{"id":"https://openalex.org/W2964962781","doi":"https://doi.org/10.1109/isie.2019.8781485","title":"Multi DoF Robotic Platform using Large Circular Linear Motors for Haptic Surgical Robots","display_name":"Multi DoF Robotic Platform using Large Circular Linear Motors for Haptic Surgical Robots","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2964962781","doi":"https://doi.org/10.1109/isie.2019.8781485","mag":"2964962781"},"language":"en","primary_location":{"id":"doi:10.1109/isie.2019.8781485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2019.8781485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)","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/A5090634106","display_name":"Takuya Matsunaga","orcid":"https://orcid.org/0000-0001-7813-5982"},"institutions":[{"id":"https://openalex.org/I182069643","display_name":"Kanagawa Institute of Technology","ror":"https://ror.org/007gj5v75","country_code":"JP","type":"education","lineage":["https://openalex.org/I182069643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takuya Matsunaga","raw_affiliation_strings":["Kanagawa Institute of Industrial Science and Technology, Kawasaki, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Kanagawa Institute of Industrial Science and Technology, Kawasaki, Kanagawa, Japan","institution_ids":["https://openalex.org/I182069643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050628091","display_name":"Hiroshi Asai","orcid":"https://orcid.org/0000-0002-0463-0283"},"institutions":[{"id":"https://openalex.org/I182069643","display_name":"Kanagawa Institute of Technology","ror":"https://ror.org/007gj5v75","country_code":"JP","type":"education","lineage":["https://openalex.org/I182069643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Asai","raw_affiliation_strings":["Kanagawa Institute of Industrial Science and Technology, Kawasaki, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Kanagawa Institute of Industrial Science and Technology, Kawasaki, Kanagawa, Japan","institution_ids":["https://openalex.org/I182069643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000850095","display_name":"Tomoyuki Shimono","orcid":"https://orcid.org/0000-0002-0115-5499"},"institutions":[{"id":"https://openalex.org/I182069643","display_name":"Kanagawa Institute of Technology","ror":"https://ror.org/007gj5v75","country_code":"JP","type":"education","lineage":["https://openalex.org/I182069643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoyuki Shimono","raw_affiliation_strings":["Kanagawa Institute of Industrial Science and Technology, Kawasaki, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Kanagawa Institute of Industrial Science and Technology, Kawasaki, Kanagawa, Japan","institution_ids":["https://openalex.org/I182069643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["Haptics Research Center, Keio University, Kawasaki, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Haptics Research Center, Keio University, Kawasaki, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090634106"],"corresponding_institution_ids":["https://openalex.org/I182069643"],"apc_list":null,"apc_paid":null,"fwci":0.2914,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.55356713,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1174","last_page":"1179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"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":0.9869999885559082,"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/teleoperation","display_name":"Teleoperation","score":0.7943807244300842},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6766682863235474},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6631160974502563},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6496180891990662},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.6102688312530518},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.6009368896484375},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.598333477973938},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5143845677375793},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48460209369659424},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.44961023330688477},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4344971477985382},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43371161818504333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4162255525588989},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37524357438087463},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3708215057849884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32604092359542847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2294212281703949},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1291392743587494},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09460005164146423}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7943807244300842},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6766682863235474},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6631160974502563},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6496180891990662},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.6102688312530518},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.6009368896484375},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.598333477973938},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5143845677375793},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48460209369659424},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.44961023330688477},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4344971477985382},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43371161818504333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4162255525588989},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37524357438087463},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3708215057849884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32604092359542847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2294212281703949},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1291392743587494},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09460005164146423},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isie.2019.8781485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2019.8781485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2016721822","https://openalex.org/W2030397203","https://openalex.org/W2038853452","https://openalex.org/W2040457694","https://openalex.org/W2070328658","https://openalex.org/W2070927739","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2125511732","https://openalex.org/W2127550858","https://openalex.org/W2160899683","https://openalex.org/W2892225603","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643","https://openalex.org/W1521084651"],"abstract_inverted_index":{"Reduction":[0],"of":[1,31,49,63,67,119,134,167,179],"burden":[2],"on":[3],"patients":[4],"and":[5,27,41,58,86,108,130],"surgeons":[6],"is":[7,19,156,173],"an":[8,159],"issue":[9],"in":[10],"the":[11,64,93,137,161,165,168,177,180],"medical":[12],"field.":[13],"Robotic":[14,44],"surgery":[15,26],"utilizing":[16],"teleoperation":[17],"robots":[18,33],"a":[20,99,109,141],"method":[21],"to":[22,53,60,79,150,154,175],"realize":[23,131],"minimally":[24],"invasive":[25],"support":[28,80],"surgeons.":[29],"Structure":[30],"surgical":[32,39,56,69,82,111,139],"can":[34,125],"be":[35],"divided":[36],"into":[37],"robotic":[38,42,55,68,81,94,103,110,116,138,162],"tools":[40,57,70],"platforms.":[43,95],"platforms":[45],"have":[46],"multi":[47,101],"degree":[48],"freedom":[50],"(DoF)":[51],"arms":[52,107],"mount":[54],"functions":[59],"change":[61],"workspace":[62],"end":[65],"effector":[66],"by":[71],"its":[72],"large":[73,77,120,127],"movable":[74,88],"range.":[75],"Therefore,":[76],"output":[78,128],"tools,":[83],"precise":[84],"motion,":[85],"enough":[87],"range":[89],"are":[90,113],"necessary":[91],"for":[92],"In":[96,158],"this":[97],"paper,":[98],"novel":[100],"DoF":[102,144,170],"platform":[104,117,163],"with":[105,164],"two":[106],"tool":[112],"presented.":[114],"The":[115],"consists":[118],"circular":[121],"linear":[122],"motors":[123],"which":[124,147],"generate":[126],"force":[129],"remote":[132],"center":[133],"motion.":[135],"As":[136],"tool,":[140],"master-slave":[142],"three":[143,169],"forceps":[145,171],"robot":[146,172],"has":[148],"ability":[149],"transmit":[151],"haptic":[152],"sensation":[153],"operators":[155],"developed.":[157],"experiment,":[160],"slave":[166],"teleoperated":[174],"validate":[176],"performance":[178],"robots.":[181]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
