{"id":"https://openalex.org/W3071547339","doi":"https://doi.org/10.1109/lra.2020.3017476","title":"Self-Propelled Colonoscopy Robot Using Flexible Paddles","display_name":"Self-Propelled Colonoscopy Robot Using Flexible Paddles","publication_year":2020,"publication_date":"2020-08-18","ids":{"openalex":"https://openalex.org/W3071547339","doi":"https://doi.org/10.1109/lra.2020.3017476","mag":"3071547339"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3017476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3017476","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/A5088202632","display_name":"Keisuke Osawa","orcid":"https://orcid.org/0000-0003-1946-0763"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Keisuke Osawa","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1946-0763","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024759505","display_name":"Ryu Nakadate","orcid":"https://orcid.org/0000-0002-2314-6921"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryu Nakadate","raw_affiliation_strings":["Center for Advanced Medical Innovation, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2314-6921","affiliations":[{"raw_affiliation_string":"Center for Advanced Medical Innovation, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080068495","display_name":"Jumpei Arata","orcid":"https://orcid.org/0000-0002-3388-5488"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jumpei Arata","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3388-5488","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060847762","display_name":"Yoshihiro Nagao","orcid":"https://orcid.org/0000-0003-4070-7329"},"institutions":[{"id":"https://openalex.org/I4210097767","display_name":"Kyushu University Hospital","ror":"https://ror.org/00ex2fc97","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I135598925","https://openalex.org/I4210097767"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiro Nagao","raw_affiliation_strings":["Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, Japan","institution_ids":["https://openalex.org/I4210097767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083643100","display_name":"Tomohiko Akahoshi","orcid":"https://orcid.org/0000-0002-1750-2299"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiko Akahoshi","raw_affiliation_strings":["Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000508958","display_name":"Masatoshi Eto","orcid":"https://orcid.org/0000-0002-3312-9930"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Eto","raw_affiliation_strings":["Department of Urology, Graduate School of Medical Sciences, Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, Graduate School of Medical Sciences, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109896593","display_name":"Makoto Hashizume","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120715","display_name":"Koga Hospital","ror":"https://ror.org/01zc7k534","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210120715"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makoto Hashizume","raw_affiliation_strings":["Kitakyushu Koga Hospital, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kitakyushu Koga Hospital, Fukuoka, Japan","institution_ids":["https://openalex.org/I4210120715"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5088202632"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":1.7593,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.85261575,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"6710","last_page":"6716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9666000008583069,"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/T13270","display_name":"QR Code Applications and Technologies","score":0.9375,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/robot","display_name":"Robot","score":0.6994798183441162},{"id":"https://openalex.org/keywords/colonoscopy","display_name":"Colonoscopy","score":0.5505266785621643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5033180117607117},{"id":"https://openalex.org/keywords/large-intestine","display_name":"Large intestine","score":0.4572036862373352},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4441206753253937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3969634175300598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29016464948654175},{"id":"https://openalex.org/keywords/colorectal-cancer","display_name":"Colorectal