{"id":"https://openalex.org/W7163019484","doi":"https://doi.org/10.1109/ismr69606.2026.11536470","title":"Needle-and-Thread Suturing with Concentric Tube Robots for Tracheal Stent Fixation","display_name":"Needle-and-Thread Suturing with Concentric Tube Robots for Tracheal Stent Fixation","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7163019484","doi":"https://doi.org/10.1109/ismr69606.2026.11536470"},"language":null,"primary_location":{"id":"doi:10.1109/ismr69606.2026.11536470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr69606.2026.11536470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5137514917","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,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,TN,USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042898650","display_name":"Lauren Branscombe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154792","display_name":"Virtual Technology (United States)","ror":"https://ror.org/054grzz74","country_code":"US","type":"company","lineage":["https://openalex.org/I4210154792"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lauren Branscombe","raw_affiliation_strings":["Virtuoso Surgical Inc.,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Virtuoso Surgical Inc.,TN,USA","institution_ids":["https://openalex.org/I4210154792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076370967","display_name":"Alejandro Chara","orcid":null},"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":"Alejandro O. Chara","raw_affiliation_strings":["University Medical Center,Department of General Surgery at the Vanderbilt,Nashville,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Medical Center,Department of General Surgery at the Vanderbilt,Nashville,TN,USA","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137528182","display_name":"Susheela Sharma Stern","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":"Susheela Sharma Stern","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,TN,USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136368546","display_name":"F Maldonado","orcid":null},"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":"Fabien Maldonado","raw_affiliation_strings":["University Medical Center,Division of Allergy, Pulmonary and Critical Care Medicine,Department of Medicine Vanderbilt,Nashville,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Medical Center,Division of Allergy, Pulmonary and Critical Care Medicine,Department of Medicine Vanderbilt,Nashville,TN,USA","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"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":"Alan Kuntz","raw_affiliation_strings":["Vanderbilt University,Department of Electrical and Computer Engineering and Department of Computer Science,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Electrical and Computer Engineering and Department of Computer Science,TN,USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137540517","display_name":"Robert J. Webster","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":"Robert J. Webster","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,TN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,TN,USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"185","last_page":"190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11260","display_name":"Tracheal and airway disorders","score":0.8147000074386597,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T11260","display_name":"Tracheal and airway disorders","score":0.8147000074386597,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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":0.03449999913573265,"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/T12199","display_name":"Vascular Anomalies and Treatments","score":0.023900000378489494,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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/concentric","display_name":"Concentric","score":0.6639000177383423},{"id":"https://openalex.org/keywords/fixation","display_name":"Fixation (population genetics)","score":0.5217000246047974},{"id":"https://openalex.org/keywords/tracheal-tube","display_name":"Tracheal tube","score":0.47369998693466187},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.4438999891281128},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43970000743865967}],"concepts":[{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.6639000177383423},{"id":"https://openalex.org/C146249460","wikidata":"https://www.wikidata.org/wiki/Q2914991","display_name":"Fixation (population genetics)","level":3,"score":0.5217000246047974},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.48170000314712524},{"id":"https://openalex.org/C2778112660","wikidata":"https://www.wikidata.org/wiki/Q1340889","display_name":"Tracheal tube","level":3,"score":0.47369998693466187},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.46309998631477356},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.4438999891281128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43970000743865967},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3619999885559082},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.31439998745918274},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.31360000371932983},{"id":"https://openalex.org/C29694066","wikidata":"https://www.wikidata.org/wiki/Q118301","display_name":"Orthodontics","level":1,"score":0.2888000011444092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2761000096797943},{"id":"https://openalex.org/C2778583881","wikidata":"https://www.wikidata.org/wiki/Q1325542","display_name":"Stent","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C2908550248","wikidata":"https://www.wikidata.org/wiki/Q4116448","display_name":"Tracheal Stenosis","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr69606.2026.11536470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr69606.2026.11536470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2888433562","display_name":null,"funder_award_id":"1937963,2444112","funder_id":"https://openalex.org/F4562087700","funder_display_name":"National Science Foundation Graduate Research Fellowship Program"},{"id":"https://openalex.org/G7697767013","display_name":null,"funder_award_id":"D24AC00415-00","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4562087700","display_name":"National Science Foundation Graduate Research Fellowship Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W622224535","https://openalex.org/W1940481278","https://openalex.org/W1978942716","https://openalex.org/W2101667962","https://openalex.org/W2106537359","https://openalex.org/W2114053136","https://openalex.org/W2118247950","https://openalex.org/W2130843003","https://openalex.org/W2131150943","https://openalex.org/W2140232429","https://openalex.org/W2341108136","https://openalex.org/W2791254380","https://openalex.org/W2899579505","https://openalex.org/W2963068794","https://openalex.org/W3088241038","https://openalex.org/W3095841509","https://openalex.org/W3097968638","https://openalex.org/W3152765321","https://openalex.org/W3202674892","https://openalex.org/W4200330650","https://openalex.org/W4283691170","https://openalex.org/W4361799236","https://openalex.org/W4404497634","https://openalex.org/W4414120215","https://openalex.org/W7116891110"],"related_works":[],"abstract_inverted_index":{"Suturing":[0],"is":[1,8],"valuable":[2],"in":[3,12,29],"many":[4],"surgical":[5,102],"procedures,":[6],"yet":[7],"challenging":[9],"to":[10,16,43,99],"implement":[11],"mm-scale":[13],"instruments":[14],"due":[15],"their":[17],"small":[18],"end":[19],"effectors":[20],"with":[21,62,137],"limited":[22],"grasp":[23,90],"force":[24,75],"capabilities.":[25],"To":[26],"address":[27],"this,":[28],"this":[30,97],"paper,":[31],"we":[32],"present":[33],"a":[34,72,88,113],"new":[35,59],"miniature":[36],"needle":[37],"grasper":[38],"design":[39,70],"and":[40],"use":[41],"it":[42],"demonstrate":[44,111,128],"needle-andthread":[45],"suturing":[46],"using":[47],"concentric":[48],"tube":[49],"robots":[50],"(CTR)":[51],"for":[52],"the":[53,58,100,129],"first":[54],"time.":[55],"We":[56,94],"compare":[57],"grasper's":[60],"performance":[61],"two":[63],"conventional":[64],"endoscopic":[65],"forceps":[66],"graspers":[67],"experimentally.":[68],"Our":[69,109],"achieved":[71],"maximum":[73],"needle-throwing":[74],"of":[76,83,104,124,131],"7.05":[77],"N,":[78],"more":[79],"than":[80],"twice":[81],"that":[82,112],"existing":[84],"graspers,":[85],"while":[86],"maintaining":[87],"stable":[89],"throughout":[91],"piercing":[92],"motions.":[93],"then":[95],"apply":[96],"technique":[98],"practical":[101],"application":[103],"internal":[105],"tracheal":[106],"stent":[107],"fixation.":[108],"experiments":[110],"single":[114],"suture":[115],"can":[116],"increase":[117],"fixation":[118],"strength":[119],"by":[120],"over":[121],"an":[122],"order":[123],"magnitude.":[125],"These":[126],"results":[127],"feasibility":[130],"enhancing":[132],"current":[133],"minimally":[134],"invasive":[135],"procedures":[136],"thrown":[138],"sutures":[139],"within":[140],"confined":[141],"anatomical":[142],"sites.":[143]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-06-02T00:00:00"}