{"id":"https://openalex.org/W3118476925","doi":"https://doi.org/10.1109/ismr48331.2020.9312937","title":"Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot","display_name":"Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot","publication_year":2020,"publication_date":"2020-11-18","ids":{"openalex":"https://openalex.org/W3118476925","doi":"https://doi.org/10.1109/ismr48331.2020.9312937","mag":"3118476925","pmid":"https://pubmed.ncbi.nlm.nih.gov/36844884"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48331.2020.9312937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48331.2020.9312937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9948123","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060983251","display_name":"Alex J. Chiluisa","orcid":"https://orcid.org/0000-0003-1927-5664"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alex J. Chiluisa","raw_affiliation_strings":["Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA","Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082002940","display_name":"Floris J. Van Rossum","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Floris J. Van Rossum","raw_affiliation_strings":["Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA","Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026581995","display_name":"Joshua B. Gafford","orcid":"https://orcid.org/0000-0002-5955-5831"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua B. Gafford","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA","Vanderbilt University, Nashville, TN 37212, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056906575","display_name":"Robert F. Labadie","orcid":"https://orcid.org/0000-0003-0541-4336"},"institutions":[{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert F. Labadie","raw_affiliation_strings":["Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, 37235, USA","Vanderbilt University Medical Center, Nashville, TN, 37235, USA"],"affiliations":[{"raw_affiliation_string":"Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, 37235, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt University Medical Center, Nashville, TN, 37235, USA","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA","Vanderbilt University, Nashville, TN 37212, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN 37212, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007273054","display_name":"Loris Fichera","orcid":"https://orcid.org/0000-0001-7347-9479"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Loris Fichera","raw_affiliation_strings":["Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA","Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5060983251"],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":0.6096,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.65189653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2020","issue":null,"first_page":"188","last_page":"194"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9837999939918518,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"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/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9807000160217285,"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/endoscope","display_name":"Endoscope","score":0.798123300075531},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5751401782035828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5389242172241211},{"id":"https://openalex.org/keywords/middle-ear","display_name":"Middle ear","score":0.5237574577331543},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48107123374938965},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.4411991834640503},{"id":"https://openalex.org/keywords/endoscopy","display_name":"Endoscopy","score":0.43138089776039124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4164063334465027},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3447902202606201},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.262553334236145},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.18157237768173218},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1351296603679657},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.12743079662322998}],"concepts":[{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.798123300075531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5751401782035828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5389242172241211},{"id":"https://openalex.org/C2777846895","wikidata":"https://www.wikidata.org/wiki/Q501553","display_name":"Middle ear","level":2,"score":0.5237574577331543},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48107123374938965},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.4411991834640503},{"id":"https://openalex.org/C2778451229","wikidata":"https://www.wikidata.org/wiki/Q212809","display_name":"Endoscopy","level":2,"score":0.43138089776039124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4164063334465027},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3447902202606201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.262553334236145},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.18157237768173218},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1351296603679657},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.12743079662322998},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ismr48331.2020.9312937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48331.2020.9312937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},{"id":"pmid:36844884","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36844884","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":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9948123","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9948123","pdf_url":null,"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":"Int Symp Med Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:9948123","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9948123","pdf_url":null,"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":"Int Symp Med Robot","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W64901539","https://openalex.org/W1604037492","https://openalex.org/W1990463280","https://openalex.org/W2009660576","https://openalex.org/W2021594071","https://openalex.org/W2076505227","https://openalex.org/W2084337304","https://openalex.org/W2089430567","https://openalex.org/W2097423464","https://openalex.org/W2116512739","https://openalex.org/W2154577669","https://openalex.org/W2209444443","https://openalex.org/W2291419717","https://openalex.org/W2314929779","https://openalex.org/W2513622562","https://openalex.org/W2523155237","https://openalex.org/W2556454989","https://openalex.org/W2561240586","https://openalex.org/W2564414401","https://openalex.org/W2572844494","https://openalex.org/W2584149518","https://openalex.org/W2588775902","https://openalex.org/W2604292614","https://openalex.org/W2607057921","https://openalex.org/W2790395680","https://openalex.org/W2922356547","https://openalex.org/W4211166659"],"related_works":["https://openalex.org/W2925090727","https://openalex.org/W3211638357","https://openalex.org/W2089950683","https://openalex.org/W2020826336","https://openalex.org/W4288035474","https://openalex.org/W2055779363","https://openalex.org/W1980583878","https://openalex.org/W1553786171","https://openalex.org/W4231399857","https://openalex.org/W2014982734"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,35,42],"computational":[4],"framework":[5,24],"to":[6,45,72],"optimize":[7],"the":[8,19,31,50,59,63,74,78],"visual":[9],"coverage":[10],"attainable":[11],"by":[12,58],"notched-tube":[14],"continuum":[15],"robotic":[16,91],"endoscope":[17],"inside":[18],"middle":[20,32,51],"ear":[21,33,52],"cavity.":[22],"Our":[23],"combines":[25],"anatomically-accurate":[26],"geometric":[27],"(mesh)":[28],"models":[29],"of":[30,49,65,76,83],"with":[34],"sampling-based":[36],"motion":[37],"planning":[38],"algorithm":[39],"(RRT)":[40],"and":[41,56],"ray-casting":[43],"procedure":[44],"quantify":[46],"what":[47],"regions":[48],"can":[53],"be":[54],"accessed":[55],"visualized":[57],"endoscope.":[60,92],"To":[61],"demonstrate":[62],"use":[64],"this":[66],"framework,":[67],"we":[68],"run":[69],"computer":[70],"simulations":[71],"investigate":[73],"effect":[75],"varying":[77],"distance":[79],"between":[80],"each":[81],"pair":[82],"consecutive":[84],"flexure":[85],"elements":[86],"(i.e.,":[87],"notches)":[88],"in":[89],"our":[90]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}