{"id":"https://openalex.org/W4283691170","doi":"https://doi.org/10.1109/ismr48347.2022.9807548","title":"Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues","display_name":"Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues","publication_year":2022,"publication_date":"2022-04-13","ids":{"openalex":"https://openalex.org/W4283691170","doi":"https://doi.org/10.1109/ismr48347.2022.9807548"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48347.2022.9807548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","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/A5049322095","display_name":"Tayfun Efe Ertop","orcid":"https://orcid.org/0000-0001-7004-367X"},"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":true,"raw_author_name":"Tayfun Efe Ertop","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039349014","display_name":"Jesse F. d' Almeida","orcid":null},"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":"Jesse F. d' Almeida","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014288054","display_name":"Ernar Amanov","orcid":"https://orcid.org/0000-0002-2866-0487"},"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":"Ernar Amanov","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061266324","display_name":"Jason Shrand","orcid":null},"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":"Jason Shrand","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072641768","display_name":"Naren Nimmagadda","orcid":"https://orcid.org/0000-0003-1845-9891"},"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":"Naren Nimmagadda","raw_affiliation_strings":["the Vanderbilt University Medical Center,Department of Urology,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Vanderbilt University Medical Center,Department of Urology,Nashville,TN,37212","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076449306","display_name":"Shaan Setia","orcid":"https://orcid.org/0000-0002-3798-5208"},"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":"Shaan Setia","raw_affiliation_strings":["the Vanderbilt University Medical Center,Department of Urology,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Vanderbilt University Medical Center,Department of Urology,Nashville,TN,37212","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046462700","display_name":"Nicholas Kavoussi","orcid":"https://orcid.org/0000-0001-7202-0412"},"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":"Nicholas L. Kavoussi","raw_affiliation_strings":["the Vanderbilt University Medical Center,Department of Urology,Nashville,TN,37212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Vanderbilt University Medical Center,Department of Urology,Nashville,TN,37212","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054607683","display_name":"S. Duke Herrell","orcid":"https://orcid.org/0000-0002-0646-4530"},"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"]},{"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":"S. Duke Herrell","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","Department of Urology, the Vanderbilt University Medical Center, Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Urology, the Vanderbilt University Medical Center, Nashville, TN","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"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"]},{"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":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","Department of Urology, the Vanderbilt University Medical Center, Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37212","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Urology, the Vanderbilt University Medical Center, Nashville, TN","institution_ids":["https://openalex.org/I901861585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5049322095"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":0.4903,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.57201656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9962999820709229,"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":0.9962999820709229,"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":0.9922999739646912,"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/T10888","display_name":"Augmented Reality Applications","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/urethra","display_name":"Urethra","score":0.7242517471313477},{"id":"https://openalex.org/keywords/silicone","display_name":"Silicone","score":0.6202678680419922},{"id":"https://openalex.org/keywords/prostatectomy","display_name":"Prostatectomy","score":0.5861867666244507},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.564850389957428},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5129775404930115},{"id":"https://openalex.org/keywords/prostate","display_name":"Prostate","score":0.4305083155632019},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.4208657145500183},{"id":"https://openalex.org/keywords/biological-tissue","display_name":"Biological tissue","score":0.4188510477542877},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4005322754383087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33671924471855164},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.332849383354187},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.21831944584846497},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.13026359677314758},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.06928634643554688}],"concepts":[{"id":"https://openalex.org/C2777085111","wikidata":"https://www.wikidata.org/wiki/Q9386","display_name":"Urethra","level":2,"score":0.7242517471313477},{"id":"https://openalex.org/C2779769944","wikidata":"https://www.wikidata.org/wiki/Q146439","display_name":"Silicone","level":2,"score":0.6202678680419922},{"id":"https://openalex.org/C2779466945","wikidata":"https://www.wikidata.org/wiki/Q1765251","display_name":"Prostatectomy","level":4,"score":0.5861867666244507},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.564850389957428},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5129775404930115},{"id":"https://openalex.org/C2776235491","wikidata":"https://www.wikidata.org/wiki/Q9625","display_name":"Prostate","level":3,"score":0.4305083155632019},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.4208657145500183},{"id":"https://openalex.org/C2983453321","wikidata":"https://www.wikidata.org/wiki/Q40397","display_name":"Biological tissue","level":2,"score":0.4188510477542877},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4005322754383087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33671924471855164},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.332849383354187},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.21831944584846497},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.13026359677314758},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.06928634643554688},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48347.2022.9807548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1977581147","https://openalex.org/W2054946912","https://openalex.org/W2076019941","https://openalex.org/W2077267215","https://openalex.org/W2099090757","https://openalex.org/W2201378686","https://openalex.org/W2293125362","https://openalex.org/W2397310269","https://openalex.org/W2462654948","https://openalex.org/W2783016376","https://openalex.org/W3035509119","https://openalex.org/W3095841509","https://openalex.org/W3197205402","https://openalex.org/W4229897703","https://openalex.org/W4388454099","https://openalex.org/W6858199845"],"related_works":["https://openalex.org/W8829849","https://openalex.org/W4195526","https://openalex.org/W147945","https://openalex.org/W2768824","https://openalex.org/W1541061","https://openalex.org/W6127993","https://openalex.org/W2880165","https://openalex.org/W10604551","https://openalex.org/W11171156","https://openalex.org/W5255401"],"abstract_inverted_index":{"Towards":[0],"reducing":[1],"the":[2,20,23,31,36,85,88],"invasiveness":[3],"of":[4,35],"radical":[5],"prostatectomy,":[6],"we":[7,51],"have":[8],"designed":[9],"a":[10],"robotic":[11,82],"system":[12],"for":[13],"performing":[14],"it":[15],"transurethrally.":[16],"Suturing":[17],"to":[18,22,90],"attach":[19],"urethra":[21,86],"bladder":[24,89],"(i.e.":[25],"anastomosis)":[26],"after":[27],"prostate":[28],"removal":[29],"is":[30],"most":[32],"challenging":[33],"part":[34],"procedure,":[37],"and":[38,72,87],"has":[39],"previously":[40],"been":[41],"demonstrated":[42],"robotically":[43],"only":[44],"in":[45,55,64],"synthetic":[46],"phantoms.":[47],"In":[48],"this":[49],"paper,":[50],"present":[52],"initial":[53],"experiments":[54],"biological":[56],"tissues":[57],"using":[58,69],"ex":[59],"vivo":[60],"squid":[61],"tissue":[62],"embedded":[63],"an":[65],"anthropomorphic":[66],"phantom":[67],"made":[68],"3D":[70],"printing":[71],"silicone":[73],"casting.":[74],"We":[75],"successfully":[76],"performed":[77],"running":[78],"sutures":[79],"with":[80],"our":[81],"system,":[83],"fastening":[84],"one":[91],"another.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-03T09:05:47.796612","created_date":"2025-10-10T00:00:00"}