{"id":"https://openalex.org/W3003705467","doi":"https://doi.org/10.1109/iros40897.2019.8968594","title":"An Asynchronous Multi-Body Simulation Framework for Real-Time Dynamics, Haptics and Learning with Application to Surgical Robots","display_name":"An Asynchronous Multi-Body Simulation Framework for Real-Time Dynamics, Haptics and Learning with Application to Surgical Robots","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003705467","doi":"https://doi.org/10.1109/iros40897.2019.8968594","mag":"3003705467"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968594","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/A5036968620","display_name":"Adnan Munawar","orcid":"https://orcid.org/0000-0002-3400-4558"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adnan Munawar","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,MA,USA,01609","Department of Robotics Engineering, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Department of Robotics Engineering, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057001205","display_name":"Gregory S. Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory S. Fischer","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,MA,USA,01609","Department of Robotics Engineering, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Department of Robotics Engineering, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6268","last_page":"6275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9973000288009644,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.7027595639228821},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6500979065895081},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.621049702167511},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6132732033729553},{"id":"https://openalex.org/keywords/interfacing","display_name":"Interfacing","score":0.594005823135376},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4537901282310486},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41021257638931274},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3411791920661926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3356599807739258}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7027595639228821},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6500979065895081},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.621049702167511},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6132732033729553},{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.594005823135376},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4537901282310486},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41021257638931274},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3411791920661926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3356599807739258},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968594","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","display_name":"Peace, Justice and strong institutions","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W218015911","https://openalex.org/W1522873899","https://openalex.org/W1584687743","https://openalex.org/W1778115449","https://openalex.org/W1988506784","https://openalex.org/W2019681680","https://openalex.org/W2061417916","https://openalex.org/W2100349524","https://openalex.org/W2132293181","https://openalex.org/W2173248099","https://openalex.org/W2220490338","https://openalex.org/W2341108136","https://openalex.org/W2346178339","https://openalex.org/W2513734981","https://openalex.org/W2565917774","https://openalex.org/W2726187156","https://openalex.org/W2895578467","https://openalex.org/W2901136733","https://openalex.org/W2963864421","https://openalex.org/W3037207827","https://openalex.org/W4206578133","https://openalex.org/W4298342547","https://openalex.org/W6608710018","https://openalex.org/W6631251570","https://openalex.org/W6684921986","https://openalex.org/W6725867758","https://openalex.org/W6740222838","https://openalex.org/W6755445552","https://openalex.org/W6756486208","https://openalex.org/W6806886732"],"related_works":["https://openalex.org/W2199636814","https://openalex.org/W2364921833","https://openalex.org/W1548320035","https://openalex.org/W2313989154","https://openalex.org/W1561560534","https://openalex.org/W3173635594","https://openalex.org/W2145903452","https://openalex.org/W3041089513","https://openalex.org/W2542937277","https://openalex.org/W2071774063"],"abstract_inverted_index":{"Surgical":[0],"robots":[1,21],"for":[2,62,127,166,181],"laparoscopy":[3],"consist":[4],"of":[5,29,52,107,130,135,159,198,210],"several":[6,220],"patient":[7],"side":[8],"slave":[9],"manipulators":[10],"that":[11],"are":[12,186],"controlled":[13],"via":[14],"surgeon":[15],"operated":[16],"master":[17],"telemanipulators.":[18],"Commercial":[19],"surgical":[20,109,144],"do":[22],"not":[23],"perform":[24],"any":[25],"sub-tasks":[26],"-":[27,34,102,116],"even":[28],"repetitive":[30],"or":[31,36],"noninvasive":[32],"nature":[33],"autonomously":[35],"provide":[37],"intelligent":[38],"assistance.":[39],"While":[40],"this":[41,136],"is":[42,138,155],"primarily":[43],"due":[44],"to":[45,122,140,142],"safety":[46],"and":[47,60,75,111,117,124,150,161,176,196,202,217,224],"regulatory":[48],"reasons,":[49],"the":[50,58,105,128,191,199,203,208,229],"state":[51],"such":[53],"automation":[54],"intelligence":[55],"also":[56],"lacks":[57],"reliability":[59],"robustness":[61],"use":[63],"in":[64,69,83,188],"high-risk":[65],"applications.":[66,152],"Recent":[67],"developments":[68],"continuous":[70],"control":[71,151],"using":[72],"Artificial":[73],"Intelligence":[74],"Reinforcement":[76],"Learning":[77],"have":[78],"prompted":[79],"growing":[80],"research":[81],"interest":[82],"automating":[84],"mundane":[85],"sub-tasks.":[86,132],"To":[87],"build":[88],"on":[89],"this,":[90],"we":[91],"present":[92],"an":[93],"inspired":[94],"Asynchronous":[95,200],"Framework":[96,201],"which":[97,164],"incorporates":[98],"realtime":[99],"dynamic":[100,215],"simulation":[101,216],"manipulable":[103],"with":[104,119,190,219],"masters":[106],"a":[108,177,225],"robot":[110],"various":[112,143],"other":[113],"input":[114,222],"devices":[115,223],"interfaces":[118],"learning":[120,182],"agents":[121],"train":[123],"potentially":[125],"allow":[126,165],"execution":[129],"shared":[131,173],"The":[133],"scope":[134,154],"framework":[137],"generic":[139],"cater":[141],"(as":[145],"well":[146],"as":[147],"non-surgical)":[148],"training":[149,226],"This":[153],"demonstrated":[156],"by":[157,169],"examples":[158,185],"multi-user":[160],"multi-manual":[162],"applications":[163],"realistic":[167],"interactions":[168],"incorporating":[170],"distributed":[171],"control,":[172],"task":[174],"allocation":[175],"well-defined":[178],"communication":[179],"pipe-line":[180],"agents.":[183],"These":[184],"discussed":[187],"conjunction":[189],"design":[192],"philosophy,":[193],"specifications,":[194],"system-architecture":[195],"metrics":[197],"accompanying":[204],"Simulator.":[205],"We":[206],"show":[207],"stability":[209],"Simulator":[211],"while":[212],"achieving":[213],"real-time":[214],"interfacing":[218],"haptic":[221],"agent":[227],"at":[228],"same":[230],"time.":[231]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
