{"id":"https://openalex.org/W4210927443","doi":"https://doi.org/10.1109/jproc.2022.3141338","title":"Continuum Robots for Medical Interventions","display_name":"Continuum Robots for Medical Interventions","publication_year":2022,"publication_date":"2022-02-08","ids":{"openalex":"https://openalex.org/W4210927443","doi":"https://doi.org/10.1109/jproc.2022.3141338","pmid":"https://pubmed.ncbi.nlm.nih.gov/35756186"},"language":"en","primary_location":{"id":"doi:10.1109/jproc.2022.3141338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jproc.2022.3141338","pdf_url":null,"source":{"id":"https://openalex.org/S68686220","display_name":"Proceedings of the IEEE","issn_l":"0018-9219","issn":["0018-9219","1558-2256"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE","raw_type":"journal-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/9231641","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041400572","display_name":"Pierre E. Dupont","orcid":"https://orcid.org/0000-0001-7294-640X"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre E. Dupont","raw_affiliation_strings":["Department of Cardiovascular Surgery, Boston Children’s Hospital, Harvard Medical School, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7294-640X","affiliations":[{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children’s Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007822020","display_name":"Nabil Simaan","orcid":"https://orcid.org/0000-0002-6125-3891"},"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":"Nabil Simaan","raw_affiliation_strings":["Department of Mechanical Engineering, the Department of Computer Science, and the Department of Otolaryngology, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0002-6125-3891","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, the Department of Computer Science, and the Department of Otolaryngology, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Mechanical Engineering Department, the Biomedical Engineering Department, and the Robotics Institute, Carnegie Mellon, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5434-7945","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, the Biomedical Engineering Department, and the Robotics Institute, Carnegie Mellon, Pittsburgh, PA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Rucker","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0001-7181-1933","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":18.0032,"has_fulltext":false,"cited_by_count":275,"citation_normalized_percentile":{"value":0.99863779,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"110","issue":"7","first_page":"847","last_page":"870"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9812999963760376,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9290000200271606,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/robot","display_name":"Robot","score":0.7850624322891235},{"id":"https://openalex.org/keywords/curvilinear-coordinates","display_name":"Curvilinear coordinates","score":0.6223266124725342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5561622977256775},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4787042438983917},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.44903564453125},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3737804889678955},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3368811309337616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31089967489242554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2771119773387909},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10061275959014893},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09191694855690002}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7850624322891235},{"id":"https://openalex.org/C98343798","wikidata":"https://www.wikidata.org/wiki/Q1790208","display_name":"Curvilinear coordinates","level":2,"score":0.6223266124725342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5561622977256775},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4787042438983917},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.44903564453125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3737804889678955},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3368811309337616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31089967489242554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2771119773387909},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10061275959014893},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09191694855690002},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/jproc.2022.3141338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jproc.2022.3141338","pdf_url":null,"source":{"id":"https://openalex.org/S68686220","display_name":"Proceedings of the IEEE","issn_l":"0018-9219","issn":["0018-9219","1558-2256"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE","raw_type":"journal-article"},{"id":"pmid:35756186","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35756186","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":"Proceedings of the IEEE. Institute of Electrical and Electronics Engineers","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9231641","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9231641","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":"Proc IEEE Inst Electr Electron Eng","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:9231641","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9231641","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":"Proc IEEE Inst Electr Electron