{"id":"https://openalex.org/W4399526664","doi":"https://doi.org/10.1109/lra.2024.3412637","title":"Vine Robots With Magnetic Skin for Surgical Navigations","display_name":"Vine Robots With Magnetic Skin for Surgical Navigations","publication_year":2024,"publication_date":"2024-06-11","ids":{"openalex":"https://openalex.org/W4399526664","doi":"https://doi.org/10.1109/lra.2024.3412637"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3412637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3412637","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/A5005141883","display_name":"Joshua Davy","orcid":"https://orcid.org/0000-0001-9483-111X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Joshua Davy","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099087733","display_name":"Nikita J. Greenidge","orcid":"https://orcid.org/0000-0003-0413-5503"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nikita J. Greenidge","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997407","display_name":"Sukjun Kim","orcid":"https://orcid.org/0000-0001-7154-8872"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sukjun Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036432095","display_name":"Luke J. Tinsley","orcid":"https://orcid.org/0000-0002-0854-8674"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luke J. Tinsley","raw_affiliation_strings":["Future Manufacturing Processes Research Group, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Future Manufacturing Processes Research Group, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053415083","display_name":"Peter Lloyd","orcid":"https://orcid.org/0000-0002-4927-071X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter Lloyd","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018926020","display_name":"James H. Chandler","orcid":"https://orcid.org/0000-0001-9232-4966"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James H. Chandler","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102074802","display_name":"Russell A. Harris","orcid":"https://orcid.org/0000-0002-3425-7969"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Russell A. Harris","raw_affiliation_strings":["Future Manufacturing Processes Research Group, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"Future Manufacturing Processes Research Group, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064903569","display_name":"Tania K. Morimoto","orcid":"https://orcid.org/0000-0001-5319-8995"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tania K. Morimoto","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing (IRASS), School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5005141883"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":5.556,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.96775778,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"8","first_page":"6888","last_page":"6895"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.845300018787384,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.845300018787384,"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"}},{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.7851999998092651,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.7735000252723694,"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/vine","display_name":"Vine","score":0.7902481555938721},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.6669721007347107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5449468493461609},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4139111042022705},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.39466384053230286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35297679901123047},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.24866139888763428},{"id":"https://openalex.org/keywords/botany","display_name":"Botany","score":0.1755596101284027}],"concepts":[{"id":"https://openalex.org/C2781214258","wikidata":"https://www.wikidata.org/wiki/Q917284","display_name":"Vine","level":2,"score":0.7902481555938721},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.6669721007347107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5449468493461609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4139111042022705},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.39466384053230286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35297679901123047},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.24866139888763428},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.1755596101284027}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3412637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3412637","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.whiterose.ac.uk:218326","is_oa":false,"landing_page_url":null,"pdf_url":null,"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6926747892","display_name":null,"funder_award_id":"EP/V047914/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2005502113","https://openalex.org/W2055573331","https://openalex.org/W2737491236","https://openalex.org/W2791532891","https://openalex.org/W2896056663","https://openalex.org/W3037121200","https://openalex.org/W3090142497","https://openalex.org/W3090235105","https://openalex.org/W3105818082","https://openalex.org/W3140000252","https://openalex.org/W3150728867","https://openalex.org/W3169610371","https://openalex.org/W3177745642","https://openalex.org/W3183244442","https://openalex.org/W3207860212","https://openalex.org/W4210818687","https://openalex.org/W4311881513","https://openalex.org/W4313009910","https://openalex.org/W4376605737","https://openalex.org/W4385306835","https://openalex.org/W4389610106"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W3031052312","https://openalex.org/W4389568370","https://openalex.org/W3032375762","https://openalex.org/W1995515455","https://openalex.org/W2080531066","https://openalex.org/W3108674512","https://openalex.org/W1506200166","https://openalex.org/W4393037435","https://openalex.org/W1979551339"],"abstract_inverted_index":{"Drawing":[0],"inspiration":[1],"from":[2,146],"natural":[3],"growth":[4,34],"and":[5,78,89,170,189],"movement":[6],"strategies,":[7],"vine":[8,55,87,138],"robots":[9,44,88,165],"possess":[10],"exceptional":[11],"passive":[12],"shape-forming":[13],"abilities,":[14],"enabling":[15],"them":[16],"to":[17,31,103,118,166],"deform":[18],"around":[19,172],"obstacles.":[20],"However,":[21],"an":[22,123],"intrinsic":[23],"lack":[24],"of":[25,42,48,74,85,96,110,114,140,163,184,203],"active":[26,50],"steering":[27,100],"limits":[28],"their":[29,33],"capacity":[30],"control":[32,183],"trajectory.":[35],"This":[36,58],"letter":[37],"considers":[38],"the":[39,46,54,72,83,94,104,111,115,161,181,186,190,200],"external":[40,75],"manipulation":[41],"such":[43],"through":[45],"utilization":[47],"magnetically":[49],"materials":[51],"embedded":[52,155],"within":[53,206],"robot's":[56],"skin.":[57],"results":[59],"in":[60,143,175],"a":[61,130,137,147,152,176,207],"completely":[62],"flexible,":[63],"steerable,":[64],"growing":[65,191],"structure":[66],"that":[67,127],"can":[68],"be":[69,119],"actuated":[70],"via":[71,180],"application":[73],"magnetic":[76,99,157,187],"fields":[77],"field":[79,188],"gradients.":[80],"We":[81,121,134,159],"explore":[82],"principles":[84],"magnetically-guided":[86],"provide":[90],"empirical":[91],"evidence":[92],"highlighting":[93],"efficacy":[95],"our":[97,164,196],"proposed":[98],"methodology.":[101],"Due":[102],"inverted":[105],"internal":[106],"structure,":[107],"careful":[108],"design":[109],"magnetization":[112,125],"direction":[113],"robot":[116,139,197],"has":[117],"considered.":[120],"propose":[122],"orthogonal":[124],"strategy":[126],"successfully":[128],"preserves":[129],"net":[131],"positive":[132],"magnetization.":[133],"focus":[135],"on":[136],"8":[141],"mm":[142],"diameter,":[144],"constructed":[145],"polyethylene":[148],"substrate":[149],"coated":[150],"with":[151,156],"silicone":[153],"layer":[154],"micro-particles.":[158],"demonstrate":[160,195],"ability":[162],"navigate":[167],"complex":[168],"environments":[169],"steer":[171],"large":[173],"obstacles":[174],"shear":[177],"free":[178],"manner":[179],"simultaneous":[182],"both":[185],"pressure.":[192],"Finally,":[193],"we":[194],"by":[198],"performing":[199],"selective":[201],"navigation":[202],"multiple":[204],"bifurcations":[205],"bronchial":[208],"tree":[209],"phantom.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":12}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}