{"id":"https://openalex.org/W1973374240","doi":"https://doi.org/10.1109/robio.2013.6739674","title":"Development of endoscopic device to veer out a latex tube with jamming by granular materials","display_name":"Development of endoscopic device to veer out a latex tube with jamming by granular materials","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1973374240","doi":"https://doi.org/10.1109/robio.2013.6739674","mag":"1973374240"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739674","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":"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/A5005527255","display_name":"Takaichi Yanagida","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takaichi Yanagida","raw_affiliation_strings":["Faculty of Science and Engineering, Chuo University, Bunkyo-ku, Tokyo, Japan","Dept. of Precision Mech., Chuo Univ., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Chuo University, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Dept. of Precision Mech., Chuo Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102961516","display_name":"Kazunori Adachi","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Adachi","raw_affiliation_strings":["Faculty of Science and Engineering, Chuo University, Bunkyo-ku, Tokyo, Japan","Dept. of Precision Mech., Chuo Univ., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Chuo University, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Dept. of Precision Mech., Chuo Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080890924","display_name":"Taro Nakamura","orcid":"https://orcid.org/0000-0003-2839-1288"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taro Nakamura","raw_affiliation_strings":["Faculty of Science and Engineering, Chuo University, Bunkyo-ku, Tokyo, Japan","Dept. of Precision Mech., Chuo Univ., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Chuo University, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Dept. of Precision Mech., Chuo Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005527255"],"corresponding_institution_ids":["https://openalex.org/I96679780"],"apc_list":null,"apc_paid":null,"fwci":0.4456,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.66566063,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1474","last_page":"1479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9905999898910522,"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"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9905999898910522,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.984000027179718,"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/T10858","display_name":"Clinical Nutrition and Gastroenterology","score":0.9225999712944031,"subfield":{"id":"https://openalex.org/subfields/2916","display_name":"Nutrition and Dietetics"},"field":{"id":"https://openalex.org/fields/29","display_name":"Nursing"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.8940302133560181},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.8212870955467224},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.6180431842803955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47639384865760803},{"id":"https://openalex.org/keywords/granular-material","display_name":"Granular material","score":0.4274221658706665},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.41275668144226074},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4003846049308777},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.30407822132110596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21440422534942627},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17067936062812805},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16520726680755615},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1510324478149414}],"concepts":[{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.8940302133560181},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8212870955467224},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.6180431842803955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47639384865760803},{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.4274221658706665},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.41275668144226074},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4003846049308777},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.30407822132110596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21440422534942627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17067936062812805},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16520726680755615},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1510324478149414},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739674","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":[{"id":"https://metadata.un.org/sdg/3","score":0.5099999904632568,"display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1811460226","https://openalex.org/W2001456027","https://openalex.org/W2007924815","https://openalex.org/W2026518732","https://openalex.org/W2028605375","https://openalex.org/W2034653670","https://openalex.org/W2054953631","https://openalex.org/W2072293370","https://openalex.org/W2096541901","https://openalex.org/W2098287856","https://openalex.org/W2102491248","https://openalex.org/W2104974994","https://openalex.org/W2105893395","https://openalex.org/W2106787323","https://openalex.org/W2138299709","https://openalex.org/W2138447034","https://openalex.org/W2146752178","https://openalex.org/W2174893130","https://openalex.org/W3141952980"],"related_works":["https://openalex.org/W2925090727","https://openalex.org/W3211638357","https://openalex.org/W2351909712","https://openalex.org/W2369735957","https://openalex.org/W4200319726","https://openalex.org/W2980372563","https://openalex.org/W2137055573","https://openalex.org/W4280634683","https://openalex.org/W2050641075","https://openalex.org/W4387445398"],"abstract_inverted_index":{"This":[0,109],"paper":[1],"describes":[2],"the":[3,45,48,68,114,124,139,142,153,163,182,185,191],"development":[4],"of":[5,47,123,141,162,173,184,193,196],"an":[6,76,87,95,174],"endoscopic":[7,96,147,197],"device":[8,97,110,150,198],"that":[9,98],"veers":[10,99],"out":[11,100,201],"a":[12,34,101,194,202,211,216],"latex":[13,102,203],"tube":[14,103,204],"with":[15,33,104,205],"jamming":[16,105,125,186,206],"by":[17,106,127,207],"granular":[18,107,128,209],"materials.":[19,108],"Colorectal":[20],"cancer":[21],"can":[22,41,59,73,111,132,151,157],"be":[23],"cured":[24],"completely":[25],"if":[26],"it":[27,58,119],"is":[28,53],"discovered":[29],"and":[30,43,57,121,136],"treated":[31],"early":[32],"large":[35,212],"intestine":[36,213],"endoscope.":[37,154,165,175],"A":[38],"conventional":[39,164],"endoscope":[40],"screen":[42],"heal":[44],"inside":[46],"intestine,":[49],"but":[50],"such":[51],"surgery":[52],"difficult":[54],"for":[55,171],"doctors,":[56],"take":[60,137],"300":[61],"or":[62],"more":[63],"training":[64],"sessions":[65],"to":[66,78,89,199],"learn":[67],"technique.":[69],"Even":[70],"experienced":[71],"doctors":[72],"occasionally":[74],"spend":[75],"hour":[77],"perform":[79,159],"this":[80,83,130],"operation.":[81],"In":[82],"study,":[84],"in":[85],"order":[86],"attempt":[88],"solve":[90],"these":[91],"problems,":[92],"we":[93,156,167,177],"propose":[94],"pass":[112],"through":[113],"sigmoid":[115,143],"colon":[116],"without":[117],"pulling":[118],"up,":[120],"because":[122],"transition":[126],"materials,":[129],"robot":[131],"also":[133,189],"become":[134],"rigid":[135],"on":[138],"shape":[140],"colon.":[144],"Unlike":[145],"other":[146],"robots,":[148],"our":[149,169,179],"support":[152],"Thus":[155],"easily":[158],"various":[160],"functions":[161],"Here":[166],"describe":[168,178],"approach":[170],"insertion":[172],"Next,":[176],"experiment":[180],"confirming":[181],"efficacy":[183],"transition.":[187],"We":[188],"confirm":[190],"availability":[192],"prototype":[195],"veer":[200],"rice":[208],"using":[210],"model":[214],"has":[215],"about":[217],"90-degree":[218],"angle.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}