{"id":"https://openalex.org/W4200406341","doi":"https://doi.org/10.1109/iros51168.2021.9636128","title":"Mechanical Design and Evaluation of a Selectively-actuated MRI-compatible Continuum Neurosurgical Robot","display_name":"Mechanical Design and Evaluation of a Selectively-actuated MRI-compatible Continuum Neurosurgical Robot","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200406341","doi":"https://doi.org/10.1109/iros51168.2021.9636128"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636128","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5072251844","display_name":"Shing Shin Cheng","orcid":"https://orcid.org/0000-0002-9386-5497"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shing Shin Cheng","raw_affiliation_strings":["The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451946","display_name":"Xuefeng Wang","orcid":"https://orcid.org/0000-0001-9655-6609"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Wang","raw_affiliation_strings":["College of Engineering, Peking University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University, China","institution_ids":["https://openalex.org/I20231570"]}]},{"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/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokhwan Jeong","raw_affiliation_strings":["Sogang University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sogang University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019437915","display_name":"Matt Kole","orcid":null},"institutions":[{"id":"https://openalex.org/I919571938","display_name":"The University of Texas Health Science Center at Houston","ror":"https://ror.org/03gds6c39","country_code":"US","type":"education","lineage":["https://openalex.org/I919571938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Kole","raw_affiliation_strings":["University of Texas Health Science Center at Houston, Houston, Texas, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas Health Science Center at Houston, Houston, Texas, USA","institution_ids":["https://openalex.org/I919571938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015311723","display_name":"Steven Roys","orcid":"https://orcid.org/0000-0001-8685-213X"},"institutions":[{"id":"https://openalex.org/I126744593","display_name":"University of Maryland, Baltimore","ror":"https://ror.org/04rq5mt64","country_code":"US","type":"education","lineage":["https://openalex.org/I126744593"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Roys","raw_affiliation_strings":["University of Maryland School of Medicine, Baltimore, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland School of Medicine, Baltimore, Maryland, USA","institution_ids":["https://openalex.org/I126744593"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083023771","display_name":"Rao P. Gullapalli","orcid":"https://orcid.org/0000-0003-0551-0379"},"institutions":[{"id":"https://openalex.org/I126744593","display_name":"University of Maryland, Baltimore","ror":"https://ror.org/04rq5mt64","country_code":"US","type":"education","lineage":["https://openalex.org/I126744593"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rao P. Gullapalli","raw_affiliation_strings":["University of Maryland School of Medicine, Baltimore, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland School of Medicine, Baltimore, Maryland, USA","institution_ids":["https://openalex.org/I126744593"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9258,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86133061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2498","last_page":"2503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10618","display_name":"Aortic Disease and Treatment Approaches","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.9629999995231628,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/robot-end-effector","display_name":"Robot end effector","score":0.7566888332366943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5715697407722473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5708131790161133},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5189771056175232},{"id":"https://openalex.org/keywords/magnetic-resonance-imaging","display_name":"Magnetic resonance imaging","score":0.5028023719787598},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45862266421318054},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4472714364528656},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.44256168603897095},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.43323174118995667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37652528285980225},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35406243801116943},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28330346941947937},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16691410541534424},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.109337717294693}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7566888332366943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5715697407722473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5708131790161133},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5189771056175232},{"id":"https://openalex.org/C143409427","wikidata":"https://www.wikidata.org/wiki/Q161238","display_name":"Magnetic resonance imaging","level":2,"score":0.5028023719787598},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45862266421318054},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4472714364528656},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.44256168603897095},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.43323174118995667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37652528285980225},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35406243801116943},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28330346941947937},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16691410541534424},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.109337717294693},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636128","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1984466921","https://openalex.org/W1991973307","https://openalex.org/W1996666143","https://openalex.org/W2040329221","https://openalex.org/W2077712601","https://openalex.org/W2116144804","https://openalex.org/W2141942111","https://openalex.org/W2536661007","https://openalex.org/W2740405518","https://openalex.org/W2771250208","https://openalex.org/W2784524760","https://openalex.org/W2790744980","https://openalex.org/W2792744836"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W1981780420","https://openalex.org/W2066693961","https://openalex.org/W2182707996","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W45233828","https://openalex.org/W2964988449","https://openalex.org/W2387504722"],"abstract_inverted_index":{"The":[0,38,103,116],"combination":[1],"of":[2,45,61,106,129],"a":[3,21,29,46,94,99],"dexterous":[4,85],"continuum":[5,33],"robot":[6,35],"and":[7,16,48,52,70],"magnetic":[8],"resonance":[9],"imaging":[10],"can":[11],"potentially":[12],"improve":[13],"surgical":[14],"precision":[15],"minimize":[17],"brain":[18],"manipulation":[19],"in":[20,42,81,98],"minimally":[22],"invasive":[23],"neurosurgical":[24,34],"procedure.":[25],"In":[26],"this":[27],"work,":[28],"seven":[30],"degree-of-freedom":[31],"(DoF)":[32],"was":[36,110,121],"developed.":[37],"main":[39],"innovation":[40],"lies":[41],"the":[43,62,90],"design":[44],"safe":[47],"robust":[49],"switching":[50],"mechanism":[51,55],"gear-based":[53],"quick-connect":[54],"that,":[56],"respectively,":[57],"allow":[58],"selective":[59],"actuation":[60],"6-DoF":[63],"end":[64,73,130],"effector":[65,74,131],"using":[66],"only":[67],"three":[68],"motors":[69],"highly":[71],"efficient":[72],"exchange.":[75],"Its":[76],"performance":[77],"has":[78],"been":[79],"validated":[80],"experiments":[82],"involving":[83],"multi-segment":[84],"motion.":[86,132],"We":[87],"also":[88],"evaluated":[89],"robotic":[91,107],"system":[92,108],"on":[93],"human":[95],"cadaver":[96],"head":[97],"clinical":[100,114],"3-Tesla":[101],"MRI.":[102],"entire":[104],"workflow":[105],"set-up":[109],"implemented,":[111],"confirming":[112],"its":[113],"feasibility.":[115],"signal-to-noise":[117],"ratio":[118],"(SNR)":[119],"drop":[120],"consistently":[122],"less":[123],"than":[124],"6%":[125],"throughout":[126],"various":[127],"stages":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}