{"id":"https://openalex.org/W3000981942","doi":"https://doi.org/10.1109/lra.2020.2969161","title":"A Tele-Operated Microsurgical Forceps-Driver With a Variable Stiffness Haptic Feedback Master Device","display_name":"A Tele-Operated Microsurgical Forceps-Driver With a Variable Stiffness Haptic Feedback Master Device","publication_year":2020,"publication_date":"2020-01-24","ids":{"openalex":"https://openalex.org/W3000981942","doi":"https://doi.org/10.1109/lra.2020.2969161","mag":"3000981942"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969161","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/A5100324409","display_name":"Sungwoo Park","orcid":"https://orcid.org/0000-0002-9454-5807"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sungwoo Park","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050705857","display_name":"Namseon Jang","orcid":"https://orcid.org/0000-0003-0727-8585"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Namseon Jang","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059522749","display_name":"Yong Seok Ihn","orcid":"https://orcid.org/0000-0002-8112-4464"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong Seok Ihn","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045866199","display_name":"Sungwook Yang","orcid":"https://orcid.org/0000-0002-9394-5358"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungwook Yang","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031761207","display_name":"Jinwoo Jeong","orcid":"https://orcid.org/0000-0003-2996-9643"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwoo Jeong","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078379560","display_name":"Sehyuk Yim","orcid":"https://orcid.org/0000-0003-2152-0307"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehyuk Yim","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014100305","display_name":"Sang\u2013Rok Oh","orcid":"https://orcid.org/0000-0002-1102-031X"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Rok Oh","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723189","display_name":"Keehoon Kim","orcid":"https://orcid.org/0000-0002-1734-901X"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Keehoon Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Pohang University of Science and Technology, Gyeongbuk, South Korea","Department of Mechanical Engineering Pohang University of Science and Technology Gyeongbuk South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pohang University of Science and Technology, Gyeongbuk, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Department of Mechanical Engineering Pohang University of Science and Technology Gyeongbuk South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075742879","display_name":"Donghyun Hwang","orcid":"https://orcid.org/0000-0001-5397-3111"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyun Hwang","raw_affiliation_strings":["Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Interactive Robotics, KIST, Seoul, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5100324409"],"corresponding_institution_ids":["https://openalex.org/I4210096735"],"apc_list":null,"apc_paid":null,"fwci":0.9842,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.71570674,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"1946","last_page":"1953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9939000010490417,"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/haptic-technology","display_name":"Haptic technology","score":0.9047114849090576},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.7948394417762756},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5875722169876099},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5347724556922913},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5082671046257019},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2469000518321991},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.18447265028953552},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12095603346824646}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9047114849090576},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.7948394417762756},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5875722169876099},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5347724556922913},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5082671046257019},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2469000518321991},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.18447265028953552},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12095603346824646},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2969161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969161","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:oasis.postech.ac.kr:2014.oak/107934","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/107934","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2005505771","https://openalex.org/W2045539717","https://openalex.org/W2070328658","https://openalex.org/W2083790508","https://openalex.org/W2134956686","https://openalex.org/W2155342391","https://openalex.org/W2293748004","https://openalex.org/W2337382148","https://openalex.org/W2509798008","https://openalex.org/W2515818339","https://openalex.org/W2535899254","https://openalex.org/W2749452716","https://openalex.org/W2908853688","https://openalex.org/W2924316106","https://openalex.org/W3034336897","https://openalex.org/W4292401357","https://openalex.org/W6779456151"],"related_works":["https://openalex.org/W1593787288","https://openalex.org/W2156991218","https://openalex.org/W2031796532","https://openalex.org/W2342763340","https://openalex.org/W3124928510","https://openalex.org/W3034676803","https://openalex.org/W2146056927","https://openalex.org/W2111575343","https://openalex.org/W2629992206","https://openalex.org/W2643475928"],"abstract_inverted_index":{"We":[0],"develop":[1,85],"a":[2,6,16,68,86,97,100,114,186,196],"surgical":[3],"forceps-driver":[4,51,79,142,169],"and":[5,56,75,94,118,170,191],"haptic":[7,63,121,152],"feedback":[8,122],"master":[9,58,88,177],"device":[10,59,89,178],"that":[11,26],"could":[12,30],"be":[13],"applied":[14,41],"to":[15,32,42,48,106,113,119],"tele-operated":[17],"microsurgical":[18],"robotic":[19],"system":[20],"for":[21,80,159],"peripheral":[22,34],"nerve":[23,35,44],"surgery.":[24],"Considering":[25],"the":[27,33,43,50,57,78,108,125,129,133,137,141,148,155,160,163,168,171,176],"neurological":[28],"damage":[29],"occur":[31],"when":[36],"an":[37],"excessive":[38],"force":[39,71],"is":[40,73],"tissue,":[45],"we":[46,84],"aim":[47],"implement":[49],"with":[52,185,195],"precision":[53],"gripping-force":[54,81,130,164],"control":[55],"capable":[60],"of":[61,99,167,175,188,198],"providing":[62],"feedback.":[64,153],"For":[65],"this":[66],"aim,":[67],"high-precision":[69],"tiny":[70],"sensor":[72],"fabricated":[74],"embedded":[76],"into":[77],"measurement.":[82],"And,":[83],"novel":[87],"handled":[90],"by":[91,123,150],"surgeon's":[92,115],"thumb":[93],"forefinger.":[95],"As":[96],"kind":[98],"variable":[101],"stiffness":[102,126,172],"module,":[103],"it":[104],"functions":[105],"generate":[107],"forceps-drive":[109],"operation":[110],"command":[111],"according":[112],"pinching":[116],"motion":[117],"display":[120],"varying":[124],"based":[127],"on":[128],"measured":[131],"from":[132],"slave":[134],"device.":[135],"Thus,":[136],"surgeon":[138],"can":[139],"tele-operate":[140],"intuitively":[143],"as":[144,146,181],"well":[145],"feel":[147],"gripped-object":[149],"proprioceptive":[151],"In":[154],"performance":[156],"evaluation":[157],"experiments":[158],"master-slave":[161],"system,":[162],"measurement":[165],"capacity":[166],"variation":[173],"range":[174],"are":[179],"investigated":[180],"about":[182,192],"4":[183],"N":[184,190],"resolution":[187,197],"0.03":[189],"3.6":[193],"N/mm":[194],"0.025":[199],"N/mm,":[200],"respectively.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
