{"id":"https://openalex.org/W2163090415","doi":"https://doi.org/10.1109/iros.2007.4399607","title":"Development and evaluation of a novel actuator using MR magnetic field","display_name":"Development and evaluation of a novel actuator using MR magnetic field","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2163090415","doi":"https://doi.org/10.1109/iros.2007.4399607","mag":"2163090415"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5033369484","display_name":"Deddy Nur Zaman","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Deddy Nur Zaman","raw_affiliation_strings":["Graduate School of Frontier Sciences, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101689206","display_name":"Takashi Suzuki","orcid":"https://orcid.org/0000-0001-5076-6096"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Suzuki","raw_affiliation_strings":["Graduate School of Frontier Sciences, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018740222","display_name":"Hongen Liao","orcid":"https://orcid.org/0000-0003-3847-9347"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hongen Liao","raw_affiliation_strings":["Graduate School of Engineering, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032675015","display_name":"Etsuko Kobayashi","orcid":"https://orcid.org/0000-0003-1794-0173"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Etsuko Kobayashi","raw_affiliation_strings":["Graduate School of Engineering, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032635092","display_name":"Yasuhiko Jimbo","orcid":"https://orcid.org/0009-0004-6005-5043"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhiko Jimbo","raw_affiliation_strings":["Graduate School of Frontier Sciences, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081094990","display_name":"Ichiro Sakuma","orcid":"https://orcid.org/0000-0002-4919-9466"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ichiro Sakuma","raw_affiliation_strings":["Graduate School of Engineering, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1184","last_page":"1189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11249","display_name":"Wireless Power Transfer Systems","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/robot","display_name":"Robot","score":0.6453984379768372},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5974370241165161},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5963156223297119},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5462798476219177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.543860673904419},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.51065593957901},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4692620635032654},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4270181953907013},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.4120337963104248},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.38702043890953064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35833024978637695},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32261621952056885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3150068521499634},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.26361384987831116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17223915457725525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09337928891181946}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6453984379768372},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5974370241165161},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5963156223297119},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5462798476219177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.543860673904419},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.51065593957901},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4692620635032654},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4270181953907013},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.4120337963104248},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.38702043890953064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35833024978637695},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32261621952056885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3150068521499634},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.26361384987831116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17223915457725525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09337928891181946},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322832","display_name":"University of Tokyo","ror":"https://ror.org/057zh3y96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W82634471","https://openalex.org/W173903567","https://openalex.org/W174765383","https://openalex.org/W393968457","https://openalex.org/W1509562178","https://openalex.org/W1964477647","https://openalex.org/W1964755224","https://openalex.org/W1992465606","https://openalex.org/W1995379349","https://openalex.org/W2031838105","https://openalex.org/W2034176580","https://openalex.org/W2094848368","https://openalex.org/W2131441715","https://openalex.org/W2156634443","https://openalex.org/W2166236988","https://openalex.org/W2428391626","https://openalex.org/W4244784150","https://openalex.org/W6607098299","https://openalex.org/W6607165922"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2318553114","https://openalex.org/W2369073421","https://openalex.org/W45990023","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W4400901371","https://openalex.org/W1551453979","https://openalex.org/W3101820272"],"abstract_inverted_index":{"Recently,":[0],"Intra-Operative":[1],"Magnetic":[2],"Resonance":[3],"Imaging":[4],"(IO-MRI)":[5],"has":[6,132],"attracted":[7],"attention":[8],"for":[9,55],"the":[10,16,82,91,116],"reason":[11],"of":[12,43,74,81,90,115],"operating":[13],"quality.":[14],"In":[15,47],"other":[17],"hand,":[18],"surgical":[19,32,38],"assist":[20,33,39],"robot":[21,34],"with":[22],"high":[23,135],"accuracy":[24,137],"is":[25,45,67,129,153],"widely":[26],"researched.":[27],"By":[28],"combining":[29],"IO-MRI":[30],"and":[31,66,105,131,155],"to":[35,85],"an":[36,97],"MR-compatible":[37,56,130],"robot,":[40],"higher":[41],"quality":[42],"operation":[44],"expected.":[46],"this":[48,112],"paper,":[49],"we":[50],"introduce":[51],"a":[52,133],"novel":[53],"actuator":[54],"Surgical":[57],"Assist":[58],"Robot,":[59],"which":[60],"actively":[61],"uses":[62],"MR":[63],"magnetic":[64],"field":[65],"drive":[68],"by":[69,110],"regulating":[70],"pulse":[71],"current.":[72],"Use":[73],"ratchet":[75],"mechanism":[76],"enables":[77],"step":[78],"wise":[79],"motion":[80],"rotor":[83,92],"similar":[84],"stepping":[86],"motors.":[87],"The":[88],"position":[89],"can":[93],"be":[94],"controlled":[95],"without":[96],"encoder.":[98],"Clock-wise":[99],"rotation,":[100,103],"counter":[101],"clock-wise":[102],"constrained":[104],"non-constrained":[106],"conditions":[107],"were":[108],"achieved":[109],"using":[111],"mechanism.":[113],"Evaluation":[114],"first":[117],"prototype":[118],"(84\u00d776\u00d758(mm":[119],"<sup":[120,160],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[121,161],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[122],"),":[123],"380":[124],"(gram))":[125],"shows":[126],"that":[127],"it":[128],"very":[134],"positioning":[136],"(step":[138],"angle":[139],"CW:":[140],"12.04\u00b10.28":[141],"(deg),":[142],"CCW":[143],":":[144],"12.22\u00b10.36(deg);":[145],"backlash":[146],"<":[147],"1(deg)).":[148],"No-load":[149],"maximum":[150,156],"rotational":[151],"speed":[152],"35.71(rpm)":[154],"torque":[157],"15.1\u00d7":[158],"10":[159],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22123</sup>":[162],"(N\u00b7m).":[163]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
