{"id":"https://openalex.org/W2064076878","doi":"https://doi.org/10.1109/iros.2013.6696717","title":"An ungrounded hand-held surgical device incorporating active constraints with force-feedback","display_name":"An ungrounded hand-held surgical device incorporating active constraints with force-feedback","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2064076878","doi":"https://doi.org/10.1109/iros.2013.6696717","mag":"2064076878","pmid":"https://pubmed.ncbi.nlm.nih.gov/24744963"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/3987169","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032238485","display_name":"Christopher J. Payne","orcid":"https://orcid.org/0000-0002-5741-8948"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Christopher J. Payne","raw_affiliation_strings":["Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":[]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049212334","display_name":"Ka\u2010Wai Kwok","orcid":"https://orcid.org/0000-0003-1879-9730"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ka-Wai Kwok","raw_affiliation_strings":["Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":[]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK","institution_ids":[]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032238485"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":2.0494,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.8608824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2013","issue":null,"first_page":"2559","last_page":"2565"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9980999827384949,"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":0.9976999759674072,"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/control-theory","display_name":"Control theory (sociology)","score":0.5504041910171509},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5378322601318359},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.49828171730041504},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.48787498474121094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4781685471534729},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4499826431274414},{"id":"https://openalex.org/keywords/penetration","display_name":"Penetration (warfare)","score":0.4490245580673218},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31896039843559265},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18637791275978088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1255665123462677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08636057376861572}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5504041910171509},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5378322601318359},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.49828171730041504},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.48787498474121094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4781685471534729},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4499826431274414},{"id":"https://openalex.org/C80107235","wikidata":"https://www.wikidata.org/wiki/Q7162625","display_name":"Penetration (warfare)","level":2,"score":0.4490245580673218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31896039843559265},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18637791275978088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1255665123462677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08636057376861572},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2013.6696717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmid:24744963","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24744963","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":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:europepmc.org:2967157","is_oa":false,"landing_page_url":"http://europepmc.org/articles/PMC3987169","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:hub.hku.hk:10722/199939","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/199939","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"},{"id":"pmh:oai:pubmedcentral.nih.gov:3987169","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3987169","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:3987169","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3987169","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W178451601","https://openalex.org/W1494827359","https://openalex.org/W1577204246","https://openalex.org/W1582363951","https://openalex.org/W2008101580","https://openalex.org/W2015525141","https://openalex.org/W2017484120","https://openalex.org/W2049002522","https://openalex.org/W2057777634","https://openalex.org/W2074336561","https://openalex.org/W2087665419","https://openalex.org/W2110190123","https://openalex.org/W2112869159","https://openalex.org/W2120315429","https://openalex.org/W2121746989","https://openalex.org/W2128677987","https://openalex.org/W2132381057","https://openalex.org/W2134505938","https://openalex.org/W2135743384","https://openalex.org/W2149985621","https://openalex.org/W2155513581","https://openalex.org/W2156918412","https://openalex.org/W2167971611","https://openalex.org/W6634704677","https://openalex.org/W6676524658","https://openalex.org/W6679064698"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,32,117,156],"ungrounded,":[4],"hand-held":[5],"surgical":[6,29,47,85],"device":[7,18,88,153],"that":[8,45,159],"incorporates":[9,160],"active":[10,33,38,64,80,118,143,161],"constraints":[11,39,162],"and":[12,19,101,109,122,135],"force-feedback.":[13,164],"Optical":[14],"tracking":[15],"of":[16,27,62,78,107,116,132,140,151],"the":[17,46,60,63,71,79,84,129,149,152],"embedded":[20],"actuation":[21],"allow":[22],"for":[23],"real-time":[24],"motion":[25,50,99,110,133],"compensation":[26,111,134],"a":[28,141],"tool":[30,48],"as":[31,56,74],"constraint":[34,81,119],"is":[35,51,67],"encountered.":[36],"The":[37,87,104,145],"can":[40],"be":[41],"made":[42],"soft,":[43],"so":[44,55,73],"tip":[49],"scaled,":[52],"or":[53],"rigid,":[54],"to":[57,70,75,96],"altogether":[58],"prevent":[59],"penetration":[61,77,139],"constraint.":[65,144],"Force-feedback":[66],"also":[68],"provided":[69],"operator":[72],"indicate":[76],"boundary":[82],"by":[83],"tool.":[86],"has":[89],"been":[90],"evaluated":[91,128],"in":[92,137,155],"detailed":[93],"bench":[94],"tests":[95],"quantify":[97],"its":[98],"scaling":[100],"force-feedback":[102,108,136],"capabilities.":[103],"combined":[105,130],"effects":[106],"are":[112],"demonstrated":[113],"during":[114],"palpation":[115],"with":[120,163],"rigid":[121,142],"soft":[123],"boundaries.":[124],"A":[125],"user":[126],"study":[127],"effect":[131],"preventing":[138],"results":[146],"have":[147],"shown":[148],"potential":[150],"operating":[154],"ungrounded":[157],"setup":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}