{"id":"https://openalex.org/W2113577117","doi":"https://doi.org/10.1109/robio.2009.5420534","title":"Kinematics analysis for a hybrid robot in minimally invasive surgery","display_name":"Kinematics analysis for a hybrid robot in minimally invasive surgery","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2113577117","doi":"https://doi.org/10.1109/robio.2009.5420534","mag":"2113577117"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101867085","display_name":"Can Tang","orcid":"https://orcid.org/0000-0002-9310-9405"},"institutions":[{"id":"https://openalex.org/I142066694","display_name":"ITRI International","ror":"https://ror.org/04wwsbd59","country_code":"US","type":"facility","lineage":["https://openalex.org/I142066694"]},{"id":"https://openalex.org/I4210161830","display_name":"Kunshan Industrial Technology Research Institute","ror":"https://ror.org/05sshc517","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210161830"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Can Tang","raw_affiliation_strings":["Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, China","Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, China","institution_ids":["https://openalex.org/I4210161830"]},{"raw_affiliation_string":"Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, PRC","institution_ids":["https://openalex.org/I142066694"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["TAMS, University of Hamburg, Germany","TAMS, University of Hamburg Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TAMS, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"TAMS, University of Hamburg Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079627021","display_name":"Sheng Cheng","orcid":"https://orcid.org/0000-0003-1987-1466"},"institutions":[{"id":"https://openalex.org/I142066694","display_name":"ITRI International","ror":"https://ror.org/04wwsbd59","country_code":"US","type":"facility","lineage":["https://openalex.org/I142066694"]},{"id":"https://openalex.org/I4210161830","display_name":"Kunshan Industrial Technology Research Institute","ror":"https://ror.org/05sshc517","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210161830"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Sheng Cheng","raw_affiliation_strings":["Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, China","Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, China","institution_ids":["https://openalex.org/I4210161830"]},{"raw_affiliation_string":"Laboratory of Intelligent Robot Engineering, Kunshan Industrial Technology Research Institute, Kunshan, PRC","institution_ids":["https://openalex.org/I142066694"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.22191011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1941","last_page":"1946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.994700014591217,"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":0.994700014591217,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9509000182151794,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8936563730239868},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7717289328575134},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6751551628112793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.666217565536499},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.581182599067688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5506219863891602},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5036205649375916},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3719846308231354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3530861437320709},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20212477445602417},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12159731984138489}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8936563730239868},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7717289328575134},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6751551628112793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.666217565536499},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.581182599067688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5506219863891602},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5036205649375916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3719846308231354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3530861437320709},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20212477445602417},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12159731984138489},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320317365","display_name":"Peking University First Hospital","ror":"https://ror.org/02z1vqm45"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W580069891","https://openalex.org/W2037988980","https://openalex.org/W2040870394","https://openalex.org/W2049519544","https://openalex.org/W2064457183","https://openalex.org/W2075646285","https://openalex.org/W2087318557","https://openalex.org/W2119722221","https://openalex.org/W2121847157","https://openalex.org/W2130113954","https://openalex.org/W2137043768","https://openalex.org/W4244696924","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2119963650","https://openalex.org/W3134555460","https://openalex.org/W2970937359","https://openalex.org/W3129004068","https://openalex.org/W2154286641","https://openalex.org/W339676884","https://openalex.org/W2744818472","https://openalex.org/W2304947037","https://openalex.org/W3212355362","https://openalex.org/W4226198400"],"abstract_inverted_index":{"This":[0,71],"paper":[1],"focuses":[2],"on":[3,64],"kinematics":[4,51,60,112],"analysis":[5],"for":[6,87,110,118],"the":[7,22,28,32,39,50,65,84,95,111],"7-DOF":[8,99],"(degree":[9],"of":[10,21,31,52,82,98,113],"freedom)":[11],"hybrid":[12,23,33,53,100,115],"robot":[13,24,34,101],"in":[14],"minimally":[15],"invasive":[16],"surgery.":[17],"The":[18,80,104],"serial":[19],"structure":[20,30],"has":[25,35],"three":[26],"DOF;":[27],"parallel":[29],"four":[36],"DOF.":[37,125],"First,":[38],"traditional":[40],"method":[41,62,72,106],"`D-H":[42],"method'":[43],"is":[44,69,73,90],"used":[45],"to":[46,48],"try":[47],"solve":[49],"robot,":[54],"but":[55],"without":[56],"success.":[57],"Then":[58],"a":[59],"modeling":[61],"based":[63],"ST":[66],"(spinor":[67],"theory)":[68],"presented.":[70],"named":[74],"METM":[75,105],"(multi-layer":[76],"exponential":[77],"transformation":[78],"method).":[79],"process":[81],"solving":[83],"inverse":[85],"displacements":[86,97],"all":[88],"joints":[89],"analyzed.":[91],"With":[92],"this":[93],"method,":[94],"joint":[96],"are":[102],"calculated.":[103],"can":[107],"be":[108],"applicable":[109],"many":[114],"robots,":[116],"especially":[117],"redundant":[119],"robots":[120],"with":[121],"more":[122],"than":[123],"six":[124]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
