{"id":"https://openalex.org/W2219576406","doi":"https://doi.org/10.1109/iros.2015.7353911","title":"Towards a SMA-actuated Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) robot","display_name":"Towards a SMA-actuated Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) robot","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2219576406","doi":"https://doi.org/10.1109/iros.2015.7353911","mag":"2219576406"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5030737748","display_name":"Jun Sheng","orcid":"https://orcid.org/0000-0001-8786-2137"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Sheng","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3805","last_page":"3810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9945999979972839,"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"}},{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.98580002784729,"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/sma*","display_name":"SMA*","score":0.9024412631988525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.649795651435852},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6316748261451721},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.5961083173751831},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5334389805793762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48084649443626404},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.47528401017189026},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.41257476806640625},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3218778669834137},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30883580446243286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29408133029937744},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23989897966384888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23197662830352783},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.15568599104881287},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15527310967445374},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0847991406917572}],"concepts":[{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.9024412631988525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.649795651435852},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6316748261451721},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.5961083173751831},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5334389805793762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48084649443626404},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.47528401017189026},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.41257476806640625},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3218778669834137},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30883580446243286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29408133029937744},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23989897966384888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23197662830352783},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.15568599104881287},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15527310967445374},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0847991406917572},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W143410960","https://openalex.org/W1547684717","https://openalex.org/W1597776365","https://openalex.org/W1969717963","https://openalex.org/W1975962529","https://openalex.org/W1981194197","https://openalex.org/W2036241836","https://openalex.org/W2038459816","https://openalex.org/W2072577625","https://openalex.org/W2084576139","https://openalex.org/W2088884749","https://openalex.org/W2092391367","https://openalex.org/W2101797976","https://openalex.org/W2106313510","https://openalex.org/W2107550832","https://openalex.org/W2111866551","https://openalex.org/W2156199850","https://openalex.org/W2157570937","https://openalex.org/W2180065899","https://openalex.org/W2316108992","https://openalex.org/W3135443006","https://openalex.org/W4251400704","https://openalex.org/W6635711244"],"related_works":["https://openalex.org/W3142162437","https://openalex.org/W963001762","https://openalex.org/W4306822727","https://openalex.org/W2143242372","https://openalex.org/W1976700796","https://openalex.org/W2012838525","https://openalex.org/W109856631","https://openalex.org/W1989340663","https://openalex.org/W2155636496","https://openalex.org/W2196756517"],"abstract_inverted_index":{"This":[0,66],"paper":[1,84],"presents":[2],"a":[3,6,45,60,115],"prototype":[4],"of":[5,29,36,47,62,90,97,110,124],"meso-scale":[7],"medical":[8],"robot":[9,75,92],"for":[10,23],"Neurosurgical":[11],"Intracerebral":[12],"Hemorrhage":[13],"Evacuation":[14],"(NICHE).":[15],"We":[16,102],"use":[17],"shape":[18],"memory":[19],"alloy":[20],"(SMA)":[21],"actuators":[22],"actuating":[24],"individual":[25],"degrees-of-freedom":[26],"(DoFs).":[27],"Pairs":[28],"antagonistic":[30,48,63],"SMA":[31,49,64],"wires":[32],"enable":[33],"bidirectional":[34],"motion":[35],"bending":[37],"joints.":[38],"A":[39],"novel":[40],"torsion":[41,50,100],"joint":[42],"formed":[43],"by":[44],"pair":[46,61],"springs":[51],"is":[52,118],"installed":[53],"at":[54,73],"the":[55,71,74,87,91,94,98,111,122,125],"distal":[56],"end":[57],"together":[58],"with":[59],"wires.":[65],"design":[67],"provides":[68],"articulation":[69],"within":[70],"hemorrhage":[72,80],"tip,":[76],"thereby":[77],"enabling":[78],"effective":[79],"evacuation.":[81],"In":[82],"this":[83],"we":[85],"derive":[86],"forward":[88],"kinematics":[89],"and":[93],"constitutive":[95,112],"model":[96],"SMA-actuated":[99],"joint.":[101],"also":[103],"present":[104],"experimental":[105],"procedures":[106],"to":[107,120],"characterize":[108],"parameters":[109],"model.":[113],"Finally,":[114],"proof-of-concept":[116],"experiment":[117],"presented":[119],"show":[121],"working":[123],"robot.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
