{"id":"https://openalex.org/W2909913341","doi":"https://doi.org/10.1109/iros.2018.8593517","title":"Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots","display_name":"Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909913341","doi":"https://doi.org/10.1109/iros.2018.8593517","mag":"2909913341"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5049598614","display_name":"Pierre Berthet-Rayne","orcid":"https://orcid.org/0000-0001-9118-4877"},"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":"Pierre Berthet-Rayne","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","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":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719851","display_name":"Kiyoung Kim","orcid":"https://orcid.org/0000-0003-3700-6599"},"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":"Kiyoung Kim","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","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":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"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":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","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":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049598614"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.9992,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.75228383,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4964","last_page":"4971"},"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9706000089645386,"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/workspace","display_name":"Workspace","score":0.741701602935791},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.727324903011322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6741918921470642},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5794190168380737},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5696364045143127},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5382715463638306},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5085042715072632},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4500378966331482},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4200412333011627},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41482895612716675},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31642043590545654},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.26574575901031494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20479458570480347},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.10157182812690735},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08813872933387756}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.741701602935791},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.727324903011322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6741918921470642},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5794190168380737},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5696364045143127},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5382715463638306},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5085042715072632},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4500378966331482},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4200412333011627},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41482895612716675},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31642043590545654},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.26574575901031494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20479458570480347},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.10157182812690735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08813872933387756},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/70995","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/70995","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":"25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2819266950","display_name":null,"funder_award_id":"EP/P012779/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6222495186","display_name":null,"funder_award_id":"EP/J021199/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1584340536","https://openalex.org/W1934410567","https://openalex.org/W1982023924","https://openalex.org/W1988208719","https://openalex.org/W1993395549","https://openalex.org/W1996411485","https://openalex.org/W2005776884","https://openalex.org/W2015106839","https://openalex.org/W2018445772","https://openalex.org/W2025644126","https://openalex.org/W2040659484","https://openalex.org/W2046748649","https://openalex.org/W2075544631","https://openalex.org/W2083016933","https://openalex.org/W2131150943","https://openalex.org/W2133076227","https://openalex.org/W2146031911","https://openalex.org/W2146434325","https://openalex.org/W2146461823","https://openalex.org/W2153499144","https://openalex.org/W2184993170","https://openalex.org/W2207568557","https://openalex.org/W2225745492","https://openalex.org/W2412810726","https://openalex.org/W2566130452","https://openalex.org/W2588370846","https://openalex.org/W2790766491","https://openalex.org/W2807882833","https://openalex.org/W2938177117"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W2052890916","https://openalex.org/W2121740409","https://openalex.org/W1999896530"],"abstract_inverted_index":{"The":[0,52,77,86,99],"use":[1],"of":[2,39,59,92,111],"snake-like":[3,41],"robots":[4],"for":[5,11,18,35],"surgery":[6],"is":[7],"a":[8,32,40,102],"popular":[9],"choice":[10],"intra-luminal":[12],"procedures.":[13],"In":[14],"practice,":[15],"the":[16,37,49,55,68],"requirements":[17],"strength,":[19],"flexibility":[20],"and":[21,46,63,70,96,108],"accuracy":[22],"are":[23],"difficult":[24],"to":[25,66,113],"be":[26],"satisfied":[27],"simultaneously.":[28],"This":[29],"paper":[30],"presents":[31],"computational":[33],"approach":[34],"optimizing":[36],"design":[38,56],"robot":[42,87],"using":[43,83],"serial":[44],"rolling-joints":[45],"tendons":[47,69],"as":[48,104,106],"base":[50],"architecture.":[51],"method":[53],"optimizes":[54],"in":[57,90],"terms":[58,91],"joint":[60],"angle":[61],"range":[62],"tendon":[64],"placement":[65],"prevent":[67],"joints":[71,80],"from":[72],"colliding":[73],"during":[74],"bending":[75],"motion.":[76],"resulting":[78],"optimized":[79],"were":[81],"manufactured":[82],"3D":[84],"printing.":[85],"was":[88],"characterized":[89],"workspace,":[93],"dexterity,":[94],"precision":[95],"manipulation":[97,109],"forces.":[98],"results":[100],"show":[101],"repeatability":[103],"low":[105],"0.9mm":[107],"forces":[110],"up":[112],"5.6N.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
