{"id":"https://openalex.org/W4389666399","doi":"https://doi.org/10.1109/iros55552.2023.10341660","title":"A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery","display_name":"A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666399","doi":"https://doi.org/10.1109/iros55552.2023.10341660","pmid":"https://pubmed.ncbi.nlm.nih.gov/39082055"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341660","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11285092/pdf/nihms-2009024.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023782620","display_name":"Saeed Rezaeian","orcid":"https://orcid.org/0009-0000-7707-484X"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saeed Rezaeian","raw_affiliation_strings":["University of California Riverside,Department of Mechanical Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Riverside,Department of Mechanical Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080598896","display_name":"Behnam Badie","orcid":"https://orcid.org/0000-0001-9811-9306"},"institutions":[{"id":"https://openalex.org/I1301076528","display_name":"City Of Hope National Medical Center","ror":"https://ror.org/00w6g5w60","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1301076528"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Behnam Badie","raw_affiliation_strings":["Division of Neurosurgery, City of Hope National Medical Center,CA,USA,91010"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Neurosurgery, City of Hope National Medical Center,CA,USA,91010","institution_ids":["https://openalex.org/I1301076528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030737748","display_name":"Jun Sheng","orcid":"https://orcid.org/0000-0001-8786-2137"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Sheng","raw_affiliation_strings":["University of California Riverside,Department of Mechanical Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Riverside,Department of Mechanical Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9236,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.95087546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2023","issue":null,"first_page":"10301","last_page":"10307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9736999869346619,"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/robot","display_name":"Robot","score":0.6659122705459595},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6193937063217163},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5293657779693604},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.449642539024353},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44380781054496765},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4138113856315613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40497663617134094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3982475996017456},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3774481415748596},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3630872070789337},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23052233457565308},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21370536088943481}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6659122705459595},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6193937063217163},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5293657779693604},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.449642539024353},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44380781054496765},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4138113856315613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40497663617134094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3982475996017456},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3774481415748596},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3630872070789337},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23052233457565308},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21370536088943481},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros55552.2023.10341660","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:39082055","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39082055","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11285092","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11285092","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11285092/pdf/nihms-2009024.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11285092","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11285092","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11285092/pdf/nihms-2009024.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2487376219","display_name":null,"funder_award_id":"R21 EB033896","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389666399.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W647012444","https://openalex.org/W1964258484","https://openalex.org/W1988506784","https://openalex.org/W1996666143","https://openalex.org/W2019993638","https://openalex.org/W2045581174","https://openalex.org/W2052805468","https://openalex.org/W2057960800","https://openalex.org/W2067873889","https://openalex.org/W2091884377","https://openalex.org/W2106934286","https://openalex.org/W2111015103","https://openalex.org/W2119531408","https://openalex.org/W2123297103","https://openalex.org/W2169817985","https://openalex.org/W2207568557","https://openalex.org/W2283595331","https://openalex.org/W2398121271","https://openalex.org/W2412393833","https://openalex.org/W2462654948","https://openalex.org/W2555633778","https://openalex.org/W2590852980","https://openalex.org/W2737491236","https://openalex.org/W2896056663","https://openalex.org/W2919013143","https://openalex.org/W3037285193","https://openalex.org/W3132510894","https://openalex.org/W4283327128","https://openalex.org/W4366351615","https://openalex.org/W6712459718","https://openalex.org/W6838749219"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,32,51,54,58,61,70,75,80,87,94,116,119],"design,":[4],"characterization,":[5],"and":[6,25,35,49,64,84,100,112,127],"testing":[7],"of":[8,20,37,53,60,69,74,79,86,93],"a":[9,21],"steerable":[10,29],"needle":[11,43,62],"robot":[12,18,44,63,76,95,117],"for":[13,129],"minimally":[14,130],"invasive":[15,131],"neurosurgery.":[16,132],"The":[17,90],"consists":[19],"rigid":[22],"outer":[23],"tube":[24],"two":[26],"telescopic":[27,41],"tendon-driven":[28,42],"tubes.":[30],"Through":[31],"rotation,":[33],"translation,":[34],"bending":[36],"individual":[38],"tubes,":[39],"this":[40],"can":[45],"perform":[46],"dexterous":[47],"motion":[48,102,114],"follow":[50],"path":[52],"tip.":[55],"We":[56],"presented":[57],"design":[59],"its":[65,109],"actuation":[66],"system,":[67],"modeling":[68],"robotic":[71],"kinematics,":[72],"characterization":[73],"motion,":[77],"results":[78],"open-loop":[81],"kinematic":[82],"control,":[83],"demonstration":[85],"follow-the-leader":[88,101],"motion.":[89],"position":[91],"error":[92,103],"tip":[96],"is":[97,104],"0.92":[98],"mm,":[99],"1.1":[105],"mm.":[106],"Due":[107],"to":[108,121],"small":[110],"footprint":[111],"unique":[113],"ability,":[115],"has":[118],"potential":[120],"be":[122],"manipulated":[123],"inside":[124],"human":[125],"brain":[126],"used":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}