{"id":"https://openalex.org/W3003639106","doi":"https://doi.org/10.1109/iros40897.2019.8968186","title":"Towards the Design and Development of a Pediatric Neuroendoscope Tool","display_name":"Towards the Design and Development of a Pediatric Neuroendoscope Tool","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003639106","doi":"https://doi.org/10.1109/iros40897.2019.8968186","mag":"3003639106"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5001760308","display_name":"Yash Chitalia","orcid":"https://orcid.org/0000-0002-6291-3492"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Chitalia","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017597959","display_name":"Seokhwan Jeong","orcid":"https://orcid.org/0000-0001-9727-7601"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seokhwan Jeong","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065431086","display_name":"Ji Bok","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ji Bok","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100733374","display_name":"Vinh Nguyen","orcid":"https://orcid.org/0000-0003-4617-0892"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vinh Nguyen","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075529785","display_name":"Shreyes N. Melkote","orcid":"https://orcid.org/0000-0003-3816-0002"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyes Melkote","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044202520","display_name":"Joshua J. Chern","orcid":"https://orcid.org/0000-0001-6936-2876"},"institutions":[{"id":"https://openalex.org/I4210146983","display_name":"Children's Healthcare of Atlanta","ror":"https://ror.org/050fhx250","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210146983"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua J. Chern","raw_affiliation_strings":["Children’s Healthcare of Atlanta,Atlanta,GA,USA","Children's Healthcare of Atlanta, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Children’s Healthcare of Atlanta,Atlanta,GA,USA","institution_ids":["https://openalex.org/I4210146983"]},{"raw_affiliation_string":"Children's Healthcare of Atlanta, Atlanta, GA, USA","institution_ids":["https://openalex.org/I4210146983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2998","last_page":"3004"},"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/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6391716003417969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5424689650535583},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5367172360420227},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5339212417602539},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4977998733520508},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.43308281898498535},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.42952612042427063},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.425055593252182},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2923324704170227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25856852531433105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24203640222549438},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19543462991714478},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0869935154914856}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6391716003417969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5424689650535583},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5367172360420227},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5339212417602539},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4977998733520508},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.43308281898498535},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.42952612042427063},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.425055593252182},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2923324704170227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25856852531433105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24203640222549438},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19543462991714478},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0869935154914856},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4699999988079071,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1482773002","https://openalex.org/W1604037492","https://openalex.org/W1974514629","https://openalex.org/W1974620992","https://openalex.org/W1979524122","https://openalex.org/W1991113424","https://openalex.org/W1999083969","https://openalex.org/W2000331194","https://openalex.org/W2011569763","https://openalex.org/W2025815269","https://openalex.org/W2029901107","https://openalex.org/W2031662117","https://openalex.org/W2065609403","https://openalex.org/W2071026978","https://openalex.org/W2101667962","https://openalex.org/W2119343887","https://openalex.org/W2124757487","https://openalex.org/W2158393943","https://openalex.org/W2167165516","https://openalex.org/W2314558683","https://openalex.org/W2482947990","https://openalex.org/W2521377452","https://openalex.org/W2557554646","https://openalex.org/W2561240586","https://openalex.org/W2765518598","https://openalex.org/W2803754484","https://openalex.org/W2890182857","https://openalex.org/W3003053265","https://openalex.org/W4240609286","https://openalex.org/W6752143651","https://openalex.org/W6773304934"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"Hydrocephalus":[0],"in":[1,11],"the":[2,35,38,49,60,91,94,101,123,130,148,152],"pediatric":[3],"population":[4],"is":[5],"often":[6],"treated":[7],"with":[8,129],"endoscopic":[9,32],"procedures,":[10],"which":[12],"a":[13,17,52,63,69,79,83,112,119,133],"rigid":[14],"endoscope":[15],"provides":[16],"working":[18],"channel":[19],"and":[20,30,118,139],"needed":[21],"visualization":[22],"for":[23,55,136],"brain":[24],"manipulation.":[25],"The":[26,96],"lack":[27],"of":[28,37,51,62,82,93,100,115,122,132,147],"flexible":[29],"steerable":[31,71],"tools":[33],"limits":[34],"ability":[36,142],"surgeon":[39],"to":[40,67,86,106,143],"conduct":[41],"complex":[42],"operations.":[43],"In":[44],"this":[45,128,137],"paper,":[46],"we":[47],"propose":[48],"design":[50,131],"novel":[53],"tool":[54],"such":[56],"procedures":[57],"that":[58],"uses":[59],"compliance":[61],"bending":[64],"flexural":[65,102],"joint":[66,103,117],"build":[68],"compact":[70],"multi-joint":[72],"tool.":[73,95],"These":[74],"joints":[75,89],"are":[76,104],"machined":[77],"into":[78],"tube":[80],"made":[81],"super-elastic":[84],"material":[85],"create":[87],"two":[88],"near":[90],"tip":[92],"directional":[97],"stiffness":[98],"properties":[99],"exploited":[105],"minimize":[107],"inter-joint":[108],"coupling.":[109],"We":[110,126],"perform":[111],"static":[113],"analysis":[114,121],"each":[116],"kinematic":[120],"entire":[124],"robot.":[125],"follow":[127],"hand-held":[134],"controller":[135],"robot,":[138],"analyze":[140],"its":[141],"control":[144],"multiple":[145],"degrees-of-freedom":[146],"robot":[149],"while":[150],"minimizing":[151],"coupling":[153],"between":[154],"joints.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}