Eng","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[{"id":"https://openalex.org/G133136120","display_name":null,"funder_award_id":"R01NS099207","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G1775304663","display_name":null,"funder_award_id":"R01HL124020","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G4289574611","display_name":"NRI: INT: MANUFACTURING USA: COLLAB: In-Situ Collaborative Robotics in Confined Spaces","funder_award_id":"1734461","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7076020741","display_name":null,"funder_award_id":"IIS-1652588","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7486841170","display_name":null,"funder_award_id":"W81XWH-19-C0083","funder_id":"https://openalex.org/F4320332447","funder_display_name":"U.S. Army"},{"id":"https://openalex.org/G8744211873","display_name":null,"funder_award_id":"R01 NS099207","funder_id":"https://openalex.org/F4320337359","funder_display_name":"National Institute of Neurological Disorders and Stroke"},{"id":"https://openalex.org/G8746946842","display_name":null,"funder_award_id":"W81XWH-19-C0101","funder_id":"https://openalex.org/F4320332447","funder_display_name":"U.S. Army"},{"id":"https://openalex.org/G8963323678","display_name":null,"funder_award_id":"R01 HL124020","funder_id":"https://openalex.org/F4320337338","funder_display_name":"National Heart, Lung, and Blood Institute"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320332447","display_name":"U.S. Army","ror":"https://ror.org/00afsp483"},{"id":"https://openalex.org/F4320337338","display_name":"National Heart, Lung, and Blood Institute","ror":"https://ror.org/012pb6c26"},{"id":"https://openalex.org/F4320337359","display_name":"National Institute of Neurological Disorders and Stroke","ror":"https://ror.org/01s5ya894"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":198,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1508808146","https://openalex.org/W1563706362","https://openalex.org/W1564897360","https://openalex.org/W1567569284","https://openalex.org/W1581251875","https://openalex.org/W1589824090","https://openalex.org/W1592527111","https://openalex.org/W1969995019","https://openalex.org/W1970439840","https://openalex.org/W1976270646","https://openalex.org/W1979060009","https://openalex.org/W1979568704","https://openalex.org/W1985036816","https://openalex.org/W1985568314","https://openalex.org/W1986948773","https://openalex.org/W1991847332","https://openalex.org/W1992558136","https://openalex.org/W2005284429","https://openalex.org/W2006573361","https://openalex.org/W2017696181","https://openalex.org/W2018071836","https://openalex.org/W2020409524","https://openalex.org/W2023419272","https://openalex.org/W2028927301","https://openalex.org/W2031747890","https://openalex.org/W2035105943","https://openalex.org/W2035705728","https://openalex.org/W2036616625","https://openalex.org/W2038598795","https://openalex.org/W2039475797","https://openalex.org/W2043548266","https://openalex.org/W2050268494","https://openalex.org/W2052221060","https://openalex.org/W2053265216","https://openalex.org/W2053614949","https://openalex.org/W2057271741","https://openalex.org/W2057785338","https://openalex.org/W2058810266","https://openalex.org/W2063706473","https://openalex.org/W2066399169","https://openalex.org/W2068437788","https://openalex.org/W2084794914","https://openalex.org/W2086435353","https://openalex.org/W2087104703","https://openalex.org/W2087842666","https://openalex.org/W2090579225","https://openalex.org/W2091761952","https://openalex.org/W2092391367","https://openalex.org/W2094904022","https://openalex.org/W2094994107","https://openalex.org/W2095999605","https://openalex.org/W2098596651","https://openalex.org/W2100512598","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2103819010","https://openalex.org/W2110708319","https://openalex.org/W2111866551","https://openalex.org/W2112075057","https://openalex.org/W2112474089","https://openalex.org/W2117212572","https://openalex.org/W2118997958","https://openalex.org/W2119343887","https://openalex.org/W2119531408","https://openalex.org/W2121744551","https://openalex.org/W2121817652","https://openalex.org/W2122748217","https://openalex.org/W2124992704","https://openalex.org/W2126182407","https://openalex.org/W2127143922","https://openalex.org/W2127966735","https://openalex.org/W2128339709","https://openalex.org/W2128990851","https://openalex.org/W2131150943","https://openalex.org/W2132167838","https://openalex.org/W2133231729","https://openalex.org/W2133341921","https://openalex.org/W2133820736","https://openalex.org/W2133997127","https://openalex.org/W2134091699","https://openalex.org/W2134523479","https://openalex.org/W2134555091","https://openalex.org/W2138564331","https://openalex.org/W2142067324","https://openalex.org/W2142828858","https://openalex.org/W2142895905","https://openalex.org/W2147492425","https://openalex.org/W2147631373","https://openalex.org/W2156137014","https://openalex.org/W2156199850","https://openalex.org/W2156218502","https://openalex.org/W2164013717","https://openalex.org/W2164021550","https://openalex.org/W2184993170","https://openalex.org/W2197489321","https://openalex.org/W2202999923","https://openalex.org/W2204273529","https://openalex.org/W2283595331","https://openalex.org/W2290611374","https://openalex.org/W2293640076","https://openalex.org/W2295380675","https://openalex.org/W2306663469","https://openalex.org/W2318613964","https://openalex.org/W2343058007","https://openalex.org/W2406519259","https://openalex.org/W2417504526","https://openalex.org/W2471674631","https://openalex.org/W2474124859","https://openalex.org/W2486607481","https://openalex.org/W2510109373","https://openalex.org