{"id":"https://openalex.org/W2774159889","doi":"https://doi.org/10.1109/iros.2017.8206072","title":"3D printing of improved needle grasping instrument for flexible robotic surgery","display_name":"3D printing of improved needle grasping instrument for flexible robotic surgery","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774159889","doi":"https://doi.org/10.1109/iros.2017.8206072","mag":"2774159889"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206072","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/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":true,"raw_author_name":"Carlo A. Seneci","raw_affiliation_strings":["Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"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 London, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027166330","display_name":"Piyamate Wisanuvej","orcid":"https://orcid.org/0000-0001-6071-2446"},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]},{"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","TH"],"is_corresponding":false,"raw_author_name":"Piyamate Wisanuvej","raw_affiliation_strings":["Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK","Kasetsart University, Bangkok, Thailand"],"affiliations":[{"raw_affiliation_string":"Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Kasetsart University, Bangkok, Thailand","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101947566","display_name":"Jianzhong Shang","orcid":"https://orcid.org/0000-0002-4576-5651"},"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":"Jianzhong Shang","raw_affiliation_strings":["Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London, 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 London, Hamlyn Centre for Robotic Surgery, London, UK"],"affiliations":[{"raw_affiliation_string":"Imperial College London, Hamlyn Centre for Robotic Surgery, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091188263"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56395639,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2524","last_page":"2530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987000226974487,"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":0.9980000257492065,"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/task","display_name":"Task (project management)","score":0.6047812700271606},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6007756590843201},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5864560008049011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5491771697998047},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.48976755142211914},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4649340808391571},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4452117681503296},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.4295980930328369},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4131411612033844},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4010837972164154},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36153557896614075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2869493365287781},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.14903917908668518},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0904684066772461}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6047812700271606},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6007756590843201},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5864560008049011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5491771697998047},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.48976755142211914},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4649340808391571},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4452117681503296},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.4295980930328369},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4131411612033844},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4010837972164154},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36153557896614075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2869493365287781},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.14903917908668518},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0904684066772461}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206072","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2095971486","https://openalex.org/W2096244365","https://openalex.org/W2121148350","https://openalex.org/W2122850646","https://openalex.org/W2140232429","https://openalex.org/W2153646384","https://openalex.org/W2161681721","https://openalex.org/W2196788261","https://openalex.org/W2566130452","https://openalex.org/W2588333893","https://openalex.org/W2588370846","https://openalex.org/W6733784767"],"related_works":["https://openalex.org/W1595549445","https://openalex.org/W2131557635","https://openalex.org/W2760674464","https://openalex.org/W2885222402","https://openalex.org/W2592088541","https://openalex.org/W4220747655","https://openalex.org/W2391238498","https://openalex.org/W2098701449","https://openalex.org/W3027551814","https://openalex.org/W2402881038"],"abstract_inverted_index":{"Suturing":[0],"is":[1],"an":[2],"essential":[3],"requirement":[4],"for":[5,99,103,141],"surgical":[6,79],"robots.":[7],"Current":[8],"designs":[9,42,98],"of":[10,131,151],"needle":[11,22,80,89,100],"drivers":[12],"require":[13],"significant":[14],"forces":[15,74],"to":[16,61,71,107,122,148],"be":[17,84,108],"applied":[18],"so":[19],"that":[20,40,52],"the":[21,29,34,63,69,78,88,117,124,129,149,152],"will":[23],"not":[24],"flip":[25],"or":[26],"slip":[27],"between":[28],"jaws":[30,91],"when":[31],"inserted":[32],"into":[33],"tissue.":[35],"The":[36],"required":[37],"force":[38],"implies":[39],"most":[41],"are":[43,92],"based":[44],"on":[45,116],"rigid":[46],"instruments":[47],"with":[48,111,146],"a":[49],"straight":[50],"shaft":[51],"induces":[53],"less":[54],"dexterity.":[55],"Flexible":[56],"robotics":[57],"provides":[58],"great":[59],"dexterity":[60],"achieve":[62],"task,":[64],"although":[65],"often":[66],"it":[67],"lacks":[68],"capability":[70],"apply":[72],"large":[73],"and":[75],"therefore":[76],"hold":[77],"firmly.":[81],"Solutions":[82],"can":[83],"found":[85],"in":[86,128],"how":[87],"driver's":[90],"designed.":[93],"This":[94],"paper":[95],"presents":[96],"improved":[97],"grasping":[101,133],"tools":[102],"flexible":[104],"robotic":[105],"instruments,":[106],"produced":[109],"directly":[110],"selective":[112],"laser":[113],"melting.":[114],"Features":[115],"gripping":[118,125],"surface":[119],"were":[120],"embedded":[121],"increase":[123],"effectiveness":[126],"even":[127],"presence":[130],"limited":[132],"force.":[134],"A":[135],"detailed":[136],"characterisation":[137],"has":[138],"been":[139],"performed":[140],"each":[142],"design":[143],"showing":[144],"improvements":[145],"respect":[147],"state":[150],"art.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}