{"id":"https://openalex.org/W3004342295","doi":"https://doi.org/10.1109/iros40897.2019.8968219","title":"Macro-Micro Multi-Arm Robot for Single-Port Access Surgery","display_name":"Macro-Micro Multi-Arm Robot for Single-Port Access Surgery","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004342295","doi":"https://doi.org/10.1109/iros40897.2019.8968219","mag":"3004342295"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968219","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":true,"oa_status":"green","oa_url":"https://kclpure.kcl.ac.uk/portal/en/publications/cb6ebf37-071d-47bf-85c5-84e7de9ac233","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053841150","display_name":"T. Vandebroek","orcid":"https://orcid.org/0000-0003-4078-1414"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"T. Vandebroek","raw_affiliation_strings":["Catholic University of Leuven,Faculty of Mechanical Engineering","Faculty of Mechanical Engineering, Catholic University of Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Catholic University of Leuven,Faculty of Mechanical Engineering","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Catholic University of Leuven","institution_ids":["https://openalex.org/I84470341","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062778860","display_name":"Mouloud Ourak","orcid":"https://orcid.org/0000-0003-4885-8965"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"M. Ourak","raw_affiliation_strings":["Catholic University of Leuven,Faculty of Mechanical Engineering","Faculty of Mechanical Engineering, Catholic University of Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Catholic University of Leuven,Faculty of Mechanical Engineering","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Catholic University of Leuven","institution_ids":["https://openalex.org/I84470341","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064868830","display_name":"Caspar Gruijthuijsen","orcid":"https://orcid.org/0000-0002-2118-7041"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"C. Gruijthuijsen","raw_affiliation_strings":["Catholic University of Leuven,Faculty of Mechanical Engineering","Faculty of Mechanical Engineering, Catholic University of Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Catholic University of Leuven,Faculty of Mechanical Engineering","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Catholic University of Leuven","institution_ids":["https://openalex.org/I84470341","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080622685","display_name":"Allan Javaux","orcid":"https://orcid.org/0000-0002-4575-9323"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"A. Javaux","raw_affiliation_strings":["Catholic University of Leuven,Faculty of Mechanical Engineering","Faculty of Mechanical Engineering, Catholic University of Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Catholic University of Leuven,Faculty of Mechanical Engineering","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Catholic University of Leuven","institution_ids":["https://openalex.org/I84470341","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043279999","display_name":"J Legrand","orcid":"https://orcid.org/0000-0001-8105-9079"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"J. Legrand","raw_affiliation_strings":["Catholic University of Leuven,Faculty of Mechanical Engineering","Faculty of Mechanical Engineering, Catholic University of Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Catholic University of Leuven,Faculty of Mechanical Engineering","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Catholic University of Leuven","institution_ids":["https://openalex.org/I84470341","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028279799","display_name":"Tom Vercauteren","orcid":"https://orcid.org/0000-0003-1794-0456"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"T. Vercauteren","raw_affiliation_strings":["King&#x2019;s College,School of Biomedical Engineering and Imaging Sciences,London","School of Biomedical Engineering and Imaging Sciences, King's College, London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King&#x2019;s College,School of Biomedical Engineering and Imaging Sciences,London","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College, London","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082106258","display_name":"S\u00e9bastien Ourselin","orcid":"https://orcid.org/0000-0002-5694-5340"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S. Ourselin","raw_affiliation_strings":["King&#x2019;s College,School of Biomedical Engineering and Imaging Sciences,London","School of Biomedical Engineering and Imaging Sciences, King's College, London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King&#x2019;s College,School of Biomedical Engineering and Imaging Sciences,London","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College, London","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079918230","display_name":"Jan Deprest","orcid":"https://orcid.org/0000-0002-4920-945X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Deprest","raw_affiliation_strings":["University Hospital Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Hospital Leuven","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068041103","display_name":"Emmanuel Vander Poorten","orcid":"https://orcid.org/0000-0003-3764-9551"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"E.Vander Poorten","raw_affiliation_strings":["Catholic University of Leuven,Faculty of Mechanical Engineering","Faculty of Mechanical Engineering, Catholic University of Leuven"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Catholic University of Leuven,Faculty of Mechanical Engineering","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Catholic University of