{"id":"https://openalex.org/W4206196548","doi":"https://doi.org/10.1109/lra.2021.3137891","title":"A Novel Single-Arm Stapling Robot for Oral and Maxillofacial Surgery\u2014Design and Verification","display_name":"A Novel Single-Arm Stapling Robot for Oral and Maxillofacial Surgery\u2014Design and Verification","publication_year":2021,"publication_date":"2021-12-23","ids":{"openalex":"https://openalex.org/W4206196548","doi":"https://doi.org/10.1109/lra.2021.3137891"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3137891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3137891","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/A5107936459","display_name":"Jingtao Zhang","orcid":"https://orcid.org/0000-0001-9804-7429"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtao Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392067","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-7215-7627"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7215-7627","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065647893","display_name":"Yueri Cai","orcid":"https://orcid.org/0000-0003-4494-6300"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueri Cai","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4494-6300","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009435309","display_name":"Jian Li","orcid":"https://orcid.org/0000-0003-1259-1381"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108581367","display_name":"Yimeng Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yimeng Zeng","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059748076","display_name":"Longrui Chen","orcid":"https://orcid.org/0009-0002-7125-3956"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longrui Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085071661","display_name":"Fusong Yuan","orcid":"https://orcid.org/0000-0002-5982-2549"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusong Yuan","raw_affiliation_strings":["Center of Digital Dentistry, Peking University Hospital of Stomatology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Digital Dentistry, Peking University Hospital of Stomatology, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080396152","display_name":"Zhenhua Ji","orcid":"https://orcid.org/0000-0003-1210-7051"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Ji","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112483216","display_name":"Yan Wang","orcid":"https://orcid.org/0009-0003-9344-5091"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064037823","display_name":"Justyna Wyrwa","orcid":"https://orcid.org/0000-0002-1718-397X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Justyna Wyrwa","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1718-397X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3138,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.88992943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"1348","last_page":"1355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9965999722480774,"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"}},"topics":[{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9965999722480774,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9962999820709229,"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/T11787","display_name":"Oral and Maxillofacial Pathology","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/3504","display_name":"Oral Surgery"},"field":{"id":"https://openalex.org/fields/35","display_name":"Dentistry"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5897281169891357},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.564228355884552},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5593588948249817},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.5341901183128357},{"id":"https://openalex.org/keywords/fibrous-joint","display_name":"Fibrous joint","score":0.46120327711105347},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.44570648670196533},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4148316979408264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3460780084133148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33608224987983704},{"id":"https://openalex.org/keywords/orthodontics","display_name":"Orthodontics","score":0.3207130432128906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10588207840919495},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08461964130401611}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5897281169891357},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.564228355884552},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5593588948249817},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.5341901183128357},{"id":"https://openalex.org/C2777327002","wikidata":"https://www.wikidata.org/wiki/Q2865760","display_name":"Fibrous joint","level":2,"score":0.46120327711105347},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.44570648670196533},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4148316979408264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3460780084133148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33608224987983704},{"id":"https://openalex.org/C29694066","wikidata":"https://www.wikidata.org/wiki/Q118301","display_name":"Orthodontics","level":1,"score":0.3207130432128906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10588207840919495},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08461964130401611},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3137891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3137891","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":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3116464756","display_name":null,"funder_award_id":"2020YFB1312800","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"},{"id":"https://openalex.org/G8348980440","display_name":null,"funder_award_id":"3202015","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1485095151","https://openalex.org/W1535011659","https://openalex.org/W1984326094","https://openalex.org/W2033018277","https://openalex.org/W2090628037","https://openalex.org/W2090796745","https://openalex.org/W2098365664","https://openalex.org/W2122042349","https://openalex.org/W2125511732","https://openalex.org/W2138154891","https://openalex.org/W2343211103","https://openalex.org/W2588333893","https://openalex.org/W2605865999","https://openalex.org/W2767012294","https://openalex.org/W2780143578","https://openalex.org/W2789237607","https://openalex.org/W2790124486","https://openalex.org/W2913677630","https://openalex.org/W3007695691","https://openalex.org/W3030892249","https://openalex.org/W3040034452","https://openalex.org/W3115327999","https://openalex.org/W3129781759","https://openalex.org/W3137766216","https://openalex.org/W6713012860"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"Because":[0],"of":[1,7,46,60,74,79,108,115,135],"the":[2,5,8,43,47,52,77,80,90,96,106,109,112,116,133,146,150],"limited":[3],"space,":[4],"suture":[6],"oral":[9,19,33,128],"and":[10,34,65,67,129,139],"maxillofacial":[11,35,130],"surgery":[12,36],"is":[13,86,93,118],"a":[14,28,68],"challenging":[15],"task,":[16],"which":[17,49,92],"requires":[18],"surgeons":[20],"to":[21,62,88],"master":[22],"excellent":[23],"techniques.":[24],"This":[25,103],"letter":[26,104],"presents":[27],"single-arm":[29],"stapling":[30,44,53,84,121],"robot":[31,56,117,147],"for":[32],"using":[37,95],"magnesium":[38],"alloy":[39],"staples,":[40],"as":[41],"well":[42],"strategy":[45,85],"robot,":[48],"can":[50,148],"complete":[51],"operation.":[54],"The":[55,120,142],"has":[57],"six":[58],"degrees":[59],"freedom":[61,75],"adjust":[63],"position":[64],"orientation,":[66],"novel":[69],"stapler":[70],"with":[71,98,132,152],"one":[72],"degree":[73],"at":[76],"end":[78],"robot.":[81,110],"A":[82],"special":[83],"proposed":[87],"reapproximate":[89],"wound,":[91],"featured":[94],"staple":[97,149],"two":[99],"different":[100,137,140],"length":[101],"legs.":[102],"introduces":[105],"mechanism":[107],"Moreover,":[111],"kinematics":[113],"control":[114],"presented.":[119],"experiments":[122],"have":[123],"been":[124],"conducted":[125],"on":[126],"an":[127],"model":[131],"wounds":[134,151],"three":[136],"widths":[138],"directions.":[141],"results":[143],"demonstrate":[144],"that":[145],"reasonable":[153],"accuracy.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}