{"id":"https://openalex.org/W2775051858","doi":"https://doi.org/10.1109/iros.2017.8202159","title":"Master manipulator designed for highly articulated robotic instruments in single access surgery","display_name":"Master manipulator designed for highly articulated robotic instruments in single access surgery","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775051858","doi":"https://doi.org/10.1109/iros.2017.8202159","mag":"2775051858"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5027166330","display_name":"Piyamate Wisanuvej","orcid":"https://orcid.org/0000-0001-6071-2446"},"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"]},{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["GB","TH"],"is_corresponding":true,"raw_author_name":"Piyamate Wisanuvej","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","Kaset-sart University, Bangkok, Thailand"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Kaset-sart University, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000058557","display_name":"Gauthier Gras","orcid":"https://orcid.org/0000-0003-2322-8780"},"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":"Gauthier Gras","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049673571","display_name":"Konrad Leibrandt","orcid":"https://orcid.org/0000-0002-7719-083X"},"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":"Konrad Leibrandt","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021744341","display_name":"\u03a0\u03ad\u03c4\u03c1\u03bf\u03c2 \u0393\u03b9\u03b1\u03c4\u03b1\u03b3\u03ac\u03bd\u03b1\u03c2","orcid":"https://orcid.org/0000-0002-5676-0776"},"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":"Petros Giataganas","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091188263","display_name":"Carlo Seneci","orcid":"https://orcid.org/0000-0002-5948-5458"},"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":"Carlo A. Seneci","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101678348","display_name":"Jindong Liu","orcid":"https://orcid.org/0000-0003-0594-373X"},"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":"Jindong Liu","raw_affiliation_strings":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, 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":["Imperial College, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5027166330"],"corresponding_institution_ids":["https://openalex.org/I198105771","https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.7647,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.70854355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9952999949455261,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9901000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8272258043289185},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.682137131690979},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6749562621116638},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6367579698562622},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.6180420517921448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5951550602912903},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49383053183555603},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4884251654148102},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.48240697383880615},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4801994562149048},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4754102826118469},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4669690430164337},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4639306664466858},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.44716840982437134},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.4366828203201294},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4308282136917114},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.41569966077804565},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39813607931137085},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.22394999861717224},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1689455509185791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14303165674209595},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.13511455059051514}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8272258043289185},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.682137131690979},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6749562621116638},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6367579698562622},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.6180420517921448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5951550602912903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49383053183555603},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4884251654148102},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.48240697383880615},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4801994562149048},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4754102826118469},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4669690430164337},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4639306664466858},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.44716840982437134},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.4366828203201294},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4308282136917114},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.41569966077804565},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39813607931137085},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.22394999861717224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1689455509185791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14303165674209595},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.13511455059051514},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8202159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/49261","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/49261","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":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1635955860","https://openalex.org/W1993395549","https://openalex.org/W2049410986","https://openalex.org/W2112845732","https://openalex.org/W2130055765","https://openalex.org/W2219422669","https://openalex.org/W2263886334","https://openalex.org/W2341752649","https://openalex.org/W2566130452","https://openalex.org/W2588333893","https://openalex.org/W2588370846","https://openalex.org/W4252031641","https://openalex.org/W6636686504","https://openalex.org/W6679454051"],"related_works":["https://openalex.org/W2569545364","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W1527306875","https://openalex.org/W1927425414","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W2397341981","https://openalex.org/W841410736","https://openalex.org/W2167648512"],"abstract_inverted_index":{"The":[0],"performance":[1],"of":[2,15,44,63,79,110,127,185,199,214],"a":[3,36,42,97,189],"master-slave":[4],"robotic":[5],"system":[6,122],"depends":[7],"significantly":[8],"on":[9],"the":[10,13,22,25,61,69,77,92,107,144,154,174,182,186,197,200,204,212,215],"ergonomics":[11],"and":[12,73,76,163],"capability":[14,80],"its":[16,132],"master":[17,74,100],"device":[18],"to":[19,66,81,91,119,129,138,143,159,166,172,195],"correctly":[20],"interface":[21],"user":[23],"with":[24],"slave":[26,45,72,145],"robot.":[27],"Master":[28],"manipulators":[29],"generating":[30],"commands":[31],"in":[32],"task":[33],"space":[34],"represent":[35],"commonly":[37],"adopted":[38],"solution":[39],"for":[40,68,131],"controlling":[41],"range":[43],"robots":[46],"while":[47],"retaining":[48],"an":[49],"ergonomic":[50],"design.":[51],"However,":[52],"these":[53],"devices":[54],"present":[55],"several":[56],"drawbacks,":[57],"such":[58,86],"as":[59,87,135,137],"requiring":[60],"use":[62],"clutching":[64],"mechanics":[65],"compensate":[67,130],"mismatch":[70],"between":[71],"workspaces,":[75],"lack":[78],"intuitively":[82,208],"transmit":[83],"important":[84],"information":[85],"specific":[88,167],"joint":[89,147],"limits":[90],"user.":[93],"In":[94],"this":[95],"paper,":[96],"novel":[98],"joint-space":[99],"manipulator":[101,105],"is":[102,117,157,170,192],"presented.":[103],"This":[104,121,169],"emulates":[106],"kinematic":[108,183],"structure":[109],"highly":[111],"flexible":[112],"surgical":[113],"instruments":[114,205],"which":[115],"it":[116],"designed":[118],"control.":[120],"uses":[123],"6":[124],"active":[125],"degrees":[126],"freedom":[128],"own":[133],"weight,":[134],"well":[136],"provide":[139],"force":[140],"feedback":[141],"corresponding":[142],"robot's":[146],"limits.":[148],"A":[149],"force/torque":[150],"sensor":[151],"integrated":[152],"at":[153,211],"end":[155],"effector":[156],"used":[158],"relay":[160],"user-generated":[161],"forces":[162],"torques":[164],"directly":[165],"joints.":[168],"performed":[171],"counteract":[173],"friction":[175],"stemming":[176],"from":[177],"structural":[178],"constraints":[179],"imposed":[180],"by":[181],"design":[184],"instruments.":[187],"Finally,":[188],"usability":[190],"study":[191],"carried":[193],"out":[194],"test":[196],"validity":[198],"system,":[201],"proving":[202],"that":[203],"can":[206],"be":[207],"controlled":[209],"even":[210],"extremities":[213],"workspace.":[216]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
