{"id":"https://openalex.org/W3198637831","doi":"https://doi.org/10.1109/rcar52367.2021.9517626","title":"Inverse Kinematics Formulations of a Continuum Endoscope for a View Adjustment Similar to the da Vinci Endoscope","display_name":"Inverse Kinematics Formulations of a Continuum Endoscope for a View Adjustment Similar to the da Vinci Endoscope","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3198637831","doi":"https://doi.org/10.1109/rcar52367.2021.9517626","mag":"3198637831"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5008390825","display_name":"Lifei Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifei Deng","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031159080","display_name":"Zhonghao Wu","orcid":"https://orcid.org/0000-0001-8918-1976"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonghao Wu","raw_affiliation_strings":["RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398597","display_name":"Yifan Wang","orcid":"https://orcid.org/0000-0003-3295-4506"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082915016","display_name":"Linhui Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I177933477","display_name":"Second Military Medical University","ror":"https://ror.org/04tavpn47","country_code":"CN","type":"education","lineage":["https://openalex.org/I177933477"]},{"id":"https://openalex.org/I4210115928","display_name":"Changhai Hospital","ror":"https://ror.org/02bjs0p66","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210115928"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linhui Wang","raw_affiliation_strings":["Shanghai Changhai Hospital, Naval Medical University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Changhai Hospital, Naval Medical University, Shanghai, China","institution_ids":["https://openalex.org/I4210115928","https://openalex.org/I177933477"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10035092,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"57","last_page":"62"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9937999844551086,"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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.8776893019676208},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6762188673019409},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6605676412582397},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5801764130592346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5175322890281677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49225297570228577},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.4610182046890259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3419806957244873},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32113704085350037},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2605270743370056},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2498706579208374},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10417449474334717},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0791425108909607}],"concepts":[{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.8776893019676208},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6762188673019409},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6605676412582397},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5801764130592346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5175322890281677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49225297570228577},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.4610182046890259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3419806957244873},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32113704085350037},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2605270743370056},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2498706579208374},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10417449474334717},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0791425108909607}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G6716219785","display_name":null,"funder_award_id":"51722507","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1964649988","https://openalex.org/W1976270646","https://openalex.org/W2010589019","https://openalex.org/W2081470107","https://openalex.org/W2090162264","https://openalex.org/W2100790457","https://openalex.org/W2101667962","https://openalex.org/W2121744551","https://openalex.org/W2131150943","https://openalex.org/W2207568557","https://openalex.org/W2913626197","https://openalex.org/W2962569326","https://openalex.org/W3001100672","https://openalex.org/W3001735078"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W15513421"],"abstract_inverted_index":{"Robot-assisted":[0],"MIS":[1],"(Minimally":[2],"Invasive":[3],"Surgery)":[4],"attracts":[5],"significant":[6],"attention":[7],"due":[8,126],"to":[9,37,86,121,127],"its":[10],"intuitive":[11],"eye-hand":[12],"coordination,":[13],"enhanced":[14],"dexterity,":[15],"improved":[16],"precision,":[17],"etc.":[18,94],"Among":[19],"the":[20,25,62,70,110,122,128,136,150,155,194,206,216,221,226,235],"existing":[21],"multi-port":[22],"surgical":[23,83],"robots,":[24],"da":[26,48,123,161,200,222],"Vinci":[27,49,124,162,201,223],"system":[28],"is":[29,108,114,203],"considered":[30],"as":[31,167,169],"a":[32,116,144,160,199],"benchmark":[33],"and":[34,103,182,213],"enables":[35],"surgeons":[36],"perform":[38],"delicate":[39],"operations":[40],"via":[41],"several":[42],"small":[43],"incisions.":[44],"The":[45,171,187],"integrated":[46],"stick-like":[47],"endoscope":[50,97,125,163,202,224],"possesses":[51],"4":[52],"DoFs":[53,60],"(Degrees":[54],"of":[55,66,112,157,159,196,198],"Freedom),":[56],"including":[57],"two":[58,100,139,172],"pivoting":[59],"around":[61,205],"RCM":[63],"(Remote":[64],"Center":[65],"Motion)":[67],"point.":[68],"On":[69],"other":[71],"hand,":[72],"continuum":[73,96,147],"manipulators,":[74],"often":[75],"with":[76,92,220,234],"multiple":[77],"segments,":[78,102],"have":[79],"been":[80],"applied":[81],"in":[82,115],"applications":[84],"owing":[85],"their":[87],"design":[88],"compactness,":[89],"safe":[90],"interaction":[91],"anatomy,":[93],"A":[95],"usually":[98],"has":[99,229],"bending":[101],"if":[104,119],"only":[105],"one":[106],"segment":[107],"controlled,":[109],"change":[111],"view":[113,151,158,197],"different":[117],"way":[118],"compared":[120,233],"dissimilar":[129],"motion":[130,179,237],"characteristics.":[131],"This":[132],"paper":[133],"hence":[134],"investigates":[135],"comparison":[137],"between":[138],"inverse":[140,185],"kinematics":[141],"formulations":[142,173],"on":[143,176],"proposed":[145],"two-segment":[146],"endoscope,":[148],"regarding":[149],"adjustment":[152],"such":[153],"that":[154,192],"field":[156,195,219],"can":[164],"be":[165],"covered":[166],"much":[168],"possible.":[170],"are":[174],"based":[175],"i)":[177],"resolved":[178,236],"rate":[180,238],"control,":[181],"ii)":[183],"dimension-reduced":[184,227],"kinematics.":[186],"numerical":[188],"experimental":[189],"results":[190],"show":[191],"when":[193],"pivoted":[204],"skin":[207],"incision":[208],"within":[209],"predefined":[210],"\u00b160\u00b0":[211],"yaw":[212],"pitch":[214],"ranges,":[215],"overlapped":[217],"visual":[218],"using":[225],"formulation":[228],"an":[230],"84.11%":[231],"improvement":[232],"control.":[239]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}