{"id":"https://openalex.org/W2565234518","doi":"https://doi.org/10.1109/iros.2016.7759365","title":"Virtual fixture assistance for needle passing and knot tying","display_name":"Virtual fixture assistance for needle passing and knot tying","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565234518","doi":"https://doi.org/10.1109/iros.2016.7759365","mag":"2565234518"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100679793","display_name":"Zihan Chen","orcid":"https://orcid.org/0009-0006-3412-0897"},"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":true,"raw_author_name":"Zihan Chen","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017694496","display_name":"Anand Malpani","orcid":"https://orcid.org/0000-0001-9477-9403"},"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":"Anand Malpani","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061979798","display_name":"Preetham Chalasani","orcid":"https://orcid.org/0000-0003-3612-0453"},"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":"Preetham Chalasani","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060559135","display_name":"Anton Deguet","orcid":"https://orcid.org/0000-0003-3856-2095"},"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":"Anton Deguet","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112422374","display_name":"S. Swaroop Vedula","orcid":null},"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":"S. Swaroop Vedula","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"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":"Peter Kazanzides","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"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":"Russell H. Taylor","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100679793"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":4.0301,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.93730129,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2343","last_page":"2350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10888","display_name":"Augmented Reality Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/knot-tying","display_name":"Knot tying","score":0.8097316026687622},{"id":"https://openalex.org/keywords/tying","display_name":"Tying","score":0.6647027134895325},{"id":"https://openalex.org/keywords/fixture","display_name":"Fixture","score":0.62975013256073},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6268576979637146},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6251348853111267},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4700506925582886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41258424520492554},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3628133237361908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27986961603164673},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22904464602470398},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1445026397705078},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13355058431625366},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10894536972045898},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07368803024291992}],"concepts":[{"id":"https://openalex.org/C2992791134","wikidata":"https://www.wikidata.org/wiki/Q527395","display_name":"Knot tying","level":2,"score":0.8097316026687622},{"id":"https://openalex.org/C2780938662","wikidata":"https://www.wikidata.org/wiki/Q973710","display_name":"Tying","level":2,"score":0.6647027134895325},{"id":"https://openalex.org/C2781122048","wikidata":"https://www.wikidata.org/wiki/Q15983064","display_name":"Fixture","level":2,"score":0.62975013256073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6268576979637146},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6251348853111267},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4700506925582886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41258424520492554},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3628133237361908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27986961603164673},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22904464602470398},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1445026397705078},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13355058431625366},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10894536972045898},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07368803024291992}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1513408118","https://openalex.org/W1964502429","https://openalex.org/W1986942212","https://openalex.org/W1991062434","https://openalex.org/W2024406508","https://openalex.org/W2025037675","https://openalex.org/W2025468671","https://openalex.org/W2026988104","https://openalex.org/W2031548072","https://openalex.org/W2061417916","https://openalex.org/W2104601649","https://openalex.org/W2114478552","https://openalex.org/W2151905266","https://openalex.org/W2167273835","https://openalex.org/W2167971611","https://openalex.org/W4206578133","https://openalex.org/W4206833234","https://openalex.org/W4232552111","https://openalex.org/W6806886732","https://openalex.org/W6807459751"],"related_works":["https://openalex.org/W2140915661","https://openalex.org/W2409790061","https://openalex.org/W1991441200","https://openalex.org/W2048072594","https://openalex.org/W2405981719","https://openalex.org/W2162082746","https://openalex.org/W1572345109","https://openalex.org/W2334343540","https://openalex.org/W2295452164","https://openalex.org/W2399726564"],"abstract_inverted_index":{"Suturing":[0],"is":[1],"a":[2,25,42,77],"challenging":[3],"and":[4,64,85,114,121],"highly":[5],"dexterous":[6],"task":[7,118],"in":[8,41,68,111],"minimally":[9],"invasive":[10],"surgery,":[11],"even":[12],"with":[13,60],"the":[14,38,61,74,98,105,117],"assistance":[15,93],"of":[16,55,76,107],"robotic":[17,44],"surgical":[18,45],"systems.":[19],"In":[20],"this":[21,48],"work,":[22],"we":[23,50],"propose":[24],"simple":[26],"yet":[27],"versatile":[28],"impedance":[29],"virtual":[30,56,91],"fixture":[31,92],"framework,":[32,49],"which":[33],"can":[34],"be":[35],"applied":[36],"on":[37],"master":[39],"manipulator":[40],"tele-operated":[43],"system.":[46],"With":[47],"further":[51],"develop":[52],"two":[53],"types":[54],"fixtures":[57],"that":[58,90],"assist":[59],"needle":[62,83,99],"passing":[63,84,100],"knot":[65,86,112],"tying":[66,87],"sub-tasks":[67],"suturing.":[69],"The":[70],"paper":[71],"also":[72],"presents":[73],"results":[75],"14-participant":[78],"user":[79],"study":[80],"for":[81,94],"both":[82],"sub-tasks,":[88],"showing":[89],"novice":[95],"users":[96],"increases":[97],"exit":[101],"point":[102],"accuracy,":[103],"reduces":[104],"number":[106],"errors":[108],"(suture":[109],"slip)":[110],"tying,":[113],"simultaneously":[115],"decreases":[116],"completion":[119],"time":[120],"overall":[122],"operator":[123],"workload.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}