{"id":"https://openalex.org/W4287887846","doi":"https://doi.org/10.1109/lra.2022.3193627","title":"Intrinsic Force Sensing for Motion Estimation in a Parallel, Fluidic Soft Robot for Endoluminal Interventions","display_name":"Intrinsic Force Sensing for Motion Estimation in a Parallel, Fluidic Soft Robot for Endoluminal Interventions","publication_year":2022,"publication_date":"2022-07-25","ids":{"openalex":"https://openalex.org/W4287887846","doi":"https://doi.org/10.1109/lra.2022.3193627"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3193627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3193627","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://discovery.ucl.ac.uk/10157779/1/LRA3193627_acceptedManuscript.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073776552","display_name":"Lukas Lindenroth","orcid":"https://orcid.org/0000-0002-9108-4574"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lukas Lindenroth","raw_affiliation_strings":["Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9108-4574","affiliations":[{"raw_affiliation_string":"Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080713197","display_name":"Jeref Merlin","orcid":"https://orcid.org/0000-0002-8336-2060"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jeref Merlin","raw_affiliation_strings":["Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-8336-2060","affiliations":[{"raw_affiliation_string":"Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071609030","display_name":"Sophia Bano","orcid":"https://orcid.org/0000-0003-1329-4565"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sophia Bano","raw_affiliation_strings":["Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1329-4565","affiliations":[{"raw_affiliation_string":"Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000711314","display_name":"Joseph Manjaly","orcid":null},"institutions":[{"id":"https://openalex.org/I34931013","display_name":"National Institute for Health and Care Research","ror":"https://ror.org/0187kwz08","country_code":"GB","type":"government","lineage":["https://openalex.org/I34931013"]},{"id":"https://openalex.org/I4210157535","display_name":"Eastman Dental Hospital","ror":"https://ror.org/055jskg35","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I1340918713","https://openalex.org/I4210157535"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joseph G. Manjaly","raw_affiliation_strings":["University College London Hospitals Biomedical Research Centre, National Institute for Health Research, London, U.K","Royal National ENT & Eastman Dental Hospitals, University College London Hospitals, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London Hospitals Biomedical Research Centre, National Institute for Health Research, London, U.K","institution_ids":["https://openalex.org/I34931013","https://openalex.org/I45129253"]},{"raw_affiliation_string":"Royal National ENT & Eastman Dental Hospitals, University College London Hospitals, London, U.K","institution_ids":["https://openalex.org/I45129253","https://openalex.org/I4210157535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023621921","display_name":"Nishchay Mehta","orcid":"https://orcid.org/0000-0001-9317-3055"},"institutions":[{"id":"https://openalex.org/I34931013","display_name":"National Institute for Health and Care Research","ror":"https://ror.org/0187kwz08","country_code":"GB","type":"government","lineage":["https://openalex.org/I34931013"]},{"id":"https://openalex.org/I4210157535","display_name":"Eastman Dental Hospital","ror":"https://ror.org/055jskg35","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I1340918713","https://openalex.org/I4210157535"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nishchay Mehta","raw_affiliation_strings":["University College London Hospitals Biomedical Research Centre, National Institute for Health Research, London, U.K","Royal National ENT & Eastman Dental Hospitals, University College London Hospitals, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London Hospitals Biomedical Research Centre, National Institute for Health Research, London, U.K","institution_ids":["https://openalex.org/I34931013","https://openalex.org/I45129253"]},{"raw_affiliation_string":"Royal National ENT & Eastman Dental Hospitals, University College London Hospitals, London, U.K","institution_ids":["https://openalex.org/I45129253","https://openalex.org/I4210157535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077630267","display_name":"Danail Stoyanov","orcid":"https://orcid.org/0000-0002-0980-3227"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danail Stoyanov","raw_affiliation_strings":["Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0980-3227","affiliations":[{"raw_affiliation_string":"Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9522,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.70674361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"10581","last_page":"10588"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9884999990463257,"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/T11486","display_name":"Micro and Nano Robotics","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7084068655967712},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6616504788398743},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.6007015705108643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49388939142227173},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4616016745567322},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.41167759895324707},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38551247119903564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.365854412317276},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.336948037147522},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.285347044467926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.278187096118927},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16173404455184937},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11235997080802917}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7084068655967712},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6616504788398743},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.6007015705108643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49388939142227173},