{"id":"https://openalex.org/W2999757677","doi":"https://doi.org/10.1109/lra.2020.2967297","title":"Design, Modeling, and Control of a Compact SMA-Actuated MR-Conditional Steerable Neurosurgical Robot","display_name":"Design, Modeling, and Control of a Compact SMA-Actuated MR-Conditional Steerable Neurosurgical Robot","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W2999757677","doi":"https://doi.org/10.1109/lra.2020.2967297","mag":"2999757677"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967297","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/A5069109442","display_name":"Shicong Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shicong Shao","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049844312","display_name":"Botian Sun","orcid":"https://orcid.org/0000-0001-5503-242X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Botian Sun","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5503-242X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056085196","display_name":"Qingpeng Ding","orcid":"https://orcid.org/0000-0003-1940-8332"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qingpeng Ding","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055423430","display_name":"Wanquan Yan","orcid":"https://orcid.org/0000-0002-9207-6613"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wanquan Yan","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045059848","display_name":"Wenjia Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenjia Zheng","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009336655","display_name":"Kim Yan","orcid":"https://orcid.org/0000-0002-7255-4817"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kim Yan","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-7255-4817","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082888588","display_name":"Yilun Hong","orcid":"https://orcid.org/0000-0003-4264-6312"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yilun Hong","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4264-6312","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072251844","display_name":"Shing Shin Cheng","orcid":"https://orcid.org/0000-0002-9386-5497"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shing Shin Cheng","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-9386-5497","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.1129,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.74214947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"1381","last_page":"1388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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/T10618","display_name":"Aortic Disease and Treatment Approaches","score":0.9781000018119812,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.7950401306152344},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.776117742061615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5975234508514404},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.48689547181129456},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.48348361253738403},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4830125570297241},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4746692180633545},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4669566750526428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44982072710990906},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41043734550476074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39453762769699097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35915452241897583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2381431758403778},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2162136435508728},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2098856270313263}],"concepts":[{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.7950401306152344},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.776117742061615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5975234508514404},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.48689547181129456},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.48348361253738403},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4830125570297241},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4746692180633545},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4669566750526428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44982072710990906},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41043734550476074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39453762769699097},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35915452241897583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2381431758403778},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2162136435508728},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2098856270313263},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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.2020.2967297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967297","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":[{"display_name":"Peace, Justice and strong institutions","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2939278291","display_name":null,"funder_award_id":"4930807","funder_id":"https://openalex.org/F4320322942","funder_display_name":"Chinese University of Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1490766191","https://openalex.org/W1502266430","https://openalex.org/W1881254413","https://openalex.org/W1984466921","https://openalex.org/W1996666143","https://openalex.org/W2003587977","https://openalex.org/W2013701630","https://openalex.org/W2027887952","https://openalex.org/W2048689410","https://openalex.org/W2065609403","https://openalex.org/W2080023653","https://openalex.org/W2084432779","https://openalex.org/W2095804824","https://openalex.org/W2099734508","https://openalex.org/W2106825272","https://openalex.org/W2157570937","https://openalex.org/W2557554646","https://openalex.org/W2580346199","https://openalex.org/W2597413148","https://openalex.org/W2608547410","https://openalex.org/W2610856246","https://openalex.org/W2740405518","https://openalex.org/W2763080578","https://openalex.org/W2766147584","https://openalex.org/W2771434468","https://openalex.org/W2790744980","https://openalex.org/W2792744836","https://openalex.org/W2795143804","https://openalex.org/W2801001587","https://openalex.org/W2887094246","https://openalex.org/W2889121143","https://openalex.org/W2899088492","https://openalex.org/W2913758992","https://openalex.org/W6630236755"],"related_works":["https://openalex.org/W2240404672","https://openalex.org/W2089457653","https://openalex.org/W2744612160","https://openalex.org/W2368486505","https://openalex.org/W1986752515","https://openalex.org/W2626373589","https://openalex.org/W2382235839","https://openalex.org/W2163192098","https://openalex.org/W2079323691","https://openalex.org/W2153672924"],"abstract_inverted_index":{"The":[0,51],"letter":[1],"presents":[2],"a":[3,18,34,39,62,68,133,143,163],"compact":[4],"shape":[5],"memory":[6],"alloy":[7],"(SMA)-actuated":[8],"magnetic":[9],"resonance":[10],"(MR)-conditional":[11],"neurosurgical":[12],"robotic":[13,93,118],"system.":[14],"It":[15],"consists":[16],"of":[17,20,70,91,142,182],"2-degree":[19],"freedom":[21],"(DoF)":[22],"cable-driven":[23,63],"steerable":[24],"end":[25,64,94,119],"effector,":[26],"an":[27],"antagonistic":[28,105],"SMA":[29,98,106,128],"springs-based":[30],"actuation":[31],"module,":[32,36],"and":[33,72,96,113,131,152,166,179],"quick-connect":[35],"packaged":[37],"into":[38],"single":[40],"integrated":[41,132],"device":[42],"measuring":[43],"305":[44],"mm":[45,49],"length":[46,74],"\u00d7":[47],"76":[48],"diameter.":[50],"system":[52],"is":[53],"also":[54,102],"highly":[55],"adaptable,":[56],"such":[57],"that":[58,170],"it":[59],"could":[60],"operate":[61],"effector":[65,95],"up":[66,146],"to":[67,80,88,126,138,147],"maximum":[69],"4-DoFs":[71],"its":[73],"can":[75],"be":[76],"easily":[77],"modified":[78],"due":[79],"the":[81,89,92,97,104,110,117,168,172,177,183],"acrylic":[82],"plate-based":[83],"modular":[84],"construction.":[85],"In":[86],"addition":[87],"kinematics":[90],"constitutive":[99],"model,":[100],"we":[101],"present":[103],"springs":[107],"model":[108,129],"under":[109],"known":[111],"tension":[112],"cable":[114],"displacement":[115],"from":[116],"effector.":[120],"We":[121],"performed":[122,161],"extensive":[123],"characterization":[124],"experiments":[125],"obtain":[127],"parameters":[130],"feedforward":[134],"component":[135],"inour":[136],"controller":[137],"achieve":[139],"improved":[140],"tracking":[141],"sinusoidal":[144],"reference":[145],"80\u00b0":[148],"bending":[149],"angle":[150],"amplitude":[151],"100":[153],"s":[154],"period.":[155],"Lastly,":[156],"proof-of-concept":[157],"robot":[158,173],"demonstrations":[159],"were":[160],"in":[162,167,176],"gel":[164],"phantom":[165],"MRI":[169,180],"confirmed":[171],"motion":[174],"capability":[175],"brain":[178],"compatibility":[181],"robot.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
