{"id":"https://openalex.org/W4383066153","doi":"https://doi.org/10.1109/icra48891.2023.10160840","title":"Evaluating the Feasibility of Magnetic Tools for the Minimum Dynamic Requirements of Microneurosurgery","display_name":"Evaluating the Feasibility of Magnetic Tools for the Minimum Dynamic Requirements of Microneurosurgery","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066153","doi":"https://doi.org/10.1109/icra48891.2023.10160840"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5029671602","display_name":"Cameron Forbrigger","orcid":"https://orcid.org/0000-0002-6076-063X"},"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":"Cameron Forbrigger","raw_affiliation_strings":["University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,ON,M5S 3G8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,ON,M5S 3G8","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092393041","display_name":"Erik Fredin","orcid":"https://orcid.org/0009-0009-0753-2126"},"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":"Erik Fredin","raw_affiliation_strings":["University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,ON,M5S 3G8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,ON,M5S 3G8","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":["University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,ON,M5S 3G8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Department of Mechanical and Industrial Engineering,Toronto,ON,M5S 3G8","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3326,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.78516704,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4703","last_page":"4709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9984999895095825,"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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9811999797821045,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/robot","display_name":"Robot","score":0.7004489898681641},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6804574131965637},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6512407064437866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6428800821304321},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5602819919586182},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5437191724777222},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5431974530220032},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.42148417234420776},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41327133774757385},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39314427971839905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27839452028274536},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20431244373321533},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1884554922580719},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1505938470363617},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.12941548228263855}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7004489898681641},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6804574131965637},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6512407064437866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6428800821304321},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5602819919586182},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5437191724777222},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5431974530220032},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.42148417234420776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41327133774757385},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39314427971839905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27839452028274536},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20431244373321533},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1884554922580719},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1505938470363617},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.12941548228263855},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1743587462","display_name":null,"funder_award_id":"2014-04703","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1748064802","https://openalex.org/W1773703924","https://openalex.org/W2283926329","https://openalex.org/W2412810726","https://openalex.org/W2491939967","https://openalex.org/W2766408295","https://openalex.org/W2790485773","https://openalex.org/W2792810896","https://openalex.org/W2915924873","https://openalex.org/W2980790222","https://openalex.org/W3001194984","https://openalex.org/W3040860850","https://openalex.org/W3043438200","https://openalex.org/W3083187437","https://openalex.org/W3096597946","https://openalex.org/W3155705977","https://openalex.org/W3174783425","https://openalex.org/W3207376892","https://openalex.org/W4200577878","https://openalex.org/W4210549557","https://openalex.org/W4221032282","https://openalex.org/W4247399818","https://openalex.org/W4281739712","https://openalex.org/W4285236903","https://openalex.org/W4293150143","https://openalex.org/W4293785380","https://openalex.org/W4307309182"],"related_works":["https://openalex.org/W2168316673","https://openalex.org/W2626401248","https://openalex.org/W2131936758","https://openalex.org/W2134790693","https://openalex.org/W1983331595","https://openalex.org/W4313064486","https://openalex.org/W2071560002","https://openalex.org/W1536543213","https://openalex.org/W28595675","https://openalex.org/W2120172963"],"abstract_inverted_index":{"Neurosurgery":[0],"could":[1],"benefit":[2],"from":[3],"robot-assisted":[4],"minimally":[5],"invasive":[6],"approaches,":[7],"but":[8],"existing":[9],"robot":[10,101],"tools":[11,149],"are":[12],"insufficiently":[13],"small":[14],"and":[15,70,153],"compact.":[16],"Magnetic":[17],"actuation":[18,41,48],"is":[19,42],"an":[20,114],"attractive":[21],"approach":[22],"to":[23,33,46,66,86,91],"medical":[24],"robotics":[25],"because":[26],"it":[27],"allows":[28],"small,":[29],"modular":[30],"serial":[31,61],"mechanisms":[32],"be":[34],"remotely":[35],"actuated.":[36],"Despite":[37],"these":[38],"advantages,":[39],"magnetic":[40,60,148],"relatively":[43],"weak":[44],"compared":[45],"alternative":[47],"methods.":[49],"In":[50],"this":[51,64,159],"paper,":[52],"we":[53],"introduce":[54],"a":[55,74,104,125,134],"novel":[56],"analytical":[57],"model":[58,65],"for":[59,120,143,150],"robots,":[62],"use":[63],"design":[67],"two":[68],"prototypes,":[69],"then":[71],"demonstrate":[72,98],"that":[73,99],"4-mm-diameter":[75],"prototype":[76],"without":[77],"any":[78],"internal":[79],"mechanical":[80],"transmission":[81],"can":[82,102],"produce":[83],"forces":[84],"up":[85],"0.181":[87],"N:":[88],"high":[89],"enough":[90],"perform":[92],"delicate":[93],"microsurgical":[94],"tasks.":[95],"We":[96],"also":[97],"the":[100,144],"achieve":[103],"closed-loop":[105],"step":[106],"response":[107],"rise":[108],"time":[109],"of":[110,116,128,146],"0.71":[111],"seconds":[112],"with":[113],"overshoot":[115],"7.8%:":[117],"sufficiently":[118],"fast":[119],"surgical":[121],"motions":[122],"while":[123],"maintaining":[124],"tip":[126],"precision":[127],"less":[129],"than":[130],"2":[131],"mm":[132],"during":[133],"worst-case":[135],"dynamic":[136],"motion.":[137],"These":[138],"experiments":[139],"provide":[140],"strong":[141],"evidence":[142],"feasibility":[145],"directly-driven":[147],"neurosurgical":[151],"applications,":[152],"they":[154],"motivate":[155],"future":[156],"investigations":[157],"in":[158],"area.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
