{"id":"https://openalex.org/W2316938623","doi":"https://doi.org/10.1109/lra.2016.2525720","title":"Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator","display_name":"Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator","publication_year":2016,"publication_date":"2016-02-03","ids":{"openalex":"https://openalex.org/W2316938623","doi":"https://doi.org/10.1109/lra.2016.2525720","mag":"2316938623"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2525720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2525720","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5009195946","display_name":"Andrew L. Orekhov","orcid":"https://orcid.org/0000-0003-3803-2326"},"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":"Andrew L. Orekhov","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059305677","display_name":"Caroline Bryson Black","orcid":"https://orcid.org/0000-0001-8712-2788"},"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":"Caroline B. Black","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063746236","display_name":"John Till","orcid":"https://orcid.org/0000-0002-4563-6884"},"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":"John Till","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015361313","display_name":"Scotty Chung","orcid":null},"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":"Scotty Chung","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"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":"D. Caleb Rucker","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75027704"],"apc_list":null,"apc_paid":null,"fwci":2.553,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.88724387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":"2","first_page":"828","last_page":"835"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9943000078201294,"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/teleoperation","display_name":"Teleoperation","score":0.9042106866836548},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8214088678359985},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7559325098991394},{"id":"https://openalex.org/keywords/repeatability","display_name":"Repeatability","score":0.6423512101173401},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5854185223579407},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5613650679588318},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5420999526977539},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5203378200531006},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4925449788570404},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37500324845314026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35831427574157715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18478462100028992},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13775455951690674},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1083594262599945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08077162504196167}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9042106866836548},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8214088678359985},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7559325098991394},{"id":"https://openalex.org/C154020017","wikidata":"https://www.wikidata.org/wiki/Q520171","display_name":"Repeatability","level":2,"score":0.6423512101173401},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5854185223579407},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5613650679588318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5420999526977539},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5203378200531006},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4925449788570404},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37500324845314026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35831427574157715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18478462100028992},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13775455951690674},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1083594262599945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08077162504196167},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2016.2525720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2525720","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G5209038121","display_name":null,"funder_award_id":"CMMI-1427122","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1508808146","https://openalex.org/W1588644029","https://openalex.org/W1966601742","https://openalex.org/W1976270646","https://openalex.org/W1985568314","https://openalex.org/W1998251958","https://openalex.org/W2009180946","https://openalex.org/W2053614949","https://openalex.org/W2077568148","https://openalex.org/W2082080433","https://openalex.org/W2084271048","https://openalex.org/W2089913832","https://openalex.org/W2094874500","https://openalex.org/W2103660764","https://openalex.org/W2126182407","https://openalex.org/W2135485145","https://openalex.org/W2147492425","https://openalex.org/W2294886887","https://openalex.org/W2462654948","https://openalex.org/W6719065306"],"related_works":["https://openalex.org/W2559957734","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2066019639","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W1875852913","https://openalex.org/W2537091977"],"abstract_inverted_index":{"In":[0],"this":[1,100],"letter,":[2],"we":[3,153],"present":[4],"the":[5,76,109,116,123,155],"design,":[6,101],"kinematic":[7,96],"analysis,":[8],"model":[9,84,125],"validation,":[10],"and":[11,32,57,108,127,140,142,150],"teleoperation":[12],"of":[13,66,99,111,129,136,147,157],"a":[14,22,53,95,143,167],"miniature":[15],"eight-degree-of-freedom":[16],"(8-DOF)":[17],"parallel":[18],"continuum":[19],"manipulator":[20],"with":[21],"cable-driven":[23],"grasper.":[24],"Our":[25],"motivation":[26],"is":[27],"to":[28,90],"provide":[29,94],"increased":[30],"dexterity":[31],"stability":[33],"in":[34,52],"confined-space":[35],"surgical":[36,160],"applications,":[37],"particularly":[38],"for":[39,166],"intraluminal":[40],"endoscopic":[41],"procedures.":[42],"The":[43],"system":[44],"design":[45],"uses":[46],"six":[47],"superelastic":[48],"NiTi":[49],"(Nitinol)":[50],"tubes":[51],"standard":[54],"Stewart-Gough":[55],"configuration":[56],"an":[58],"integrated":[59],"end":[60],"effector":[61],"that":[62,73],"provides":[63,85],"180\u00b0":[64],"articulation":[65],"two":[67],"jaws":[68],"actuated":[69],"by":[70,162],"Kevlar":[71],"cables":[72],"pass":[74],"through":[75],"tube":[77],"legs.":[78],"A":[79],"computationally":[80],"efficient":[81],"inverse":[82],"kinematics":[83],"real-time,":[86],"low-level":[87],"actuator":[88],"commands":[89],"enable":[91],"teleoperation.":[92,173],"We":[93,119],"workspace":[97],"analysis":[98],"which":[102],"depicts":[103],"how":[104],"mechanical":[105],"strain,":[106],"dexterity,":[107],"effect":[110],"force":[112],"application":[113],"vary":[114],"over":[115],"reachable":[117],"workspace.":[118],"also":[120],"experimentally":[121],"characterize":[122],"open-loop":[124],"accuracy":[126],"repeatability":[128,144],"our":[130],"physical":[131],"prototype,":[132],"obtaining":[133],"mean":[134],"errors":[135],"approximately":[137],"1.19":[138],"mm":[139,149],"3.81\u00b0":[141],"RMS":[145],"error":[146],"0.88":[148],"1.96\u00b0.":[151],"Finally,":[152],"demonstrate":[154],"feasibility":[156],"minimally":[158],"invasive":[159],"applications":[161],"conducting":[163],"user":[164],"trials":[165],"pick-and-place":[168],"task":[169],"under":[170],"unilateral":[171],"model-based":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}