{"id":"https://openalex.org/W2968894207","doi":"https://doi.org/10.1109/icra.2019.8793564","title":"Tetherless Mobile Micro-Surgical Scissors Using Magnetic Actuation","display_name":"Tetherless Mobile Micro-Surgical Scissors Using Magnetic Actuation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968894207","doi":"https://doi.org/10.1109/icra.2019.8793564","mag":"2968894207"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5066110513","display_name":"Onaizah Onaizah","orcid":"https://orcid.org/0000-0003-0842-1179"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Onaizah Onaizah","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto ON M5S 3G9, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto ON M5S 3G9, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021398654","display_name":"Eric Diller","orcid":"https://orcid.org/0000-0003-4627-0797"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Eric Diller","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto ON M5S 3G9, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto ON M5S 3G9, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":6.1473,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.9622449,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"894","last_page":"899"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.5356476306915283},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5186440348625183},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5083677172660828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5004291534423828},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.451556533575058},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.449161171913147},{"id":"https://openalex.org/keywords/magnetic-flux","display_name":"Magnetic flux","score":0.4282882809638977},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4201815724372864},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39551740884780884},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36474862694740295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34920692443847656},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3250839114189148},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.24815747141838074},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.20656108856201172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19065958261489868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1892796754837036},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16178694367408752},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08135932683944702}],"concepts":[{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.5356476306915283},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5186440348625183},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5083677172660828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5004291534423828},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.451556533575058},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.449161171913147},{"id":"https://openalex.org/C157479481","wikidata":"https://www.wikidata.org/wiki/Q177831","display_name":"Magnetic flux","level":3,"score":0.4282882809638977},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4201815724372864},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39551740884780884},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36474862694740295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34920692443847656},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3250839114189148},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.24815747141838074},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.20656108856201172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19065958261489868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1892796754837036},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16178694367408752},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08135932683944702},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W203410923","https://openalex.org/W1649519359","https://openalex.org/W1970166043","https://openalex.org/W1976221960","https://openalex.org/W1977303896","https://openalex.org/W2027637252","https://openalex.org/W2035105943","https://openalex.org/W2038294174","https://openalex.org/W2038829005","https://openalex.org/W2061635156","https://openalex.org/W2061848267","https://openalex.org/W2063367762","https://openalex.org/W2063706473","https://openalex.org/W2094904022","https://openalex.org/W2126182407","https://openalex.org/W2143732412","https://openalex.org/W2168046319","https://openalex.org/W2184993170","https://openalex.org/W2295154620","https://openalex.org/W2296757716","https://openalex.org/W2482947990","https://openalex.org/W2581993098","https://openalex.org/W2735010709","https://openalex.org/W2746527205","https://openalex.org/W2783641035","https://openalex.org/W2790485773","https://openalex.org/W2793873467","https://openalex.org/W3099541148","https://openalex.org/W6728701782","https://openalex.org/W6742693411"],"related_works":["https://openalex.org/W2381426581","https://openalex.org/W2024370140","https://openalex.org/W2387913980","https://openalex.org/W2159705349","https://openalex.org/W2105392727","https://openalex.org/W2125678830","https://openalex.org/W601048412","https://openalex.org/W4210698599","https://openalex.org/W3166930015","https://openalex.org/W2006941210"],"abstract_inverted_index":{"Current":[0],"minimally-invasive":[1],"surgical":[2,14,31,52,185],"tools":[3],"suffer":[4],"from":[5,57],"lack":[6],"of":[7,26,34,122,158,166,171,174,178],"scalability":[8],"and":[9,37,70,81,101,115,131,141,161,205],"restricted":[10],"access":[11],"to":[12,94,155,192,207],"some":[13],"sites":[15],"using":[16,128],"a":[17,23,40,44,62,78,84,105,169,182,193,197],"laparoscopic":[18],"probe.":[19],"This":[20],"paper":[21],"introduces":[22],"proof-of-concept":[24],"prototype":[25,148],"the":[27,103,129,143,150,164,175,179,190],"first":[28,147],"completely":[29,183],"wireless":[30],"scissors":[32,53,151,180,191],"capable":[33],"dexterous":[35],"motion":[36],"cutting":[38,135,159,165],"in":[39,83,196],"remote":[41],"environment":[42,199],"as":[43,77,136,138,181],"mobile":[45],"microrobotic":[46],"device.":[47],"The":[48],"15":[49],"mm":[50],"untethered":[51,184],"are":[54],"custom":[55],"made":[56],"sharpened":[58],"titanium":[59],"sheets":[60],"with":[61,87],"magnet":[63],"on":[64],"each":[65],"blade":[66],"for":[67,113,134],"actuating":[68],"force":[69],"control.":[71],"A":[72],"super-elastic":[73],"nitinol":[74],"wire":[75],"acts":[76],"restoring":[79],"spring":[80],"results":[82],"simple":[85],"design":[86],"no":[88],"pin":[89],"joint":[90],"which":[91],"is":[92,110,132],"difficult":[93],"fabricate":[95],"at":[96],"small":[97],"sizes.":[98],"To":[99],"actuate":[100],"control":[102],"scissors,":[104],"3D":[106],"magnetic":[107,119],"coil":[108],"system":[109],"used":[111,133],"here":[112],"testing":[114],"demonstration.":[116],"An":[117],"external":[118],"flux":[120],"density":[121],"20":[123],"mT":[124],"can":[125,152],"be":[126],"generated":[127],"coils":[130],"well":[137],"orienting,":[139],"moving":[140],"closing":[142],"scissors.":[144],"In":[145],"this":[146],"setup,":[149],"generate":[153],"up":[154],"75":[156],"mN":[157],"force,":[160],"we":[162,187],"demonstrate":[163],"agar.":[167],"As":[168],"proof":[170],"concept":[172],"demonstration":[173],"potential":[176],"use":[177],"tool,":[186],"robotically":[188],"maneuver":[189],"target":[194],"location":[195],"confined":[198],"where":[200],"they":[201],"cut":[202],"through":[203],"agar":[204],"return":[206],"their":[208],"initial":[209],"position.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}