{"id":"https://openalex.org/W4389667694","doi":"https://doi.org/10.1109/iros55552.2023.10341999","title":"Development and Evaluation of a Single-arm Robotic System for Autonomous Suturing","display_name":"Development and Evaluation of a Single-arm Robotic System for Autonomous Suturing","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667694","doi":"https://doi.org/10.1109/iros55552.2023.10341999"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341999","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341999","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"],"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/A5101834031","display_name":"Jiawei Liu","orcid":"https://orcid.org/0000-0003-2437-0455"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiawei Liu","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105141082","display_name":"Michael Kam","orcid":"https://orcid.org/0000-0002-7681-6159"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kam","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024528396","display_name":"Justin D. Opfermann","orcid":"https://orcid.org/0000-0002-1079-3986"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin D. Opfermann","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100691427","display_name":"Zheyuan Zhang","orcid":"https://orcid.org/0000-0001-9516-4603"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zheyuan Zhang","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104062451","display_name":"Michael H. Hsieh","orcid":null},"institutions":[{"id":"https://openalex.org/I1336742384","display_name":"Children's National","ror":"https://ror.org/03wa2q724","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1336742384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael H. Hsieh","raw_affiliation_strings":["Children&#x0027;s National Health System,Dep. of Urology,Washington,DC,USA,20010"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Children&#x0027;s National Health System,Dep. of Urology,Washington,DC,USA,20010","institution_ids":["https://openalex.org/I1336742384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103891310","display_name":"Jin U. Kang","orcid":"https://orcid.org/0000-0001-5817-1935"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jin U. Kang","raw_affiliation_strings":["Johns Hopkins University,Dep. of Electrical and Computer Engineering,Baltimore,MD,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Dep. of Electrical and Computer Engineering,Baltimore,MD,USA,21211","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008331040","display_name":"Axel Krieger","orcid":"https://orcid.org/0000-0001-8169-075X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axel Krieger","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21211","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8480","last_page":"8486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9979000091552734,"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/T12906","display_name":"Surgical Sutures and Adhesives","score":0.9940999746322632,"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/robotic-arm","display_name":"Robotic arm","score":0.6284624338150024},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.517396092414856},{"id":"https://openalex.org/keywords/fibrous-joint","display_name":"Fibrous joint","score":0.5039860606193542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49849891662597656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4699782431125641},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44837790727615356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4101046025753021},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34217560291290283},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.24979379773139954},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1605997383594513}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6284624338150024},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.517396092414856},{"id":"https://openalex.org/C2777327002","wikidata":"https://www.wikidata.org/wiki/Q2865760","display_name":"Fibrous joint","level":2,"score":0.5039860606193542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49849891662597656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4699782431125641},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44837790727615356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4101046025753021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34217560291290283},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.24979379773139954},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1605997383594513}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341999","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341999","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1204349590","display_name":null,"funder_award_id":"1R01EB020610","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":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1979890740","https://openalex.org/W2081777436","https://openalex.org/W2153039749","https://openalex.org/W2156154123","https://openalex.org/W2166345482","https://openalex.org/W2170134123","https://openalex.org/W2346178339","https://openalex.org/W2582745875","https://openalex.org/W2626194638","https://openalex.org/W2799540909","https://openalex.org/W2962401720","https://openalex.org/W3027619979","https://openalex.org/W3193636483","https://openalex.org/W4210656949","https://openalex.org/W4248731710"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W2297646692"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"a":[3,43,51,55,135,141],"novel":[4],"suture":[5,11,17,41,84,129,168],"managing":[6],"device":[7],"(SMD)":[8],"and":[9,38,60,80,155],"new":[10,88],"management":[12,18,130,169],"controller":[13,62],"to":[14,36,73,81,121,149,156],"enable":[15],"single-arm":[16,89,113,165],"during":[19,170],"autonomous":[20,67,171],"suturing":[21,68,100,126,166],"with":[22,99,116,133,167],"the":[23,33,40,75,83,87,112,150,160],"Smart":[24],"Tissue":[25],"Autonomous":[26],"Robot":[27],"(STAR).":[28],"The":[29,58,91,145],"primary":[30],"function":[31],"of":[32,78,86,93,102,152,164],"SMD":[34,59,79,94,117],"is":[35],"tension":[37],"manage":[39],"thread,":[42],"task":[44],"that":[45,111],"was":[46,131],"previously":[47],"carried":[48],"out":[49],"by":[50,140],"second":[52],"manipulator":[53],"or":[54,139],"human":[56,142],"assistant.":[57,144],"its":[61],"are":[63],"integrated":[64],"into":[65],"STAR's":[66],"workflow.":[69],"Experiments":[70],"were":[71],"conducted":[72],"quantify":[74],"tensioning":[76,97],"force":[77,98],"evaluate":[82],"quality":[85],"system.":[90],"prototype":[92],"achieves":[95,118],"1.67N":[96],"time":[101],"29.1\u00b10.42":[103],"seconds":[104],"per":[105],"stitch.":[106],"Our":[107],"study":[108],"results":[109],"demonstrate":[110],"STAR":[114],"system":[115,138],"equivalent":[119],"performance":[120],"our":[122,157],"previous":[123],"works":[124],"in":[125],"efficiency":[127],"where":[128],"performed":[132],"either":[134],"dual-armed":[136],"robotic":[137],"surgical":[143],"study's":[146],"findings":[147],"contribute":[148],"field":[151],"medical":[153],"robotics":[154],"knowledge":[158],"represent":[159],"first":[161],"known":[162],"instance":[163],"anastomosis.":[172]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
