{"id":"https://openalex.org/W4312253199","doi":"https://doi.org/10.1109/iros47612.2022.9982138","title":"GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator","display_name":"GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312253199","doi":"https://doi.org/10.1109/iros47612.2022.9982138"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982138","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982138","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5055468404","display_name":"Huxin Gao","orcid":"https://orcid.org/0000-0002-8700-560X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":true,"raw_author_name":"Huxin Gao","raw_affiliation_strings":["National University of Singapore,Department of Biomedical Engineering,Singapore","Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Biomedical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035786530","display_name":"Zedong Zhang","orcid":"https://orcid.org/0009-0003-9312-8387"},"institutions":[{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zedong Zhang","raw_affiliation_strings":["NUS (Suzhou) Research Institute,Suzhou,China","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"NUS (Suzhou) Research Institute,Suzhou,China","institution_ids":["https://openalex.org/I4210125878"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["School of Mechatronic Engineering, Beijing Institute of Technology,Beijing,China","School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451719","display_name":"Xiao Xiao","orcid":"https://orcid.org/0000-0002-1254-5740"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Xiao","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electrical and Electronic Engineering,Shenzhen,China","Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electrical and Electronic Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011499314","display_name":"Liang Qiu","orcid":"https://orcid.org/0000-0002-6784-1627"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Liang Qiu","raw_affiliation_strings":["National University of Singapore,Department of Biomedical Engineering,Singapore","Institute for Infocomm Research, Agency for Science, Technology and Research, Singapore","Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Biomedical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Institute for Infocomm Research, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005205790","display_name":"Xiaoxiao Yang","orcid":"https://orcid.org/0000-0003-0290-2844"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxiao Yang","raw_affiliation_strings":["Qilu Hospital of Shandong University,Department of Gastroenterology,Jinan,China","Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Qilu Hospital of Shandong University,Department of Gastroenterology,Jinan,China","institution_ids":["https://openalex.org/I4210161528"]},{"raw_affiliation_string":"Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103048022","display_name":"Ruoyi Hao","orcid":"https://orcid.org/0009-0000-0341-6763"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruoyi Hao","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hongkong,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hongkong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101645339","display_name":"Xiuli Zuo","orcid":"https://orcid.org/0000-0002-2942-1744"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuli Zuo","raw_affiliation_strings":["Qilu Hospital of Shandong University,Department of Gastroenterology,Jinan,China","Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Qilu Hospital of Shandong University,Department of Gastroenterology,Jinan,China","institution_ids":["https://openalex.org/I4210161528"]},{"raw_affiliation_string":"Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110433791","display_name":"Yanqing Li","orcid":"https://orcid.org/0000-0003-3222-5610"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanqing Li","raw_affiliation_strings":["Qilu Hospital of Shandong University,Department of Gastroenterology,Jinan,China","Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Qilu Hospital of Shandong University,Department of Gastroenterology,Jinan,China","institution_ids":["https://openalex.org/I4210161528"]},{"raw_affiliation_string":"Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["National University of Singapore,Department of Biomedical Engineering,Singapore","Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Biomedical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5055468404"],"corresponding_institution_ids":["https://openalex.org/I165932596","https://openalex.org/I177725633","https://openalex.org/I4210125878"],"apc_list":null,"apc_paid":null,"fwci":2.2445,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89740495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9542","last_page":"9549"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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":0.9973000288009644,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9937999844551086,"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/computer-science","display_name":"Computer