{"id":"https://openalex.org/W3207084581","doi":"https://doi.org/10.1109/icra48506.2021.9561141","title":"Magnetically-Connected Modular Reconfigurable Mini-robotic System with Bilateral Isokinematic Mapping and Fast On-site Assembly towards Minimally Invasive Procedures","display_name":"Magnetically-Connected Modular Reconfigurable Mini-robotic System with Bilateral Isokinematic Mapping and Fast On-site Assembly towards Minimally Invasive Procedures","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207084581","doi":"https://doi.org/10.1109/icra48506.2021.9561141","mag":"3207084581"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561141","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 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/A5100451719","display_name":"Xiao Xiao","orcid":"https://orcid.org/0000-0002-1254-5740"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Xiao Xiao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101813427","display_name":"Shilei Xu","orcid":"https://orcid.org/0000-0003-0947-8935"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I90090648","display_name":"Shijiazhuang Tiedao University","ror":"https://ror.org/022e9e065","country_code":"CN","type":"education","lineage":["https://openalex.org/I90090648"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Shilei Xu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang, China","institution_ids":["https://openalex.org/I90090648"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","School of Mechatronical Engineering & Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering &#x0026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Mechatronical Engineering & Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210165198"]},{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering &#x0026","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080883308","display_name":"Xiaoyi Gu","orcid":"https://orcid.org/0000-0003-4257-3555"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Xiaoyi Gu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","NUS (Suzhou) Research Institute (NUSRI), Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute (NUSRI), Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055468404","display_name":"Huxin Gao","orcid":"https://orcid.org/0000-0002-8700-560X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Huxin Gao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","NUS (Suzhou) Research Institute (NUSRI), Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute (NUSRI), Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","HK","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","Department of Electronic Engineering, Chinese University of Hong Kong","NUS (Suzhou) Research Institute (NUSRI), Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute (NUSRI), Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1229","last_page":"1235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9973999857902527,"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":0.9966999888420105,"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/modular-design","display_name":"Modular design","score":0.7919840216636658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5428653955459595},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.49082884192466736},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.47937682271003723},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.35423189401626587},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33326923847198486},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1061820387840271},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.08461809158325195},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08192506432533264}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7919840216636658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428653955459595},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.49082884192466736},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.47937682271003723},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.35423189401626587},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33326923847198486},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1061820387840271},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.08461809158325195},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08192506432533264}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561141","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322108","display_name":"Ministry of Science and Technology","ror":"https://ror.org/032e49973"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"},{"id":"https://openalex.org/F4320327605","display_name":"Southern University of Science and Technology","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2149841830","https://openalex.org/W2567171169","https://openalex.org/W2608855996","https://openalex.org/W2622483012","https://openalex.org/W2754550828","https://openalex.org/W2802167593","https://openalex.org/W2884324731","https://openalex.org/W2913626197","https://openalex.org/W2913677630","https://openalex.org/W2914029293","https://openalex.org/W2921483293","https://openalex.org/W2921728736","https://openalex.org/W2956331353","https://openalex.org/W2964608116","https://openalex.org/W2966587880","https://openalex.org/W2970129718","https://openalex.org/W2972722178","https://openalex.org/W2979075096","https://openalex.org/W2988432911","https://openalex.org/W2990657723","https://openalex.org/W3005865645","https://openalex.org/W3008991766","https://openalex.org/W3022580094","https://openalex.org/W3023797889","https://openalex.org/W3034436867","https://openalex.org/W3045573862","https://openalex.org/W3047314733"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2088988140","https://openalex.org/W2103019253","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W2297768894","https://openalex.org/W1988064119","https://openalex.org/W2042931452"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,32,43],"modular":[4],"and":[5,31,83,89,102,180,191],"reconfigurable":[6],"mini-robotic":[7,21],"system":[8,22,204],"with":[9,169],"5":[10],"degrees":[11],"of":[12,24,85,138,149,173,201],"freedom":[13],"(DoFs)":[14],"towards":[15],"minimally":[16],"invasive":[17],"surgery":[18],"(MIS).":[19],"The":[20,36,53,76,135,145],"consists":[23],"two":[25],"modules,":[26],"2-DoFs":[28,37],"rotational":[29,38],"end-effector,":[30],"3-DoFs":[33,54,110,128,151],"positioning":[34,55,111,129,147,152,171],"platform.":[35],"end-effector":[39],"is":[40,49,57,132,142,154,205],"based":[41,58],"on":[42,59,123],"spring-spherical":[44],"joint":[45,78],"mechanism,":[46],"whose":[47],"rotation":[48],"controlled":[50],"by":[51],"Bowden-cable.":[52],"platform":[56,88,112,153],"the":[60,72,86,100,109,115,119,127,139,150,170,199,202],"linear":[61],"Delta":[62],"parallel":[63],"mechanism.":[64],"Magnetic":[65],"spherical":[66,74,187],"joints":[67],"are":[68,165,195],"adopted":[69],"to":[70,113,158,183],"replace":[71],"traditional":[73],"joint.":[75],"magnetic":[77],"connections":[79],"enable":[80],"fast":[81],"assembling":[82],"disassemble":[84],"end":[87],"kinematic":[90],"chains.":[91],"Different":[92],"surgical":[93],"instruments":[94],"can":[95],"be":[96],"installed":[97],"without":[98],"changing":[99],"driver":[101],"control":[103],"system.":[104],"A":[105],"flexible":[106],"shaft":[107],"actuates":[108],"arrange":[114],"motors":[116],"away":[117],"from":[118],"manipulator":[120],"side.":[121],"Based":[122],"these":[124],"structure":[125],"characteristics,":[126],"platform’s":[130],"size":[131],"dramatically":[133],"reduced.":[134],"outer":[136],"diameter":[137],"current":[140],"prototype":[141],"32.5":[143],"mm.":[144,160],"single-axis":[146],"accuracy":[148],"within":[155],"-1":[156],"mm":[157,176,182,185],"0.85":[159],"Three":[161],"axes":[162],"tracking":[163],"experiments":[164],"also":[166,196],"carried":[167],"out,":[168],"errors":[172],"±":[174],"1.2":[175],"for":[177,186],"cylindrical":[178],"curves":[179],"-1.5":[181],"2":[184],"helix":[188],"curves.":[189],"Static":[190],"dynamic":[192],"load":[193],"capabilities":[194],"tested.":[197],"Finally,":[198],"feasibility":[200],"proposed":[203],"demonstrated.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}