{"id":"https://openalex.org/W4206526516","doi":"https://doi.org/10.1109/ismr48346.2021.9661579","title":"Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot","display_name":"Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W4206526516","doi":"https://doi.org/10.1109/ismr48346.2021.9661579","pmid":"https://pubmed.ncbi.nlm.nih.gov/35141730"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48346.2021.9661579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8822603","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062601106","display_name":"Robert Roth","orcid":null},"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"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Robert Roth","raw_affiliation_strings":["Technical University of Munich, Germany and with LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","LCSR, Johns Hopkins University, Baltimore, MD, USA","Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Germany and with LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009664545","display_name":"Jiahao Wu","orcid":"https://orcid.org/0000-0002-1052-6060"},"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"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK","US"],"is_corresponding":false,"raw_author_name":"Jiahao Wu","raw_affiliation_strings":["T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, HKSAR, and with LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR","LCSR, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, HKSAR, and with LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I177725633","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]},{"raw_affiliation_string":"LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066107901","display_name":"Alireza Alamdar","orcid":"https://orcid.org/0000-0003-0942-366X"},"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"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Alamdar","raw_affiliation_strings":["LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","LCSR, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"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"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell H. Taylor","raw_affiliation_strings":["LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","LCSR, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051080702","display_name":"Peter Gehlbach","orcid":"https://orcid.org/0000-0002-9608-9171"},"institutions":[{"id":"https://openalex.org/I4210150714","display_name":"Johns Hopkins Hospital","ror":"https://ror.org/05cb1k848","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436","https://openalex.org/I4210150714"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Gehlbach","raw_affiliation_strings":["Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287 USA","Johns Hopkins Hospital, Wilmer Eye Institute, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287 USA","institution_ids":["https://openalex.org/I4210150714"]},{"raw_affiliation_string":"Johns Hopkins Hospital, Wilmer Eye Institute, Baltimore, MD, USA","institution_ids":["https://openalex.org/I4210150714"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063913520","display_name":"Iulian Iordachita","orcid":"https://orcid.org/0000-0002-2510-9008"},"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"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iulian Iordachita","raw_affiliation_strings":["LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","LCSR, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8942,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75223357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"2021","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11377","display_name":"Retinal and Macular Surgery","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11377","display_name":"Retinal and Macular Surgery","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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":0.9990000128746033,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8089306354522705},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6603794097900391},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.6174157857894897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6144127249717712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.588329553604126},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5680791139602661},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5491684079170227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5219361782073975},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4699922800064087},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4509333372116089},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.42174091935157776},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.33374133706092834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23720699548721313},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.115305095911026},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08482617139816284},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08420407772064209}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8089306354522705},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6603794097900391},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.6174157857894897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6144127249717712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.588329553604126},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5680791139602661},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5491684079170227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5219361782073975},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4699922800064087},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4509333372116089},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.42174091935157776},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.33374133706092834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23720699548721313},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.115305095911026},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08482617139816284},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08420407772064209},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ismr48346.2021.9661579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},{"id":"pmid:35141730","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35141730","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:8822603","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8822603","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:8822603","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8822603","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":[],"awards":[{"id":"https://openalex.org/G682946891","display_name":null,"funder_award_id":"R01 EB025883","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"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":22,"referenced_works":["https://openalex.org/W804894151","https://openalex.org/W1496503345","https://openalex.org/W1590797703","https://openalex.org/W1990867038","https://openalex.org/W2007333437","https://openalex.org/W2016342866","https://openalex.org/W2026268546","https://openalex.org/W2038853452","https://openalex.org/W2049739652","https://openalex.org/W2098060912","https://openalex.org/W2110190924","https://openalex.org/W2130274074","https://openalex.org/W2134204474","https://openalex.org/W2165643853","https://openalex.org/W2293210255","https://openalex.org/W2543202407","https://openalex.org/W2738679366","https://openalex.org/W2888869816","https://openalex.org/W2890554843","https://openalex.org/W2962253249","https://openalex.org/W3132235023","https://openalex.org/W6622929317"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Cooperative":[0],"robotic":[1],"systems":[2],"for":[3,40,78,98],"vitreoretinal":[4],"surgery":[5],"can":[6,48],"enable":[7],"novel":[8,42],"surgical":[9,131],"approaches":[10],"by":[11],"allowing":[12,133],"the":[13,29,54,75,94,96,99,110,115,130],"surgeon":[14],"to":[15,73],"perform":[16],"procedures":[17],"with":[18,64,121],"enhanced":[19],"stabilization":[20],"and":[21,31,56,102],"high":[22],"accuracy":[23,105],"tool":[24],"movements.":[25],"This":[26],"paper":[27],"presents":[28],"optimization":[30],"design":[32,123],"of":[33,87,114,129,136],"a":[34,41,61,83,122,126,140],"four-bar":[35],"linkage":[36],"type":[37],"tilt":[38],"mechanism":[39,118],"Steady-Hand":[43],"Eye":[44],"Robot":[45],"(SHER)":[46],"which":[47],"be":[49],"used":[50],"equivalently":[51],"on":[52],"both,":[53],"left":[55],"right":[57],"patient":[58],"side,":[59],"during":[60],"bilateral":[62],"approach":[63,138],"two":[65],"robots.":[66],"In":[67],"this":[68],"optimization,":[69],"it":[70],"is":[71],"desirable":[72],"limit":[74],"workspace":[76],"needed":[77],"compensation":[79],"motions":[80],"that":[81],"ensure":[82],"virtual":[84],"remote":[85],"center":[86],"motion":[88],"(V-RCM).":[89],"The":[90,112],"safety":[91],"space":[92,97],"around":[93],"patient,":[95],"surgeon's":[100],"hand":[101],"maintaining":[103],"positional":[104],"are":[106],"also":[107],"included":[108],"in":[109,125],"optimization.":[111],"applicability":[113],"resulting":[116],"optimized":[117],"was":[119],"confirmed":[120],"prototype":[124],"representative":[127],"mock-up":[128],"setting":[132],"multiple":[134],"directions":[135],"robot":[137],"towards":[139],"medical":[141],"phantom.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
