{"id":"https://openalex.org/W4389665922","doi":"https://doi.org/10.1109/iros55552.2023.10341686","title":"Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions","display_name":"Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665922","doi":"https://doi.org/10.1109/iros55552.2023.10341686","pmid":"https://pubmed.ncbi.nlm.nih.gov/38352692"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341686","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":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2401.17161","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049921916","display_name":"Giovanni Pittiglio","orcid":"https://orcid.org/0000-0002-0714-5267"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giovanni Pittiglio","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016535650","display_name":"Margherita Mencattelli","orcid":"https://orcid.org/0000-0002-4697-8923"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margherita Mencattelli","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049603549","display_name":"Abdulhamit Donder","orcid":"https://orcid.org/0000-0002-6848-6831"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdulhamit Donder","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001760308","display_name":"Yash Chitalia","orcid":"https://orcid.org/0000-0002-6291-3492"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Chitalia","raw_affiliation_strings":["University of Louisville,Department of Mechanical Engineering,Louisville,KY,USA,40292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Louisville,Department of Mechanical Engineering,Louisville,KY,USA,40292","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041400572","display_name":"Pierre E. Dupont","orcid":"https://orcid.org/0000-0001-7294-640X"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre E. Dupont","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5084,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61275226,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2023","issue":null,"first_page":"8461","last_page":"8466"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.98089998960495,"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":0.97079998254776,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.9238495826721191},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7091221809387207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6754155158996582},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5877411365509033},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5698598623275757},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5268546342849731},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4781511723995209},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45823198556900024},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35672956705093384},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3469538986682892},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33364421129226685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2731841206550598},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23706847429275513},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20192325115203857},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17153406143188477},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14793220162391663},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12642648816108704},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09447669982910156}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9238495826721191},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7091221809387207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6754155158996582},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5877411365509033},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5698598623275757},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5268546342849731},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4781511723995209},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45823198556900024},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35672956705093384},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3469538986682892},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33364421129226685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2731841206550598},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23706847429275513},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20192325115203857},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17153406143188477},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14793220162391663},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12642648816108704},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09447669982910156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros55552.2023.10341686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341686","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:38352692","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38352692","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:arXiv.org:2401.17161","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.17161","pdf_url":"https://arxiv.org/pdf/2401.17161","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:pubmedcentral.nih.gov:10862390","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10862390","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10862390/pdf/nihms-1964794.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:arXiv.org:2401.17161","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.17161","pdf_url":"https://arxiv.org/pdf/2401.17161","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1775304663","display_name":null,"funder_award_id":"R01HL124020","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389665922.pdf"},"referenced_works_count":7,"referenced_works":["https://openalex.org/W2047731419","https://openalex.org/W2053614949","https://openalex.org/W4210927443","https://openalex.org/W4312272769","https://openalex.org/W4319792208","https://openalex.org/W4378191532","https://openalex.org/W4383097399"],"related_works":["https://openalex.org/W2138030819","https://openalex.org/W229301543","https://openalex.org/W2048576502","https://openalex.org/W1968518598","https://openalex.org/W2800070076","https://openalex.org/W2377856908","https://openalex.org/W2005471069","https://openalex.org/W2010618743","https://openalex.org/W1880935057","https://openalex.org/W4206303049"],"abstract_inverted_index":{"A":[0],"hybrid":[1,59],"continuum":[2],"robot":[3,93],"design":[4,60],"is":[5],"introduced":[6],"that":[7,75],"combines":[8],"a":[9,14,33,49,63,76],"proximal":[10],"tendon-actuated":[11],"section":[12,17,30],"with":[13],"distal":[15],"telescoping":[16],"comprised":[18],"of":[19,57,65,87,91],"permanent-magnet":[20],"spheres":[21],"actuated":[22],"using":[23],"an":[24],"external":[25],"magnet.":[26],"While,":[27],"individually,":[28],"each":[29],"can":[31],"approach":[32],"point":[34],"in":[35],"its":[36],"workspace":[37],"from":[38],"one":[39],"or":[40],"at":[41],"most":[42],"several":[43],"orientations,":[44],"the":[45,58,66],"two-section":[46],"combination":[47],"possesses":[48],"dexterous":[50,67],"workspace.":[51,68],"The":[52],"paper":[53],"describes":[54],"kinematic":[55,78],"modeling":[56],"and":[61,84,89],"provides":[62],"description":[64],"We":[69],"present":[70],"experimental":[71],"validation":[72],"which":[73],"shows":[74],"simplified":[77],"model":[79],"produces":[80],"tip":[81],"position":[82],"mean":[83],"maximum":[85],"errors":[86],"3%":[88],"7%":[90],"total":[92],"length,":[94],"respectively.":[95]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}