{"id":"https://openalex.org/W2746527205","doi":"https://doi.org/10.1109/lra.2017.2739805","title":"Magnetic Hammer Actuation for Tissue Penetration using a Millirobot","display_name":"Magnetic Hammer Actuation for Tissue Penetration using a Millirobot","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2746527205","doi":"https://doi.org/10.1109/lra.2017.2739805","mag":"2746527205"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2739805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2739805","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5047189147","display_name":"Julien Leclerc","orcid":"https://orcid.org/0000-0003-3608-4202"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Julien Leclerc","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053845527","display_name":"Ashwin Ramakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashwin Ramakrishnan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Houston, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058953622","display_name":"Nikolaos V. Tsekos","orcid":"https://orcid.org/0000-0002-4327-9895"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolaos Tsekos","raw_affiliation_strings":["Department of Computer Science, University of Houston, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062449649","display_name":"Aaron T. Becker","orcid":"https://orcid.org/0000-0001-7614-6282"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Becker","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047189147"],"corresponding_institution_ids":["https://openalex.org/I44461941"],"apc_list":null,"apc_paid":null,"fwci":1.4763,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.82695319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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/T12405","display_name":"Characterization and Applications of Magnetic Nanoparticles","score":0.988099992275238,"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/penetration","display_name":"Penetration (warfare)","score":0.8033525347709656},{"id":"https://openalex.org/keywords/hammer","display_name":"Hammer","score":0.750298023223877},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.42338818311691284},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27058282494544983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23982694745063782}],"concepts":[{"id":"https://openalex.org/C80107235","wikidata":"https://www.wikidata.org/wiki/Q7162625","display_name":"Penetration (warfare)","level":2,"score":0.8033525347709656},{"id":"https://openalex.org/C13655849","wikidata":"https://www.wikidata.org/wiki/Q25294","display_name":"Hammer","level":2,"score":0.750298023223877},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.42338818311691284},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27058282494544983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23982694745063782},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2739805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2739805","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1481505700","https://openalex.org/W1534541040","https://openalex.org/W1972871254","https://openalex.org/W1976221960","https://openalex.org/W2029381298","https://openalex.org/W2037424018","https://openalex.org/W2061888118","https://openalex.org/W2082501143","https://openalex.org/W2144053488","https://openalex.org/W2292293750","https://openalex.org/W2336405670","https://openalex.org/W2527610710","https://openalex.org/W4245432590","https://openalex.org/W6631979330","https://openalex.org/W6696743548"],"related_works":["https://openalex.org/W2006378305","https://openalex.org/W4231322550","https://openalex.org/W1995764931","https://openalex.org/W1023706397","https://openalex.org/W2027486902","https://openalex.org/W4301398889","https://openalex.org/W2062032621","https://openalex.org/W2687792716","https://openalex.org/W822455299","https://openalex.org/W4296222175"],"abstract_inverted_index":{"Untethered":[0],"magnetic":[1,11,34,41,98,148],"navigation":[2],"of":[3,139,147,159,200],"millirobots":[4,42],"within":[5],"a":[6,10,17,31,66,81,105,118,122,133,193],"human":[7],"body":[8,84],"using":[9],"resonance":[12],"imaging":[13],"(MRI)":[14],"scanner":[15,196],"is":[16,78,93],"promising":[18],"technology":[19],"for":[20,124,162],"minimally":[21],"invasive":[22],"surgery":[23],"or":[24],"drug":[25],"delivery.":[26],"Because":[27],"MRI":[28,195],"scanners":[29],"have":[30],"large":[32,58,70,134],"static":[33],"field,":[35],"they":[36],"cannot":[37],"generate":[38],"torque":[39],"on":[40,73],"and":[43,85,89,151,170,180],"must":[44],"instead":[45],"use":[46],"gradient-based":[47],"pulling.":[48],"However,":[49],"gradient":[50,99],"values":[51],"are":[52,178],"too":[53],"small":[54],"to":[55,60,68,110,127,143],"produce":[56,69],"forces":[57,72],"enough":[59],"penetrate":[61],"tissue.":[62],"This":[63,91,129,165],"letter":[64,166],"presents":[65],"method":[67],"pulsed":[71,135],"millirobots.":[74],"A":[75],"ferromagnetic":[76],"sphere":[77,109,126],"placed":[79],"inside":[80,192],"hollow":[82],"robot":[83],"can":[86],"move":[87],"back":[88],"forth.":[90],"movement":[92],"created":[94],"by":[95],"alternating":[96],"the":[97,102,108,115,125,145,157,198],"direction.":[100],"On":[101,114],"posterior":[103],"side,":[104,117],"spring":[106],"allows":[107],"change":[111],"direction":[112],"smoothly.":[113],"anterior":[116],"hard":[119],"rod":[120],"creates":[121],"surface":[123],"impact.":[128],"impact":[130],"results":[131],"in":[132],"force.":[136],"The":[137,182],"purpose":[138],"this":[140,160,172,201],"study":[141],"was":[142],"understand":[144],"functioning":[146],"hammer":[149],"actuation":[150,202],"control,":[152],"as":[153,155],"well":[154],"demonstrate":[156,197],"viability":[158],"mechanism":[161],"tissue":[163],"penetration.":[164],"begins":[167],"with":[168],"modeling":[169],"simulating":[171],"system.":[173,203],"Next,":[174],"different":[175],"control":[176],"strategies":[177],"presented":[179],"tested.":[181],"system":[183],"successfully":[184],"penetrated":[185],"lamb":[186],"brain":[187],"samples.":[188],"Finally,":[189],"preliminary":[190],"tests":[191],"clinical":[194],"potential":[199]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}