{"id":"https://openalex.org/W4285102458","doi":"https://doi.org/10.1109/icra46639.2022.9811359","title":"Safe endoscope holding in minimally invasive surgery: zero stiffness and adaptive weight compensation","display_name":"Safe endoscope holding in minimally invasive surgery: zero stiffness and adaptive weight compensation","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102458","doi":"https://doi.org/10.1109/icra46639.2022.9811359"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811359","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5036234401","display_name":"Jesus Mago","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210095651","display_name":"Haption (France)","ror":"https://ror.org/00pzdbj03","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210095651"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jesus Mago","raw_affiliation_strings":["Sorbonne Université INSERM U1150, CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR),Paris,France,F-75005","Haption SARL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Université INSERM U1150, CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR),Paris,France,F-75005","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Haption SARL","institution_ids":["https://openalex.org/I4210095651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075376874","display_name":"F. Louveau","orcid":null},"institutions":[{"id":"https://openalex.org/I4210095651","display_name":"Haption (France)","ror":"https://ror.org/00pzdbj03","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210095651"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois Louveau","raw_affiliation_strings":["Haption SARL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Haption SARL","institution_ids":["https://openalex.org/I4210095651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024969402","display_name":"Marie\u2010Aude Vitrani","orcid":"https://orcid.org/0000-0002-2283-6170"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marie-Aude Vitrani","raw_affiliation_strings":["Sorbonne Université INSERM U1150, CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR),Paris,France,F-75005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Université INSERM U1150, CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR),Paris,France,F-75005","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059925153","display_name":"Guillaume Morel","orcid":"https://orcid.org/0000-0002-4500-0763"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillaume Morel","raw_affiliation_strings":["Sorbonne Université INSERM U1150, CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR),Paris,France,F-75005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Université INSERM U1150, CNRS UMR 7222, Institut des Systèmes Intelligents et de Robotique (ISIR),Paris,France,F-75005","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07903419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7671","last_page":"7677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.993399977684021,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9933000206947327,"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/endoscope","display_name":"Endoscope","score":0.767774224281311},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7075795531272888},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.605103075504303},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5966571569442749},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5191237330436707},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48043322563171387},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.464322030544281},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.453782320022583},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4512736201286316},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.425743967294693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41426488757133484},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4035310447216034},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.390614777803421},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.21013721823692322},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15169015526771545},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09466266632080078}],"concepts":[{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.767774224281311},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7075795531272888},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.605103075504303},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5966571569442749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5191237330436707},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48043322563171387},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.464322030544281},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.453782320022583},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4512736201286316},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.425743967294693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41426488757133484},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4035310447216034},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.390614777803421},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.21013721823692322},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15169015526771545},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09466266632080078},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811359","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1801824165","display_name":"Gestes M\u00e9dico-Chirurgicaux Assist\u00e9s par Ordinateur","funder_award_id":"ANR-11-LABX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1980434757","https://openalex.org/W2011545789","https://openalex.org/W2099666309","https://openalex.org/W2142427938","https://openalex.org/W2149620520","https://openalex.org/W2409053432","https://openalex.org/W2463917985","https://openalex.org/W2590759340","https://openalex.org/W2793272834","https://openalex.org/W2891279971","https://openalex.org/W2968990965","https://openalex.org/W2970449589","https://openalex.org/W2998797223","https://openalex.org/W4200474635","https://openalex.org/W4205891441","https://openalex.org/W6713689115","https://openalex.org/W6749116227"],"related_works":["https://openalex.org/W2925090727","https://openalex.org/W3211638357","https://openalex.org/W2351909712","https://openalex.org/W2369735957","https://openalex.org/W2980372563","https://openalex.org/W2137055573","https://openalex.org/W4280634683","https://openalex.org/W2373354423","https://openalex.org/W2325135661","https://openalex.org/W3012943019"],"abstract_inverted_index":{"One":[0],"of":[1,181,198],"the":[2,18,22,29,78,97,109,120,123,129,140,158,188,191,199,203,212,218],"major":[3],"functions":[4],"brought":[5],"by":[6,147,226],"robots":[7],"in":[8,20,96,111,172,190],"Minimally":[9],"Invasive":[10],"Surgery":[11],"is":[12,40,59,67,86,126,160,183],"endoscope":[13,130,141,178],"holding.":[14],"This":[15,38],"consists,":[16],"for":[17,220],"user,":[19],"placing":[21],"camera":[23,110],"at":[24],"a":[25,112,132,137,164,174,206],"desired":[26],"location":[27],"which":[28,173],"robot":[30],"will":[31],"maintain":[32],"still":[33],"once":[34],"he/she":[35,118],"releases":[36,119],"it.":[37],"behavior":[39],"usually":[41],"achieved":[42],"with":[43,93],"rigid":[44,102],"position":[45,103,146,151,224],"servoing,":[46],"leading":[47],"to":[48,69,91,143,163,196,211],"possibly":[49],"high":[50],"forces":[51],"generated":[52],"and":[53,153,228],"safety":[54],"issues.":[55],"Model-based":[56],"weight":[57,66,208],"compensation":[58],"an":[60,84,89,177],"alternative":[61],"solution.":[62],"However,":[63],"endoscopic":[64],"cameras'":[65],"difficult":[68],"model":[70,99,125,154,193,219],"as":[71,88],"their":[72],"gravity":[73,98,124,192],"parameters":[74],"can":[75],"change":[76],"during":[77],"same":[79],"surgery.":[80],"In":[81,134,185,202],"this":[82,94,135],"paper,":[83],"algorithm":[85,215],"presented":[87],"option":[90],"cope":[92],"variability":[95],"without":[100],"using":[101],"servoing.":[104],"The":[105,214],"surgeon":[106],"first":[107],"positions":[108],"comanipulation":[113],"mode":[114],"(gravity":[115],"compensation).":[116],"When":[117],"camera,":[121],"if":[122],"not":[127],"accurate,":[128],"presents":[131],"drift.":[133],"case,":[136,187,205],"controller":[138],"brings":[139],"back":[142,162],"its":[144],"release":[145],"combining":[148],"low":[149],"gain":[150],"control":[152],"adaptation.":[155],"Once":[156],"stabilized,":[157],"system":[159],"switched":[161],"zero-stiffness":[165],"mode.":[166],"Two":[167],"in-vitro":[168],"experiments":[169],"were":[170],"performed":[171],"user":[175],"manipulates":[176],"whose":[179],"configuration":[180],"mass":[182,189],"changed.":[184],"one":[186],"was":[194,209],"set":[195],"half":[197],"actual":[200],"one.":[201],"second":[204],"variable":[207],"attached":[210],"endoscope.":[213],"successfully":[216],"updated":[217],"each":[221],"experiment":[222],"reducing":[223],"errors":[225],"95%":[227],"57%,":[229],"respectively.":[230]},"counts_by_year":[],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}