science","score":0.6268267035484314},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5679068565368652},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.5595462322235107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5195534825325012},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4670955538749695},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46218574047088623},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.4459187686443329},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43810755014419556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4017476439476013},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.16887474060058594},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.122222900390625}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6268267035484314},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5679068565368652},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.5595462322235107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5195534825325012},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4670955538749695},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46218574047088623},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.4459187686443329},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43810755014419556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4017476439476013},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.16887474060058594},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.122222900390625},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982138","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982138","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G481301685","display_name":null,"funder_award_id":"2018YFB1307700,2018YFB1307703","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G525656233","display_name":null,"funder_award_id":"14211420","funder_id":"https://openalex.org/F4320322942","funder_display_name":"Chinese University of Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2059727927","https://openalex.org/W2061417916","https://openalex.org/W2082511574","https://openalex.org/W2082991751","https://openalex.org/W2111570103","https://openalex.org/W2145339207","https://openalex.org/W2146922385","https://openalex.org/W2146990154","https://openalex.org/W2167340365","https://openalex.org/W2167501464","https://openalex.org/W2257979135","https://openalex.org/W2413442240","https://openalex.org/W2587548977","https://openalex.org/W2598070036","https://openalex.org/W2736601468","https://openalex.org/W2736750746","https://openalex.org/W2889987506","https://openalex.org/W2894410663","https://openalex.org/W2897317266","https://openalex.org/W2905810301","https://openalex.org/W2911087563","https://openalex.org/W2912997088","https://openalex.org/W2913626197","https://openalex.org/W2919629852","https://openalex.org/W2923090615","https://openalex.org/W2941460562","https://openalex.org/W2949849462","https://openalex.org/W2979603078","https://openalex.org/W2995074243","https://openalex.org/W3007769740","https://openalex.org/W3016089488","https://openalex.org/W3087014339","https://openalex.org/W3094103188","https://openalex.org/W3127501898","https://openalex.org/W3137223661","https://openalex.org/W3138146008","https://openalex.org/W3196757288","https://openalex.org/W3206811919","https://openalex.org/W4210656949","https://openalex.org/W6638134809","https://openalex.org/W6741002519","https://openalex.org/W6753526802","https://openalex.org/W6760425463","https://openalex.org/W6838916134"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"Robot-assisted":[0],"gastrointestinal":[1],"endoscopic":[2,12,81],"surgery":[3,13,20],"(GES)":[4],"as":[5],"a":[6,27],"kind":[7],"of":[8,47,76,122],"natural":[9],"orifice":[10],"transluminal":[11],"(NOTES)":[14],"is":[15,33],"the":[16,41,45,54,59,120,123],"next-generation":[17],"minimally":[18],"invasive":[19],"(MIS).":[21],"Besides,":[22],"rendering":[23],"certain":[24],"autonomy":[25,46],"to":[26,39,52,99,118],"Gas-trointestinal":[28],"Endoscopic":[29],"Surgical":[30],"Robot":[31],"(GESR)":[32],"promising":[34],"but":[35],"highly":[36],"challenging.":[37],"Therefore,":[38],"accelerate":[40],"development":[42],"and":[43,74,80,93,111],"augment":[44],"GESR,":[48],"we":[49,85],"use":[50],"CoppeliaSim":[51],"develop":[53],"first":[55],"robotic":[56,90],"simulator":[57],"for":[58,89],"GESR":[60],"system":[61],"(GESRsim)":[62],"based":[63],"on":[64],"our":[65,77],"previous":[66],"design.":[67],"The":[68],"GESRsim":[69],"provides":[70],"several":[71,87,103],"3D":[72],"models":[73],"kinematics":[75],"designed":[78],"manipulators":[79],"snake":[82],"bone.":[83],"Additionally,":[84],"build":[86],"scenes":[88],"GES":[91],"training":[92],"then":[94],"utilize":[95],"different":[96],"programming":[97],"interfaces":[98],"perform":[100],"teleoperation.":[101],"Furthermore,":[102],"advanced":[104],"control":[105],"algorithms,":[106],"including":[107],"visual":[108],"servoing":[109],"(VS)":[110],"deep":[112],"reinforcement":[113],"learning":[114],"(DRL),":[115],"are":[116],"implemented":[117],"verify":[119],"performance":[121],"GESRsim.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