/W2548391103","https://openalex.org/W2555633778","https://openalex.org/W2557843197","https://openalex.org/W2559631364","https://openalex.org/W2560647275","https://openalex.org/W2562152911","https://openalex.org/W2575426328","https://openalex.org/W2582740614","https://openalex.org/W2583142715","https://openalex.org/W2589653451","https://openalex.org/W2598045445","https://openalex.org/W2663063359","https://openalex.org/W2735753099","https://openalex.org/W2738181984","https://openalex.org/W2739012036","https://openalex.org/W2747338765","https://openalex.org/W2771636580","https://openalex.org/W2773367425","https://openalex.org/W2774224567","https://openalex.org/W2774994422","https://openalex.org/W2783651702","https://openalex.org/W2788922940","https://openalex.org/W2790147543","https://openalex.org/W2790879948","https://openalex.org/W2792695297","https://openalex.org/W2793966962","https://openalex.org/W2795456897","https://openalex.org/W2807882833","https://openalex.org/W2808952881","https://openalex.org/W2816488237","https://openalex.org/W2884288731","https://openalex.org/W2884404189","https://openalex.org/W2897409685","https://openalex.org/W2897782084","https://openalex.org/W2901701174","https://openalex.org/W2902245271","https://openalex.org/W2909729638","https://openalex.org/W2909752849","https://openalex.org/W2909846099","https://openalex.org/W2911380898","https://openalex.org/W2914818680","https://openalex.org/W2926374707","https://openalex.org/W2929897791","https://openalex.org/W2941460562","https://openalex.org/W2946361619","https://openalex.org/W2951903367","https://openalex.org/W2965555309","https://openalex.org/W2966230635","https://openalex.org/W2966892768","https://openalex.org/W2967379086","https://openalex.org/W2968093824","https://openalex.org/W2970964101","https://openalex.org/W2975861937","https://openalex.org/W2980790222","https://openalex.org/W2990588373","https://openalex.org/W2993799976","https://openalex.org/W2997716713","https://openalex.org/W2999072533","https://openalex.org/W3000160985","https://openalex.org/W3000268585","https://openalex.org/W3004467325","https://openalex.org/W3005842267","https://openalex.org/W3008679443","https://openalex.org/W3014518962","https://openalex.org/W3026465055","https://openalex.org/W3030378837","https://openalex.org/W3034436867","https://openalex.org/W3036184859","https://openalex.org/W3041217129","https://openalex.org/W3042873437","https://openalex.org/W3045935638","https://openalex.org/W3097556244","https://openalex.org/W3104753760","https://openalex.org/W3118198822","https://openalex.org/W3122566964","https://openalex.org/W3132467916","https://openalex.org/W3132736524","https://openalex.org/W3135367740","https://openalex.org/W3139269452","https://openalex.org/W3159847516","https://openalex.org/W3168574912","https://openalex.org/W3190305371","https://openalex.org/W3192042947","https://openalex.org/W4205969645","https://openalex.org/W4210568843","https://openalex.org/W4399469378","https://openalex.org/W6759436852"],"related_works":["https://openalex.org/W1639593894","https://openalex.org/W63200814","https://openalex.org/W2367601375","https://openalex.org/W2371750680","https://openalex.org/W2360227361","https://openalex.org/W2067779234","https://openalex.org/W1999171692","https://openalex.org/W1600077717","https://openalex.org/W2017712750","https://openalex.org/W1979551339"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,50,58],"are":[2,69,147,164],"not":[3],"constructed":[4],"with":[5,114],"discrete":[6,65],"joints":[7],"but,":[8],"instead,":[9],"change":[10],"shape":[11,25],"and":[12,47,81,84,130,152],"position":[13],"their":[14,19],"tip":[15],"by":[16,64],"flexing":[17],"along":[18],"entire":[20],"length.":[21],"Their":[22],"narrow":[23],"curvilinear":[24],"makes":[26],"them":[27],"well":[28],"suited":[29],"to":[30,41,72,85,99,116,140,159],"passing":[31],"through":[32],"body":[33],"lumens,":[34],"natural":[35],"orifices,":[36],"or":[37],"small":[38],"surgical":[39],"incisions":[40],"perform":[42],"minimally":[43],"invasive":[44],"procedures.":[45],"Modeling":[46],"controlling":[48,131],"these":[49,132],"are,":[51],"however,":[52],"substantially":[53],"more":[54],"complex":[55],"than":[56],"traditional":[57],"comprised":[59],"of":[60,93,104,107,110],"rigid":[61],"links":[62],"connected":[63],"joints.":[66],"Furthermore,":[67],"there":[68],"many":[70],"approaches":[71],"achieving":[73],"robot":[74,112],"flexure.":[75],"Each":[76],"presents":[77],"its":[78],"own":[79],"design":[80,117],"modeling":[82,129],"challenges,":[83],"date,":[86],"each":[87,141,150],"has":[88],"been":[89],"pursued":[90],"largely":[91],"independently":[92],"the":[94,105,108,137,155],"others.":[95],"This":[96],"article":[97],"attempts":[98],"provide":[100],"a":[101,125],"unified":[102],"summary":[103],"state":[106],"art":[109],"continuum":[111],"architectures":[113],"respect":[115],"for":[118,128,149,154],"specific":[119],"clinical":[120,162],"applications.":[121],"It":[122],"also":[123],"describes":[124],"unifying":[126],"framework":[127],"systems":[133],"while":[134],"additionally":[135],"explaining":[136],"elements":[138],"unique":[139],"architecture.":[142],"The":[143],"major":[144],"research":[145],"accomplishments":[146],"described":[148],"topic":[151],"directions":[153],"future":[156],"progress":[157],"needed":[158],"achieve":[160],"widespread":[161],"use":[163],"identified.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":23},{"year":2025,"cited_by_count":95},{"year":2024,"cited_by_count":74},{"year":2023,"cited_by_count":68},{"year":2022,"cited_by_count":15}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}