Leuven","institution_ids":["https://openalex.org/I84470341","https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.954,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.87091397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"425","last_page":"432"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9927999973297119,"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"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9790999889373779,"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/macro","display_name":"Macro","score":0.6747130751609802},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6255189776420593},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.6171451807022095},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6104679703712463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5105798840522766},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.4926024079322815},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4772474765777588},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46050187945365906},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.43826085329055786},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4338460862636566},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36723971366882324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3527292013168335},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30857038497924805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2874792218208313},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2090195119380951},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11137619614601135},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07302379608154297}],"concepts":[{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.6747130751609802},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6255189776420593},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.6171451807022095},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6104679703712463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5105798840522766},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.4926024079322815},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4772474765777588},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46050187945365906},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.43826085329055786},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4338460862636566},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36723971366882324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3527292013168335},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30857038497924805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2874792218208313},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2090195119380951},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11137619614601135},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07302379608154297},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8968219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968219","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"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/cb6ebf37-071d-47bf-85c5-84e7de9ac233","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/cb6ebf37-071d-47bf-85c5-84e7de9ac233","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/638784","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/638784/3/Macro-Micro%20Multi-Arm%20Robot%20for%20Single-Port%20Access%20Surgery%20-%20Tom%20Vandebroek.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems, Macao, China, 3-8 November 2019","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:160369","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/macromicro-multiarm-robot-for-singleport-access-surgery(88bbed0a-8b8f-4a1e-a63a-4241f8ef6c43).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:160369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS40897.2019.8968219","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/cb6ebf37-071d-47bf-85c5-84e7de9ac233","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/cb6ebf37-071d-47bf-85c5-84e7de9ac233","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W427804221","https://openalex.org/W1908335344","https://openalex.org/W1980905653","https://openalex.org/W1985568314","https://openalex.org/W1991731447","https://openalex.org/W1996181637","https://openalex.org/W2008561122","https://openalex.org/W2010563906","https://openalex.org/W2048166719","https://openalex.org/W2064492910","https://openalex.org/W2068021949","https://openalex.org/W2070903518","https://openalex.org/W2079045214","https://openalex.org/W2119531408","https://openalex.org/W2128677987","https://openalex.org/W2131150943","https://openalex.org/W2137210966","https://openalex.org/W2142752224","https://openalex.org/W2147114253","https://openalex.org/W2161681721","https://openalex.org/W2212512009","https://openalex.org/W2415730943","https://openalex.org/W2431419544","https://openalex.org/W2487228845","https://openalex.org/W2563209191","https://openalex.org/W2594006800","https://openalex.org/W2790147543","https://openalex.org/W4229897703","https://openalex.org/W6811391316"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W2419248997","https://openalex.org/W4205284030","https://openalex.org/W2387504722"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1],"surgery":[2,10],"is":[3,85,125,147],"now":[4],"a":[5,24,38,46,103],"well":[6,135],"established":[7],"field":[8],"in":[9,45,142],"but":[11],"continuous":[12],"efforts":[13],"are":[14,67,78,140,152],"made":[15],"to":[16,49,154],"reduce":[17],"invasiveness":[18],"even":[19],"further.":[20],"This":[21],"paper":[22],"proposes":[23],"novel":[25],"concept":[26,36],"of":[27,40,54,60],"small-diameter":[28],"multi-arm":[29],"robot":[30],"for":[31,69,106,121],"SinglePort":[32],"Access":[33],"Surgery.":[34],"The":[35,82,95,129],"introduces":[37],"combination":[39],"backbone":[41],"and":[42,59,127,131,149],"actuation":[43,84,113],"principles":[44],"macro-micro":[47],"fashion":[48],"achieve":[50],"an":[51],"excellent":[52],"decoupling":[53],"the":[55,61,70,92,99,107,137],"triangulation":[56,71,93,96],"platform":[57,97],"(macro)":[58],"end-effectors":[62,108],"(micro).":[63],"Concentric":[64],"tube":[65],"robots":[66],"used":[68,79],"platform,":[72],"while":[73],"compliant":[74],"fluidic-actuated":[75],"bending":[76],"segments":[77],"as":[80,87,134,136],"end-effectors.":[81],"fluidic":[83],"advantageous":[86],"it":[88],"minimally":[89],"interferes":[90],"with":[91],"platform.":[94],"on":[98],"other":[100],"hand":[101],"provides":[102],"stable":[104],"base":[105],"such":[109],"that":[110],"large":[111],"distal":[112],"bandwidth":[114],"can":[115],"be":[116],"achieved.":[117],"A":[118,144],"specific":[119],"embodiment":[120],"Spina":[122],"Bifida":[123],"repair":[124],"developed":[126],"proposed.":[128],"surgical":[130],"technical":[132],"requirements":[133],"mechanical":[138],"design":[139],"presented":[141],"details.":[143],"first":[145],"prototype":[146],"built":[148],"characterization":[150],"experiments":[151],"conducted":[153],"evaluate":[155],"its":[156],"performance.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
