{"id":"https://openalex.org/W2566130452","doi":"https://doi.org/10.1109/iros.2016.7759542","title":"Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity","display_name":"Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566130452","doi":"https://doi.org/10.1109/iros.2016.7759542","mag":"2566130452"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759542","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/A5091188263","display_name":"Carlo Seneci","orcid":"https://orcid.org/0000-0002-5948-5458"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Carlo A. Seneci","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049673571","display_name":"Konrad Leibrandt","orcid":"https://orcid.org/0000-0002-7719-083X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Konrad Leibrandt","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027166330","display_name":"Piyamate Wisanuvej","orcid":"https://orcid.org/0000-0001-6071-2446"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Piyamate Wisanuvej","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101947566","display_name":"Jianzhong Shang","orcid":"https://orcid.org/0000-0002-4576-5651"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianzhong Shang","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055785355","display_name":"Ara Darzi","orcid":"https://orcid.org/0000-0001-7815-7989"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ara Darzi","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5091188263"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0495,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.7800616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3677","last_page":"3683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9970999956130981,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9954000115394592,"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/modularity","display_name":"Modularity (biology)","score":0.8898217678070068},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.647362232208252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6310491561889648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6253377795219421},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5673158764839172},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.504824697971344},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4884409010410309},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.4386079013347626},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3931977450847626},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3817490339279175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.259851336479187},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19978293776512146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17925342917442322}],"concepts":[{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.8898217678070068},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.647362232208252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6310491561889648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6253377795219421},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5673158764839172},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.504824697971344},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4884409010410309},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.4386079013347626},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3931977450847626},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3817490339279175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.259851336479187},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19978293776512146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17925342917442322},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759542","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"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/45514","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/45514","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS 2016","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1971742713","https://openalex.org/W2028509639","https://openalex.org/W2044496596","https://openalex.org/W2060368248","https://openalex.org/W2071723438","https://openalex.org/W2087055055","https://openalex.org/W2171341910","https://openalex.org/W2196788261"],"related_works":["https://openalex.org/W4230687177","https://openalex.org/W1968829728","https://openalex.org/W2349859869","https://openalex.org/W3120118008","https://openalex.org/W4316651471","https://openalex.org/W2051365847","https://openalex.org/W2367249529","https://openalex.org/W2027187261","https://openalex.org/W2088885441","https://openalex.org/W1943342825"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"the":[3,43,48,69,89,92,96,99,107,114],"design":[4],"and":[5,24,62,65,98,109],"characterization":[6],"of":[7,39,51,71,91,113],"a":[8],"robotic":[9],"surgical":[10],"instrument":[11,32,97],"produced":[12],"mainly":[13],"with":[14],"rapid":[15,52],"prototyping":[16,53],"techniques.":[17],"Surgical":[18],"robots":[19],"have":[20,25],"generally":[21],"complex":[22],"structures":[23],"therefore":[26],"an":[27,82],"elevated":[28],"cost.":[29],"The":[30,59,78],"proposed":[31,79],"was":[33],"designed":[34],"to":[35,41,105],"incorporate":[36],"minimal":[37],"number":[38],"components":[40],"simplify":[42],"assembly":[44,66],"process":[45],"by":[46],"leveraging":[47],"unique":[49],"strength":[50],"for":[54],"producing":[55,72],"complex,":[56],"assemble-free":[57],"components.":[58],"modularity,":[60],"cost-effectiveness":[61],"fast":[63],"manufacturing":[64],"features":[67],"offer":[68],"possibility":[70],"patient":[73],"or":[74],"task":[75],"specific":[76],"instruments.":[77],"robot":[80],"incorporates":[81],"integrated":[83],"force":[84,93,110],"measurement":[85],"system,":[86],"thus":[87],"allowing":[88],"determination":[90],"exchanged":[94],"between":[95],"environment.":[100],"Detailed":[101],"experiments":[102],"were":[103],"performed":[104],"validate":[106],"functionality":[108],"sensing":[111],"capability":[112],"instrument.":[115]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}