{"id":"https://openalex.org/W4394586189","doi":"https://doi.org/10.1109/lra.2024.3386022","title":"A Soft Inflatable Robot Driven by Hydraulic Folded Pouch Actuators for Minimally Invasive Surgery","display_name":"A Soft Inflatable Robot Driven by Hydraulic Folded Pouch Actuators for Minimally Invasive Surgery","publication_year":2024,"publication_date":"2024-04-08","ids":{"openalex":"https://openalex.org/W4394586189","doi":"https://doi.org/10.1109/lra.2024.3386022"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3386022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3386022","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10494390.pdf","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":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10494390.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057115252","display_name":"Jianlin Yang","orcid":"https://orcid.org/0009-0009-1276-4968"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianlin Yang","raw_affiliation_strings":["State Key Laboratory of Mechanics and Control for Aerospace Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0009-1276-4968","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanics and Control for Aerospace Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003111191","display_name":"Mark Runciman","orcid":"https://orcid.org/0000-0003-0782-5729"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mark Runciman","raw_affiliation_strings":["Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0782-5729","affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040245526","display_name":"James Avery","orcid":"https://orcid.org/0000-0002-4015-1802"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James Avery","raw_affiliation_strings":["Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4015-1802","affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088553544","display_name":"Zhijun Sun","orcid":"https://orcid.org/0000-0001-9730-1974"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Sun","raw_affiliation_strings":["State Key Laboratory of Mechanics and Control for Aerospace Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9730-1974","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanics and Control for Aerospace Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032805520","display_name":"George Mylonas","orcid":"https://orcid.org/0000-0003-3725-5843"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"George Mylonas","raw_affiliation_strings":["Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3725-5843","affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0508,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.8512881,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"5","first_page":"4870","last_page":"4877"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9977999925613403,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9977999925613403,"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":0.9922000169754028,"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":0.9814000129699707,"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/inflatable","display_name":"Inflatable","score":0.9690932035446167},{"id":"https://openalex.org/keywords/pouch","display_name":"Pouch","score":0.7356579303741455},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6372184157371521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5637900829315186},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4460596740245819},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3934746980667114},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3840579092502594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3628087043762207},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.321353942155838},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3038756251335144},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2695901393890381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1624981164932251}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.9690932035446167},{"id":"https://openalex.org/C2780101441","wikidata":"https://www.wikidata.org/wiki/Q949930","display_name":"Pouch","level":2,"score":0.7356579303741455},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6372184157371521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5637900829315186},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4460596740245819},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3934746980667114},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3840579092502594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3628087043762207},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.321353942155838},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3038756251335144},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2695901393890381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1624981164932251}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3386022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3386022","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10494390.pdf","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.whiterose.ac.uk:211976","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.whiterose.ac.uk/211976/1/A_Soft_Inflatable_Robot_Driven_by_Hydraulic_Folded_Pouch_Actuators_for_Minimally_Invasive_Surgery%20%281%29.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"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":{"id":"doi:10.1109/lra.2024.3386022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3386022","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10494390.pdf","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"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7188224825","display_name":null,"funder_award_id":"52275058","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7835495738","display_name":null,"funder_award_id":"NJ2022007","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394586189.pdf","grobid_xml":"https://content.openalex.org/works/W4394586189.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1995797200","https://openalex.org/W1998911403","https://openalex.org/W2015106839","https://openalex.org/W2032062395","https://openalex.org/W2063500082","https://openalex.org/W2156378823","https://openalex.org/W2222811342","https://openalex.org/W2300420741","https://openalex.org/W2416774217","https://openalex.org/W2896907179","https://openalex.org/W2897523276","https://openalex.org/W2914578700","https://openalex.org/W2926374707","https://openalex.org/W2928903784","https://openalex.org/W2963498702","https://openalex.org/W2965005738","https://openalex.org/W2999732760","https://openalex.org/W2999962302","https://openalex.org/W3004255701","https://openalex.org/W3094351045","https://openalex.org/W3105544272","https://openalex.org/W3124720820","https://openalex.org/W3157145339","https://openalex.org/W3196048927","https://openalex.org/W3199412661","https://openalex.org/W4283331827"],"related_works":["https://openalex.org/W2136901311","https://openalex.org/W4317435135","https://openalex.org/W2788946470","https://openalex.org/W1554139824","https://openalex.org/W2753822333","https://openalex.org/W3112576735","https://openalex.org/W181922973","https://openalex.org/W2770445003","https://openalex.org/W2355735708","https://openalex.org/W2122254900"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,35,40,45,51,99,181],"soft,":[4],"inflatable,":[5],"cable-driven":[6],"parallel":[7],"robot":[8,43,62,137,194],"(CDPR)":[9],"for":[10],"Minimally":[11],"Invasive":[12],"Surgery.":[13],"The":[14,32,42,65,85,102,136],"CDPR":[15],"has":[16],"5":[17],"degrees":[18],"of":[19,60,81,105,144],"freedom":[20],"and":[21,27,91,128,148,156,174,186],"is":[22,68,75,113,138,184,189],"driven":[23],"by":[24,98],"6":[25,28],"cables":[26],"hydraulic":[29],"folded":[30,36,121],"actuators.":[31],"actuator":[33,92,107],"utilizes":[34],"chamber":[37],"to":[38,77,191],"pull":[39],"cable.":[41],"comprises":[44],"soft":[46],"hexagonal":[47,167],"variable-stiffness":[48],"scaffold":[49],"with":[50,169],"welded":[52],"internal":[53],"triangular":[54],"support,":[55],"which":[56,112],"increases":[57],"the":[58,61,79,82,106,193],"stiffness":[59],"when":[63,161],"pressurized.":[64],"fabrication":[66],"methodology":[67],"demonstrated":[69,185],"in":[70,118,154,159,180],"detail.":[71],"A":[72],"test":[73],"platform":[74],"designed":[76],"obtain":[78],"characteristics":[80],"folding":[83],"actuator.":[84],"relationship":[86],"between":[87],"input":[88],"liquid":[89],"volume":[90],"displacement":[93,103],"can":[94,108,149],"be":[95],"predicted":[96],"well":[97],"geometry-based":[100],"method.":[101],"output":[104],"reach":[109],"22":[110],"mm,":[111],"nearly":[114],"twice":[115],"its":[116,119],"length":[117,155,173],"zero-volume":[120],"state.":[122],"Robot":[123],"repeatability":[124],"tests":[125],"show":[126],"mean":[127,130],"root":[129],"square":[131],"errors":[132],"below":[133],"0.3":[134],"mm.":[135],"made":[139],"from":[140,151],"plastic":[141],"laminate":[142],"sheets":[143],"thickness":[145],"120":[146],"\u03bcm":[147],"deploy":[150],"100":[152],"mm":[153,158,171,176],"14":[157],"diameter":[160],"folded,":[162],"into":[163],"an":[164],"inflatable":[165],"hollow":[166],"prism":[168],"29":[170],"side":[172],"78":[175],"edge":[177],"length.":[178],"Deployment":[179],"colon":[182],"phantom":[183],"simulated":[187],"surgery":[188],"conducted":[190],"validate":[192],"performance.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}