cancer","score":0.23529332876205444},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19312241673469543},{"id":"https://openalex.org/keywords/cancer","display_name":"Cancer","score":0.1700110137462616},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1380084753036499}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6994798183441162},{"id":"https://openalex.org/C2778435480","wikidata":"https://www.wikidata.org/wiki/Q840387","display_name":"Colonoscopy","level":4,"score":0.5505266785621643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5033180117607117},{"id":"https://openalex.org/C2776280935","wikidata":"https://www.wikidata.org/wiki/Q11083","display_name":"Large intestine","level":2,"score":0.4572036862373352},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4441206753253937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3969634175300598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29016464948654175},{"id":"https://openalex.org/C526805850","wikidata":"https://www.wikidata.org/wiki/Q188874","display_name":"Colorectal cancer","level":3,"score":0.23529332876205444},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19312241673469543},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.1700110137462616},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1380084753036499},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3017476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3017476","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":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W598351695","https://openalex.org/W1650175677","https://openalex.org/W1964153991","https://openalex.org/W1982207638","https://openalex.org/W2019114957","https://openalex.org/W2055583271","https://openalex.org/W2073117643","https://openalex.org/W2081021210","https://openalex.org/W2105893395","https://openalex.org/W2137058821","https://openalex.org/W2157564578","https://openalex.org/W2167121883","https://openalex.org/W2222811342","https://openalex.org/W2482109296","https://openalex.org/W2594399172","https://openalex.org/W2606123756","https://openalex.org/W2612909306","https://openalex.org/W2914578700","https://openalex.org/W2936727662","https://openalex.org/W6721849866","https://openalex.org/W6736414291"],"related_works":["https://openalex.org/W2381279477","https://openalex.org/W2999920852","https://openalex.org/W3028983594","https://openalex.org/W2006998504","https://openalex.org/W2363227174","https://openalex.org/W3211062742","https://openalex.org/W4318274204","https://openalex.org/W2073857279","https://openalex.org/W2071852359","https://openalex.org/W3144766310"],"abstract_inverted_index":{"The":[0,114,159,181,195,211],"number":[1],"of":[2,27,57,107,134,149,156,161,183,192,205],"patients":[3],"suffering":[4],"from":[5,93],"colorectal":[6],"cancer":[7],"(CRC)":[8],"has":[9],"been":[10],"increasing.":[11],"CRC":[12,33],"is":[13,24,49,91,117],"known":[14],"to":[15,100,127,138,152],"be":[16],"curable":[17],"if":[18],"detected":[19],"and":[20,38,67,123,171,217],"treated":[21],"early.":[22],"Colonoscopy":[23],"currently":[25],"one":[26],"the":[28,42,47,55,58,61,83,89,97,105,108,132,135,140,150,154,157,162,184,189,203,206],"best":[29],"screening":[30],"methods":[31],"for":[32,52,82],"because":[34,54],"it":[35],"can":[36],"observe":[37],"treat":[39],"disorders":[40],"in":[41,174,222],"large":[43,62,136],"intestine.":[44],"However,":[45],"operating":[46],"colonoscope":[48,109],"technically":[50],"demanding":[51],"doctors":[53],"insertion":[56],"instrument":[59],"into":[60],"intestine":[63,137,178],"requires":[64],"considerable":[65],"training":[66],"skill.":[68],"To":[69],"address":[70],"this":[71,87,223],"issue,":[72],"we":[73],"propose":[74],"a":[75,94,101,111,145,168,175],"novel":[76],"self-propelled":[77,163],"robot":[78,151,164,185],"with":[79,119],"flexible":[80,112,124],"paddles":[81,125],"intestinal":[84],"tract.":[85],"In":[86],"device,":[88],"torque":[90],"transmitted":[92],"motor":[95],"outside":[96],"patient":[98],"body":[99],"worm":[102,115],"gear":[103,116],"at":[104],"tip":[106],"by":[110,167],"shaft.":[113],"engaged":[118],"two":[120],"spur":[121,129],"gears,":[122],"fixed":[126],"these":[128],"gears":[130],"contact":[131],"wall":[133],"provide":[139],"propulsive":[141,196],"force.":[142],"We":[143],"constructed":[144],"force":[146,197],"transmission":[147],"model":[148],"confirm":[153],"suitability":[155],"design.":[158],"prototype":[160],"was":[165,179,186,198,209],"fabricated":[166],"3D":[169],"printer,":[170],"its":[172,215],"locomotion":[173,213],"simulated":[176],"rubber":[177],"evaluated.":[180],"velocity":[182],"faster":[187],"than":[188],"required":[190],"speed":[191],"6.5":[193],"mm/s.":[194],"approximately":[199],"1":[200],"N;":[201],"thus,":[202],"effectiveness":[204],"robotic":[207],"principle":[208],"confirmed.":[210],"mechanical":[212],"design,":[214],"fabrication,":[216],"analysis":[218],"results":[219],"are":[220],"reported":[221],"letter.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
