{"id":"https://openalex.org/W3205863359","doi":"https://doi.org/10.1109/icra48506.2021.9562040","title":"An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation","display_name":"An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205863359","doi":"https://doi.org/10.1109/icra48506.2021.9562040","mag":"3205863359","pmid":"https://pubmed.ncbi.nlm.nih.gov/34721938"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562040","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":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8552997","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073043746","display_name":"Makoto Jinno","orcid":"https://orcid.org/0000-0002-1320-5326"},"institutions":[{"id":"https://openalex.org/I13451752","display_name":"Kokushikan University","ror":"https://ror.org/04r69jb93","country_code":"JP","type":"education","lineage":["https://openalex.org/I13451752"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makoto Jinno","raw_affiliation_strings":["Kokushikan University,School of Science and Engineering, Mechanical Engineering Course,Tokyo,Japan","School of Science and Engineering, Mechanical Engineering Course, Kokushikan University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kokushikan University,School of Science and Engineering, Mechanical Engineering Course,Tokyo,Japan","institution_ids":["https://openalex.org/I13451752"]},{"raw_affiliation_string":"School of Science and Engineering, Mechanical Engineering Course, Kokushikan University, Tokyo, Japan","institution_ids":["https://openalex.org/I13451752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100762010","display_name":"Gang Li","orcid":"https://orcid.org/0000-0003-3141-4428"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gang Li","raw_affiliation_strings":["Johns Hopkins University,Whiting School of Engineering, Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Whiting School of Engineering, Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046099375","display_name":"Niravkumar Patel","orcid":"https://orcid.org/0000-0002-8113-6078"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Niravkumar Patel","raw_affiliation_strings":["Johns Hopkins University,Whiting School of Engineering, Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Whiting School of Engineering, Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063913520","display_name":"Iulian Iordachita","orcid":"https://orcid.org/0000-0002-2510-9008"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iulian Iordachita","raw_affiliation_strings":["Johns Hopkins University,Whiting School of Engineering, Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Whiting School of Engineering, Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4837,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6442042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"2021","issue":null,"first_page":"1198","last_page":"1204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991999864578247,"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":0.9929999709129333,"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/computer-science","display_name":"Computer science","score":0.5328740477561951},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.429026335477829},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3775767683982849},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3368135988712311},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3318091034889221},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3240158259868622}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5328740477561951},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.429026335477829},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3775767683982849},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3368135988712311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3318091034889221},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3240158259868622}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48506.2021.9562040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562040","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"},{"id":"pmid:34721938","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34721938","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8552997","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8552997","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8552997","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8552997","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1490243558","https://openalex.org/W1529125942","https://openalex.org/W1542559534","https://openalex.org/W1966102857","https://openalex.org/W1966360513","https://openalex.org/W2000745129","https://openalex.org/W2026268546","https://openalex.org/W2032383735","https://openalex.org/W2064076878","https://openalex.org/W2066140684","https://openalex.org/W2088467752","https://openalex.org/W2094904022","https://openalex.org/W2146031911","https://openalex.org/W2155513581","https://openalex.org/W2156041305","https://openalex.org/W2167480813","https://openalex.org/W2170514420","https://openalex.org/W2294964503","https://openalex.org/W2738679366","https://openalex.org/W2905642467","https://openalex.org/W3120333955","https://openalex.org/W6631605923","https://openalex.org/W6658580030","https://openalex.org/W6682940522","https://openalex.org/W6682975094","https://openalex.org/W6697547461"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747"],"abstract_inverted_index":{"Retinal":[0],"surgeons":[1],"are":[2,17],"required":[3],"to":[4,114,128,161,227,248],"manipulate":[5],"multiple":[6,274],"surgical":[7,67,77],"instruments":[8,16],"in":[9,45,280],"a":[10,55,92,101,130,136,162,203,224,240],"confined":[11],"intraocular":[12,189,199],"space,":[13],"while":[14],"the":[15,20,25,33,36,60,66,95,103,109,116,120,133,165,172,213,216,221,229,259,267,270],"constrained":[18],"at":[19,175],"small":[21],"incisions":[22],"made":[23],"on":[24,94,132,164,171],"sclera.":[26],"Furthermore,":[27],"physiological":[28],"hand":[29],"tremor":[30],"can":[31,64,89,125,231,263],"affect":[32],"precision":[34],"of":[35,76,119,215,242],"instrument":[37,104],"motion.":[38],"The":[39,234,255],"Steady-Hand":[40],"Eye":[41],"Robot":[42],"(SHER),":[43],"developed":[44],"our":[46],"previous":[47],"study,":[48,179],"enables":[49,71],"tremor-free":[50,74],"tool":[51],"manipulation":[52,75,214],"by":[53],"employing":[54],"cooperative":[56,185],"control":[57],"scheme":[58],"whereby":[59],"surgeon":[61],"and":[62,73,81,158,220],"robot":[63],"co-manipulate":[65],"instruments.":[68],"Although":[69],"SHER":[70],"precise":[72],"tools,":[78],"its":[79,141],"straight":[80],"rigid":[82],"structure":[83],"imposes":[84],"certain":[85],"limitations,":[86],"as":[87,147],"it":[88,124],"only":[90],"approach":[91,129],"target":[93,131,163,272],"retina":[96,134,166],"from":[97,135,167,273],"one":[98],"direction.":[99],"As":[100],"result,":[102],"could":[105],"potentially":[106],"collide":[107],"with":[108,202,223,276],"eye":[110],"lens":[111],"when":[112,139],"attempting":[113],"access":[115,160],"anterior":[117,142],"portion":[118,143],"retina.":[121],"In":[122,177],"addition,":[123],"be":[126,232],"difficult":[127],"suitable":[137,168],"direction":[138],"accessing":[140],"for":[144,188,212,284],"procedures":[145],"such":[146],"vein":[148],"cannulation":[149],"or":[150,209,250,265],"membrane":[151],"peeling.":[152],"Snake-like":[153],"robots":[154],"offer":[155],"greater":[156],"dexterity":[157],"allow":[159],"directions,":[169,275],"depending":[170],"clinical":[173],"task":[174,281],"hand.":[176],"this":[178],"we":[180],"present":[181],"an":[182,195],"integrated,":[183],"high-dexterity,":[184],"robotic":[186,192,198,261],"assistant":[187,193,262],"micromanipulation.":[190],"This":[191],"comprises":[194],"improved":[196],"integrated":[197,235],"snake":[200],"(I2RIS)":[201],"user":[204,286],"interface":[205],"(a":[206],"tactile":[207],"switch":[208],"joystick":[210],"unit)":[211],"snake-like":[217],"distal":[218],"end":[219],"SHER,":[222],"detachable":[225],"end-effector":[226],"which":[228],"I2RIS":[230],"attached.":[233],"system":[236],"was":[237],"evaluated":[238],"through":[239],"set":[241],"experiments":[243],"wherein":[244],"subjects":[245],"were":[246],"requested":[247],"touch":[249,264],"insert":[251,266],"into":[252,269],"randomly-assigned":[253],"targets.":[254],"results":[256],"indicate":[257],"that":[258],"high-dexterity":[260],"tip":[268],"same":[271],"no":[277],"significant":[278],"increase":[279],"completion":[282],"time":[283],"either":[285],"interface.":[287]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
