{"id":"https://openalex.org/W2086543849","doi":"https://doi.org/10.1109/robio.2013.6739556","title":"Design and optimization of remote center motion mechanism of Minimally Invasive Surgical robotics","display_name":"Design and optimization of remote center motion mechanism of Minimally Invasive Surgical robotics","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2086543849","doi":"https://doi.org/10.1109/robio.2013.6739556","mag":"2086543849"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5008597054","display_name":"Yili Fu","orcid":"https://orcid.org/0000-0003-2075-2384"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yili Fu","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102805286","display_name":"Guojun Niu","orcid":"https://orcid.org/0000-0002-1614-1356"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guojun Niu","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101778538","display_name":"Bo Pan","orcid":"https://orcid.org/0000-0001-8954-399X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Pan","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100377531","display_name":"Kun Li","orcid":"https://orcid.org/0000-0002-1099-7137"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Li","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102733721","display_name":"Shuguo Wang","orcid":"https://orcid.org/0009-0005-1772-3701"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuguo Wang","raw_affiliation_strings":["The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.2573,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.7955406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"774","last_page":"779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10888","display_name":"Augmented Reality Applications","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7112881541252136},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.639789879322052},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5694448947906494},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.5229216814041138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48644161224365234},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4808436334133148},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4775467813014984},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4616042971611023},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3638843894004822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35011711716651917},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3447710871696472},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3441612124443054},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.29927194118499756}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7112881541252136},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.639789879322052},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5694448947906494},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.5229216814041138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48644161224365234},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4808436334133148},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4775467813014984},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4616042971611023},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3638843894004822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35011711716651917},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3447710871696472},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3441612124443054},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.29927194118499756},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W19876508","https://openalex.org/W1628071853","https://openalex.org/W1988110302","https://openalex.org/W2008817337","https://openalex.org/W2042849704","https://openalex.org/W2051317696","https://openalex.org/W2075646285","https://openalex.org/W2114428836","https://openalex.org/W2130666261","https://openalex.org/W2153923500","https://openalex.org/W2171957538","https://openalex.org/W2182662302","https://openalex.org/W2335549669"],"related_works":["https://openalex.org/W2005706483","https://openalex.org/W2648339586","https://openalex.org/W2546203678","https://openalex.org/W2333393898","https://openalex.org/W2362142832","https://openalex.org/W2567044315","https://openalex.org/W2111551460","https://openalex.org/W2980511062","https://openalex.org/W1560856716","https://openalex.org/W2556091383"],"abstract_inverted_index":{"Minimally":[0],"Invasive":[1],"Surgery":[2],"(MIS)":[3],"is":[4,33,41,54,72,82,84,88,139,151,156,163],"less":[5],"invasive":[6],"and":[7,53,90,97,165],"creating":[8],"fewer":[9],"post-operative":[10],"complications":[11],"compared":[12],"with":[13,44],"conventional":[14,168],"surgery.":[15,38],"This":[16],"results":[17,116],"in":[18,37,62],"shorter":[19],"recover":[20],"times":[21],"and,":[22],"sometimes,":[23],"outpatient":[24],"treatment":[25],"replaces":[26],"for":[27,102,119],"previously":[28],"lengthier":[29],"procedures.":[30],"So":[31],"MIS":[32,40,103],"the":[34,49,59,100,108,113,120,127,130,161],"latest":[35],"trend":[36],"However,":[39,144],"usually":[42],"associated":[43],"a":[45,77],"limited":[46],"view":[47,51],"of":[48,58,112],"surgical":[50,60,128],"area":[52],"difficult":[55],"to":[56,64,106,125],"handle":[57],"tools,":[61],"order":[63],"overcome":[65],"these":[66],"difficulties":[67],"Remote":[68],"Center":[69],"Motion":[70],"(RCM)":[71],"proposed.":[73],"In":[74],"this":[75,86],"paper,":[76],"new":[78,146],"RCM":[79],"mechanism":[80,87],"which":[81,150],"triangle":[83],"proposed,":[85],"simple":[89],"high":[91],"stiffness.":[92],"A":[93,145],"complete":[94],"kinematic":[95],"analysis":[96],"optimization":[98,131],"incorporating":[99],"requirements":[101],"are":[104,134],"performed":[105],"find":[107],"optimal":[109],"link":[110,132],"lengths":[111],"manipulator.":[114],"The":[115],"show":[117],"that":[118],"serial":[121],"triangle2-link":[122],"manipulator":[123],"used":[124],"guide":[126],"tool,":[129],"angles":[133],"(74\u00b0,51\u00b0).":[135],"Prior":[136],"preoperative":[137,147],"adjustment":[138,148],"realized":[140,152],"by":[141,153],"electromagnetic":[142,159],"clutch,":[143,160],"method":[149],"gravity":[154],"compensation":[155],"proposed":[157],"without":[158],"joint":[162],"simpler":[164],"lighter":[166],"than":[167],"joint.":[169]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}