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4616016745567322},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.41167759895324707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38551247119903564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.365854412317276},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.336948037147522},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.285347044467926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.278187096118927},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16173404455184937},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11235997080802917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3193627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3193627","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:eprints.ucl.ac.uk.OAI2:10157779","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10157779/","pdf_url":"https://discovery.ucl.ac.uk/10157779/1/LRA3193627_acceptedManuscript.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"   IEEE Robotics and Automation Letters , 7  (4)   pp. 10581-10588.   (2022)      ","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10157779","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10157779/","pdf_url":"https://discovery.ucl.ac.uk/10157779/1/LRA3193627_acceptedManuscript.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"   IEEE Robotics and Automation Letters , 7  (4)   pp. 10581-10588.   (2022)      ","raw_type":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1320193412","display_name":"Robotic Assisted Imaging","funder_award_id":"EP/P012841/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G1737217355","display_name":null,"funder_award_id":"EP/P012841/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4869842313","display_name":"Multispectral polarization-resolved endoscopy and vision for intraoperative imaging of tissue microstructure and function","funder_award_id":"EP/R004080/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5045553067","display_name":"Ultra-low-cost endoscopy for gastric cancer screening in rural China","funder_award_id":"EP/P027938/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5935547209","display_name":null,"funder_award_id":"203145/Z/16/Z","funder_id":"https://openalex.org/F4320330765","funder_display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences"},{"id":"https://openalex.org/G6923427940","display_name":null,"funder_award_id":"EP/R004080/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320330765","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4287887846.pdf","grobid_xml":"https://content.openalex.org/works/W4287887846.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W2008033333","https://openalex.org/W2026136126","https://openalex.org/W2101797976","https://openalex.org/W2132991926","https://openalex.org/W2417504526","https://openalex.org/W2553015816","https://openalex.org/W2641809786","https://openalex.org/W2736576770","https://openalex.org/W2772640552","https://openalex.org/W2914261454","https://openalex.org/W2993611986","https://openalex.org/W3001744918","https://openalex.org/W3120158198","https://openalex.org/W3153184197","https://openalex.org/W3155886017","https://openalex.org/W3174683534","https://openalex.org/W4210306719","https://openalex.org/W4312798443"],"related_works":["https://openalex.org/W1718659621","https://openalex.org/W4322494644","https://openalex.org/W2353476186","https://openalex.org/W4315866219","https://openalex.org/W2743184632","https://openalex.org/W4241338655","https://openalex.org/W2039025105","https://openalex.org/W1842721500","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Determining":[0],"the":[1,30,43,48,73,87,90,99,110,118,123,145,185,189,227],"externally-induced":[2],"motion":[3,187],"of":[4,42,47,89,98,112,130,164,188,200],"a":[5,27,61,155],"soft":[6,64,74,119,148,190,239],"robot":[7,65,91,149,191],"in":[8,154,192,203,211,235],"minimally-invasive":[9],"procedures":[10],"is":[11,106,152],"highly":[12],"challenging":[13],"and":[14,19,79,95,133,170,205,225,232,237],"commonly":[15],"demands":[16],"specific":[17],"tools":[18],"dedicated":[20],"sensors.":[21],"Intrinsic":[22],"force":[23,58,126,138],"sensing":[24,59,139,231],"paired":[25],"with":[26,127,161,197],"model":[28],"describing":[29],"robot's":[31,75,120],"compliance":[32],"offers":[33],"an":[34,113,128,162,198],"alternative":[35],"pathway":[36],"which":[37,157],"relies":[38],"heavily":[39],"on":[40,117,144],"knowledge":[41],"characteristic":[44],"mechanical":[45,77],"behaviour":[46,78],"investigated":[49],"system.":[50],"In":[51],"this":[52],"work,":[53],"we":[54],"apply":[55],"quasi-static":[56],"intrinsic":[57],"to":[60,86,108,140,183,194],"miniature,":[62],"parallel":[63,147],"designed":[66],"for":[67,82,167,173,220,229],"endoluminal":[68,236],"ear":[69],"interventions.":[70],"We":[71,102],"characterize":[72],"nonlinear":[76],"devise":[80],"methods":[81],"inferring":[83],"forces":[84,142,169,179,196],"applied":[85,124],"actuators":[88],"from":[92,135],"fluid":[93],"pressure":[94],"volume":[96],"information":[97],"working":[100],"fluid.":[101],"demonstrate":[103],"that":[104],"it":[105,151],"possible":[107],"detect":[109],"presence":[111],"external":[114,168,174,178],"contact":[115],"acting":[116,143],"actuators,":[121],"infer":[122],"reaction":[125],"accuracy":[129,163,199],"28.1":[131],"mN":[132,166],"extrapolate":[134],"individual":[136],"actuator":[137],"determining":[141],"combined":[146],"when":[150],"deployed":[153],"lumen,":[156],"can":[158,180],"be":[159,181],"achieved":[160],"75.45":[165],"0.47":[171],"Nmm":[172],"torques.":[175],"The":[176,214],"intrinsically-sensed":[177],"employed":[182],"estimate":[184],"induced":[186],"response":[193],"these":[195],"0.11":[201],"mm":[202],"translation":[204],"2.47":[206],"<inline-formula":[207],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[208],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[209],"notation=\"LaTeX\">$^\\circ$</tex-math></inline-formula>":[210],"rotational":[212],"deflection.":[213],"derived":[215],"methodologies":[216],"could":[217],"enable":[218],"designs":[219],"more":[221],"perceptive":[222],"endoscopic":[223],"systems":[224],"pave":[226],"way":[228],"developing":[230],"control":[233],"strategies":[234],"transluminal":[238],"robots.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}