affiliation_strings":["Centre for Medical Image Computing, UCL, London, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Medical Image Computing, UCL, London, UK","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045470145"],"corresponding_institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":0.8992,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.76240502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"135","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11377","display_name":"Retinal and Macular Surgery","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11377","display_name":"Retinal and Macular Surgery","score":0.9998999834060669,"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/T11291","display_name":"Intraocular Surgery and Lenses","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"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":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5968908071517944},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.578476071357727},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.5755705237388611},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5593850016593933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5576822757720947},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5400719046592712},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.500927209854126},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.409123957157135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3410235643386841},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31443774700164795},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2596591114997864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21063655614852905}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5968908071517944},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.578476071357727},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.5755705237388611},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5593850016593933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5576822757720947},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5400719046592712},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.500927209854126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.409123957157135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3410235643386841},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31443774700164795},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2596591114997864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21063655614852905},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/69b6a308-858d-41ed-abe0-baa5d1c08ad0","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/69b6a308-858d-41ed-abe0-baa5d1c08ad0","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/101810722/mablekos_alexiou2018requirements.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mablekos-Alexiou, A, Ourselin, S, Cruz, L & Bergeles, C 2018, Requirements based design and end-to-end dynamic modeling of a robotic tool for vitreoretinal surgery. in IEEE Int. Conf. Robotics and Automation. https://doi.org/10.1109/ICRA.2018.8460921","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/69b6a308-858d-41ed-abe0-baa5d1c08ad0","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/69b6a308-858d-41ed-abe0-baa5d1c08ad0","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/101810722/mablekos_alexiou2018requirements.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mablekos-Alexiou, A, Ourselin, S, Cruz, L & Bergeles, C 2018, Requirements based design and end-to-end dynamic modeling of a robotic tool for vitreoretinal surgery. in IEEE Int. Conf. Robotics and Automation. https://doi.org/10.1109/ICRA.2018.8460921","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2890554843.pdf","grobid_xml":"https://content.openalex.org/works/W2890554843.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W184127182","https://openalex.org/W1578829123","https://openalex.org/W1978702006","https://openalex.org/W2008927161","https://openalex.org/W2098408745","https://openalex.org/W2100932843","https://openalex.org/W2149985621","https://openalex.org/W2153752636","https://openalex.org/W2159866098","https://openalex.org/W2170514420","https://openalex.org/W2170714800","https://openalex.org/W2172274411","https://openalex.org/W2200313804","https://openalex.org/W2246023205","https://openalex.org/W2421945334","https://openalex.org/W4233243442","https://openalex.org/W6682623553","https://openalex.org/W6683514477","https://openalex.org/W6685104416","https://openalex.org/W6690640467"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W2354642913","https://openalex.org/W2043642088","https://openalex.org/W2384143566","https://openalex.org/W2137481346"],"abstract_inverted_index":{"Despite":[0],"several":[1],"robots":[2],"having":[3],"been":[4],"proposed":[5],"for":[6,78,148],"vitreoretinal":[7],"surgery,":[8],"there":[9],"is":[10,59,76,88],"limited":[11],"information":[12],"on":[13],"their":[14],"dynamic":[15],"modeling.":[16],"This":[17,40],"gap":[18],"leads":[19],"to":[20,132],"sub-optimal":[21],"motor":[22],"selection":[23],"and":[24,46,68,124,151],"hinders":[25],"the":[26,35,43,72,80,84,92,99,102,140],"application":[27],"of":[28,37,50,53,71,95,101,112,139],"advanced":[29],"control":[30,152],"schemes":[31],"that":[32,75,143],"would":[33],"fulfill":[34],"goal":[36],"micro-precise":[38],"surgery.":[39],"paper":[41],"presents":[42],"design":[44,150],"process":[45],"a":[47,51,125,136],"dynamics":[48,69,100],"study":[49],"multi-Degree":[52],"Freedom":[54],"(DoF)":[55],"robotic":[56],"system,":[57],"which":[58,97],"inspired":[60],"by":[61],"established":[62],"co-manipulation":[63],"architectures.":[64],"A":[65],"rigorous":[66],"kinematics":[67],"analysis":[70,138],"robot's":[73,141],"part":[74],"responsible":[77],"manipulating":[79],"surgical":[81,104],"tool":[82],"during":[83],"retinal":[85],"surgery":[86],"phase":[87],"provided.":[89],"In":[90],"particular,":[91],"Euler-Lagrange":[93],"equations":[94],"motion,":[96],"describe":[98],"3-link":[103],"manipulator,":[105],"are":[106],"combined":[107],"with":[108],"novel":[109],"analytical":[110],"models":[111],"each":[113],"link's":[114],"corresponding":[115],"transmission":[116],"mechanism,":[117],"including":[118],"an":[119],"anti-backlash":[120],"lead":[121],"screw":[122],"assembly":[123],"worm":[126],"drive.":[127],"The":[128],"resulting":[129],"models,":[130],"transferable":[131],"existing":[133],"manipulators,":[134],"provide":[135],"meticulous":[137],"performance":[142],"can":[144],"be":[145],"used":[146],"both":[147],"mechanical":[149],"purposes.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-23T09:07:50.710637","created_date":"2025-10-10T00:00:00"}