{"id":"https://openalex.org/W4405785586","doi":"https://doi.org/10.1109/iros58592.2024.10801699","title":"2mm Diameter Continuum Robot Tools for Suturing in Open Spina Bifida Repair","display_name":"2mm Diameter Continuum Robot Tools for Suturing in Open Spina Bifida Repair","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785586","doi":"https://doi.org/10.1109/iros58592.2024.10801699"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5112337149","display_name":"Arion Law","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Arion Law","raw_affiliation_strings":["University of Toronto,Department of Mechanical and Industrial Engineering,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Department of Mechanical and Industrial Engineering,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107131215","display_name":"Nillan Nimal","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nillan Nimal","raw_affiliation_strings":["University of Toronto,Department of Mechanical and Industrial Engineering,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Department of Mechanical and Industrial Engineering,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061499376","display_name":"Paul H. Kang","orcid":"https://orcid.org/0000-0002-2375-3318"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Paul H. Kang","raw_affiliation_strings":["University of Toronto,Institute of Biomedical Engineering,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Institute of Biomedical Engineering,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043307456","display_name":"Radian Gondokaryono","orcid":"https://orcid.org/0009-0005-2455-7326"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Radian Gondokaryono","raw_affiliation_strings":["University of Toronto,Department of Computer Science and the Medical Computer Vision and Robotics Lab,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto,Department of Computer Science and the Medical Computer Vision and Robotics Lab,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002892990","display_name":"James M. Drake","orcid":"https://orcid.org/0000-0001-6841-9025"},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]},{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James Drake","raw_affiliation_strings":["Hospital for Sick Children,Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention,Toronto,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hospital for Sick Children,Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention,Toronto,Canada","institution_ids":["https://openalex.org/I2801317318","https://openalex.org/I4210141030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013181708","display_name":"Tim Van Mieghem","orcid":"https://orcid.org/0000-0002-3034-6905"},"institutions":[{"id":"https://openalex.org/I1291836623","display_name":"Mount Sinai Hospital","ror":"https://ror.org/05deks119","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1291836623","https://openalex.org/I4210130843"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Tim Van Mieghem","raw_affiliation_strings":["Mount Sinai Hospital,Toronto,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mount Sinai Hospital,Toronto,Canada","institution_ids":["https://openalex.org/I1291836623"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073182314","display_name":"Thomas Looi","orcid":"https://orcid.org/0000-0001-6453-2928"},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]},{"id":"https://openalex.org/I4210141030","display_name":"SickKids Foundation","ror":"https://ror.org/04374qe70","country_code":"CA","type":"funder","lineage":["https://openalex.org/I4210141030"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thomas Looi","raw_affiliation_strings":["Hospital for Sick Children,Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention,Toronto,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hospital for Sick Children,Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention,Toronto,Canada","institution_ids":["https://openalex.org/I2801317318","https://openalex.org/I4210141030"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4845,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.84151284,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6915","last_page":"6922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.998199999332428,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9968000054359436,"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/T11833","display_name":"Spinal Dysraphism and Malformations","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"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/spina-bifida","display_name":"Spina bifida","score":0.7961052656173706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5573051571846008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44987618923187256},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.36631277203559875},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.26399892568588257},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20257624983787537},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.17405173182487488}],"concepts":[{"id":"https://openalex.org/C2778478650","wikidata":"https://www.wikidata.org/wiki/Q844717","display_name":"Spina bifida","level":2,"score":0.7961052656173706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5573051571846008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44987618923187256},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.36631277203559875},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.26399892568588257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20257624983787537},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.17405173182487488}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1604037492","https://openalex.org/W2014383259","https://openalex.org/W2148025026","https://openalex.org/W2328731921","https://openalex.org/W2341131818","https://openalex.org/W2561240586","https://openalex.org/W2594006800","https://openalex.org/W2613224674","https://openalex.org/W2613958746","https://openalex.org/W2750248357","https://openalex.org/W2765518598","https://openalex.org/W2937154527","https://openalex.org/W2999895475","https://openalex.org/W3095702864","https://openalex.org/W3095841509","https://openalex.org/W3126589814","https://openalex.org/W3127964809","https://openalex.org/W3188235773","https://openalex.org/W3203620801","https://openalex.org/W4286499986","https://openalex.org/W4293055345","https://openalex.org/W4319083516","https://openalex.org/W4402451526"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3110922012","https://openalex.org/W2912482589","https://openalex.org/W1522212952","https://openalex.org/W3122656117","https://openalex.org/W2105333903","https://openalex.org/W2082316198","https://openalex.org/W3110898907"],"abstract_inverted_index":{"Open":[0],"Spina":[1],"Bifida":[2],"(OSB)":[3],"is":[4,78,136],"a":[5,11,25,31,59,67,96,121,143,152],"congenital":[6],"neural":[7],"tube":[8],"defect":[9,20],"where":[10],"major":[12],"component":[13],"of":[14,24,58,70,80,85,91,99,117,147],"the":[15,19,22,37,41,56,89,92,115,134],"procedure":[16],"to":[17,39,49,74,83,138],"repair":[18],"involves":[21],"closure":[23],"lesion":[26],"wound":[27],"through":[28],"suturing.":[29],"For":[30],"minimally":[32],"invasive":[33],"approach,":[34],"tools":[35],"entering":[36],"uterus":[38],"access":[40],"fetus":[42],"should":[43],"be":[44],"as":[45,47],"thin":[46],"possible":[48],"minimize":[50],"maternal":[51],"risk.":[52],"This":[53,76],"work":[54],"presents":[55],"design":[57],"3":[60,149],"degrees-of-freedom,":[61],"2mm":[62],"diameter":[63],"tool":[64,119,135],"wrist":[65,77,93],"with":[66,120,142],"bending":[68,97,104],"range":[69],"motion":[71],"from":[72,88],"0\u00b0":[73],"90\u00b0.":[75],"capable":[79],"generating":[81],"up":[82],"2N":[84],"force":[86],"measured":[87],"end":[90],"and":[94,126],"achieving":[95],"curvature":[98],"107m<sup":[100],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-1</sup>":[102],"(9.35mm":[103],"radius).":[105],"A":[106],"pseudo-rigid":[107],"body":[108],"kinematic":[109],"model":[110],"has":[111],"been":[112],"implemented":[113],"for":[114,123,151],"control":[116],"this":[118],"protocol":[122],"singularity":[124],"mitigation":[125],"avoidance.":[127],"Timed":[128],"teleoperation":[129],"studies":[130],"explicitly":[131],"demonstrate":[132],"that":[133],"able":[137],"reliably":[139],"execute":[140],"suturing":[141,155],"fastest":[144],"achieved":[145],"time":[146],"under":[148],"minutes":[150],"simple":[153],"interrupted":[154],"technique.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
