{"id":"https://openalex.org/W4390204160","doi":"https://doi.org/10.1109/lra.2023.3346756","title":"Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments","display_name":"Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments","publication_year":2023,"publication_date":"2023-12-25","ids":{"openalex":"https://openalex.org/W4390204160","doi":"https://doi.org/10.1109/lra.2023.3346756"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3346756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3346756","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/A5008282238","display_name":"Yue Li","orcid":"https://orcid.org/0000-0001-8814-4081"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yue Li","raw_affiliation_strings":["School of Biomedical Engineering &amp; Imaging Sciences, King&#x0027;s College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering &amp; Imaging Sciences, King&#x0027;s College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073356798","display_name":"Wenlong Gaozhang","orcid":"https://orcid.org/0000-0002-0600-6433"},"institutions":[{"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":"Wenlong Gaozhang","raw_affiliation_strings":["School of Mechanical Engineering, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101647714","display_name":"Jian Hu","orcid":"https://orcid.org/0000-0002-3068-6854"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Hu","raw_affiliation_strings":["Institute of Automation (CASIA), Chinese Academy of Sciences, Beijing, China","Centre of AI and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation (CASIA), Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre of AI and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003125717","display_name":"Danqian Cao","orcid":"https://orcid.org/0000-0001-9276-5526"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danqian Cao","raw_affiliation_strings":["School of Biomedical Engineering &amp; Imaging Sciences, King&#x0027;s College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering &amp; Imaging Sciences, King&#x0027;s College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006241226","display_name":"Prokar Dasgupta","orcid":"https://orcid.org/0000-0001-8690-0445"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I200166805","display_name":"Guy's and St Thomas' NHS Foundation Trust","ror":"https://ror.org/00j161312","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I200166805"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Prokar Dasgupta","raw_affiliation_strings":["MRC Centre for Transplantation, NIHR Biomedical Research Centre, King&#x0027;s College London, London, U.K","Guy's and St. Thomas' NHS Foundation Trust, Urology, London, U.K"],"affiliations":[{"raw_affiliation_string":"MRC Centre for Transplantation, NIHR Biomedical Research Centre, King&#x0027;s College London, London, U.K","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Guy's and St. Thomas' NHS Foundation Trust, Urology, London, U.K","institution_ids":["https://openalex.org/I200166805"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["School of Biomedical Engineering &amp; Imaging Sciences, King&#x0027;s College London, London, U.K","Institute of Automation (CASIA), Chinese Academy of Sciences, Beijing, China","Centre of AI and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering &amp; Imaging Sciences, King&#x0027;s College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]},{"raw_affiliation_string":"Institute of Automation (CASIA), Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre of AI and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5008282238"],"corresponding_institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210119896"],"apc_list":null,"apc_paid":null,"fwci":0.8746,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71051002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"9","issue":"2","first_page":"1604","last_page":"1611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9986000061035156,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9986000061035156,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9822999835014343,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/waveguide","display_name":"Waveguide","score":0.5590723752975464},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4648069143295288},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.45450761914253235},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4418077766895294},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.35145628452301025},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3381941020488739},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.327404260635376},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.3267340660095215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.313424289226532},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.2879486680030823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22898167371749878},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17376074194908142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08414110541343689}],"concepts":[{"id":"https://openalex.org/C200687136","wikidata":"https://www.wikidata.org/wiki/Q11233438","display_name":"Waveguide","level":2,"score":0.5590723752975464},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4648069143295288},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.45450761914253235},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4418077766895294},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.35145628452301025},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3381941020488739},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.327404260635376},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.3267340660095215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.313424289226532},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.2879486680030823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22898167371749878},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17376074194908142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08414110541343689}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3346756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3346756","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.OAI2:10187742","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10187742/","pdf_url":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   IEEE Robotics and Automation Letters , 9  (2)   pp. 1604-1611.   (2024)      ","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1038443431","display_name":null,"funder_award_id":"CSC 202006280025","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W76008554","https://openalex.org/W1610082327","https://openalex.org/W1964461287","https://openalex.org/W1989694608","https://openalex.org/W2009180946","https://openalex.org/W2075635750","https://openalex.org/W2101273559","https://openalex.org/W2106603984","https://openalex.org/W2108866363","https://openalex.org/W2111950928","https://openalex.org/W2133066598","https://openalex.org/W2156214810","https://openalex.org/W2201264937","https://openalex.org/W2319351631","https://openalex.org/W2332871321","https://openalex.org/W2338894781","https://openalex.org/W2495809662","https://openalex.org/W2746515375","https://openalex.org/W2884823105","https://openalex.org/W2909070199","https://openalex.org/W2942424410","https://openalex.org/W2955507461","https://openalex.org/W2998475224","https://openalex.org/W3000152817","https://openalex.org/W3101262183","https://openalex.org/W3118802336","https://openalex.org/W3175533008","https://openalex.org/W4200416453","https://openalex.org/W4205782703","https://openalex.org/W4206700596","https://openalex.org/W4206941544","https://openalex.org/W4210516985","https://openalex.org/W4287731736","https://openalex.org/W4324116574"],"related_works":["https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W1489808091","https://openalex.org/W1895481218","https://openalex.org/W3163518500","https://openalex.org/W2025677844","https://openalex.org/W2150609833","https://openalex.org/W2354786567","https://openalex.org/W2529143673","https://openalex.org/W2318019508"],"abstract_inverted_index":{"Force":[0],"feedback":[1,182],"is":[2,57],"of":[3,26,63,76,98,109,119,165,172],"importance":[4],"in":[5,183],"Minimally":[6],"Invasive":[7],"Surgery":[8],"(MIS)":[9],"as":[10,158],"it":[11,176],"reduces":[12],"surgical":[13,17,27,55,133,155],"risks":[14],"and":[15,36,46,73,135,161,170],"enhances":[16],"safety.":[18],"However,":[19],"equipping":[20],"force":[21,50,78,151,181],"sensing":[22,152],"to":[23,32,65,102,111],"the":[24,54,61,66,71,74,77,84,96,99,107,122,126,144,154,173],"tip":[25],"instruments":[28],"presents":[29],"challenges":[30],"due":[31],"their":[33],"diminutive":[34],"dimensions":[35],"often":[37],"curved":[38],"shapes.":[39],"To":[40],"address":[41],"this":[42],"issue,":[43],"a":[44,132],"novel":[45],"compact":[47,166],"optical-based":[48],"3-Axial":[49,150],"sensor":[51,101,146,174],"used":[52],"for":[53,179],"forceps":[56],"proposed.":[58],"Based":[59],"on":[60],"extent":[62],"disruption":[64],"total":[67],"internal":[68],"reflection":[69],"(TIR),":[70],"magnitude":[72],"direction":[75],"can":[79,147],"be":[80],"detected":[81],"by":[82],"measuring":[83],"light":[85],"intensity":[86],"patterns":[87],"from":[88],"three":[89],"intersecting":[90],"channels.":[91],"The":[92,140,163],"calibration":[93],"experiments":[94,137],"validate":[95],"capability":[97],"proposed":[100,145],"accurately":[103],"measure":[104],"forces":[105],"within":[106],"range":[108],"0":[110],"3":[112],"N,":[113],"achieving":[114],"an":[115],"average":[116],"measurement":[117],"error":[118],"0.089N.":[120],"Subsequently,":[121],"sensor,":[123],"along":[124],"with":[125],"detection":[127],"circuit,":[128],"are":[129,138],"integrated":[130],"onto":[131],"forcep,":[134],"verification":[136],"conducted.":[139],"results":[141],"indicate":[142],"that":[143],"provide":[148],"effective":[149],"during":[153],"process":[156],"such":[157],"grasping,":[159],"manipulation,":[160],"pulling.":[162],"characteristics":[164],"size,":[167],"high":[168],"precision,":[169],"integrability":[171],"make":[175],"highly":[177],"promising":[178],"providing":[180],"MIS.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
