{"id":"https://openalex.org/W2790766491","doi":"https://doi.org/10.1109/lra.2018.2812907","title":"Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery","display_name":"Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery","publication_year":2018,"publication_date":"2018-03-07","ids":{"openalex":"https://openalex.org/W2790766491","doi":"https://doi.org/10.1109/lra.2018.2812907","mag":"2790766491"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2812907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812907","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":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02061337","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049598614","display_name":"Pierre Berthet-Rayne","orcid":"https://orcid.org/0000-0001-9118-4877"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Pierre Berthet-Rayne","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049673571","display_name":"Konrad Leibrandt","orcid":"https://orcid.org/0000-0002-7719-083X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Konrad Leibrandt","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000058557","display_name":"Gauthier Gras","orcid":"https://orcid.org/0000-0003-2322-8780"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gauthier Gras","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France","Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043284120","display_name":"Andr\u00e9 Crosnier","orcid":"https://orcid.org/0000-0001-7632-0922"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andre Crosnier","raw_affiliation_strings":["Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France","Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049598614"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":2.8868,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.90791559,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"2501","last_page":"2508"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9965999722480774,"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/T10888","display_name":"Augmented Reality Applications","score":0.9842000007629395,"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/teleoperation","display_name":"Teleoperation","score":0.8468776941299438},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7355204820632935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5808842778205872},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.5323508381843567},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5175532698631287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4794237017631531},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4453771114349365},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43311256170272827},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4295027554035187},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.41516605019569397},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39257150888442993},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2570936679840088},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20214492082595825},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13818871974945068},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09551334381103516}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8468776941299438},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7355204820632935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5808842778205872},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.5323508381843567},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5175532698631287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4794237017631531},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4453771114349365},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43311256170272827},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4295027554035187},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.41516605019569397},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39257150888442993},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2570936679840088},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20214492082595825},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13818871974945068},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09551334381103516},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2812907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812907","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"},{"id":"pmh:oai:HAL:lirmm-02061337v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02061337","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2501-2508. &#x27E8;10.1109/LRA.2018.2812907&#x27E9;","raw_type":"Journal articles"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/69310","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/69310","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2508","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-02061337v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02061337","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2501-2508. &#x27E8;10.1109/LRA.2018.2812907&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[{"id":"https://openalex.org/G2819266950","display_name":null,"funder_award_id":"EP/P012779/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5205213482","display_name":null,"funder_award_id":"EP/N027132/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1589824090","https://openalex.org/W1934410567","https://openalex.org/W1964649988","https://openalex.org/W1985520732","https://openalex.org/W1988208719","https://openalex.org/W1995484833","https://openalex.org/W2042913147","https://openalex.org/W2045581174","https://openalex.org/W2061417916","https://openalex.org/W2078204800","https://openalex.org/W2083016933","https://openalex.org/W2100790457","https://openalex.org/W2129607944","https://openalex.org/W2153738822","https://openalex.org/W2184993170","https://openalex.org/W2248968608","https://openalex.org/W2588370846","https://openalex.org/W2726635411","https://openalex.org/W4250955649","https://openalex.org/W4297804367","https://openalex.org/W6673609794"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W2416670454","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W1993574973"],"abstract_inverted_index":{"The":[0,58,75],"real-time":[1,120],"teleoperation":[2],"or":[3],"telemanipulation":[4],"of":[5,32,63,93,118],"redundant":[6,37],"snakelike":[7,50],"robots":[8],"for":[9,52],"minimally":[10],"invasive":[11],"surgery":[12],"in":[13,116],"a":[14,18,27,36,49,82],"master-slave":[15],"configuration":[16],"is":[17,61],"complex":[19],"problem.":[20],"There":[21],"are":[22,77],"many":[23],"possible":[24],"mappings":[25],"between":[26],"master's":[28],"standard":[29],"6":[30,44],"degrees":[31],"freedom":[33],"(DOF)":[34],"and":[35,55,110,122],"slave":[38],"robot,":[39],"typically":[40],"with":[41,81],"n":[42,64],"\u226b":[43],"DOF.":[45],"This":[46],"letter":[47],"introduces":[48],"robot":[51],"ear,":[53],"nose,":[54],"throat":[56],"surgery.":[57],"robot's":[59],"architecture":[60],"comprised":[62],"=":[65],"26":[66],"joint":[67],"variables.":[68],"Six":[69],"different":[70,96],"control":[71,97],"methods":[72,76],"were":[73],"investigated.":[74],"compared":[78],"through":[79],"simulation":[80],"user":[83],"study.":[84],"Each":[85],"participant":[86],"performed":[87,114],"the":[88,94,101,104],"same":[89],"task":[90],"using":[91],"each":[92],"six":[95],"methods.":[98],"Based":[99],"on":[100],"metrics":[102],"selected,":[103],"sparse":[105],"pseudo-L":[106],"<sub":[107],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[108],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">0</sub>":[109],"our":[111],"proposed":[112],"approach":[113],"better":[115],"terms":[117],"intuitiveness,":[119],"capabilities,":[121],"overall":[123],"occupied":[124],"volume.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
