{"id":"https://openalex.org/W4226534158","doi":"https://doi.org/10.1109/robio54168.2021.9739609","title":"Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain Stimulation Electrode Implantation","display_name":"Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain Stimulation Electrode Implantation","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226534158","doi":"https://doi.org/10.1109/robio54168.2021.9739609"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739609","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5069672866","display_name":"Weihang Huang","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":true,"raw_author_name":"Weihang Huang","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering","School of Mechanical Engineering, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016693732","display_name":"Shenghao Dai","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":"Shenghao Dai","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering","School of Mechanical Engineering, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057229092","display_name":"Anze Xu","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":"Anze Xu","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering","School of Mechanical Engineering, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029279007","display_name":"Xianyi He","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":"Xianyi He","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation","Department of Automation, Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065975114","display_name":"Shaoping Huang","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":"Shaoping Huang","raw_affiliation_strings":["Shanghai Jiao Tong University,Institute of Medical Robotics and School of Biomedical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Institute of Medical Robotics and School of Biomedical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028361786","display_name":"Anzhu Gao","orcid":"https://orcid.org/0000-0001-8307-4416"},"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":"Anzhu Gao","raw_affiliation_strings":["Shanghai Jiao Tong University,the Key Laboratory of System Control and Information Processing, Ministry of Education,Institute of Medical Robotics and Department of Automation,Shanghai,China,200240","Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,the Key Laboratory of System Control and Information Processing, Ministry of Education,Institute of Medical Robotics and Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069672866"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.7438,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85470085,"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":"1743","last_page":"1748"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10919","display_name":"Neurological disorders and treatments","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T10919","display_name":"Neurological disorders and treatments","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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":0.9973000288009644,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7175216674804688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6399129629135132},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5871390700340271},{"id":"https://openalex.org/keywords/deep-brain-stimulation","display_name":"Deep brain stimulation","score":0.5858272314071655},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.564858078956604},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4698851406574249},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46723586320877075},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.41616716980934143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3997070789337158},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.38258716464042664},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20897328853607178},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14714965224266052}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7175216674804688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6399129629135132},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5871390700340271},{"id":"https://openalex.org/C2778542668","wikidata":"https://www.wikidata.org/wiki/Q618076","display_name":"Deep brain stimulation","level":4,"score":0.5858272314071655},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.564858078956604},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4698851406574249},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46723586320877075},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.41616716980934143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3997070789337158},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.38258716464042664},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20897328853607178},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14714965224266052},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C2779134260","wikidata":"https://www.wikidata.org/wiki/Q12136","display_name":"Disease","level":2,"score":0.0},{"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/C2779734285","wikidata":"https://www.wikidata.org/wiki/Q11085","display_name":"Parkinson's disease","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739609","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321655","display_name":"Science and Technology Development Fund","ror":"https://ror.org/044vr6g03"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1547020971","https://openalex.org/W1569355420","https://openalex.org/W2001777135","https://openalex.org/W2014916851","https://openalex.org/W2074512619","https://openalex.org/W2122644208","https://openalex.org/W2141158844","https://openalex.org/W2158577569","https://openalex.org/W2599868002","https://openalex.org/W2792744836","https://openalex.org/W2921030239","https://openalex.org/W3000445465","https://openalex.org/W3002492682","https://openalex.org/W3006831575","https://openalex.org/W3007201711","https://openalex.org/W3008974801","https://openalex.org/W3010294502","https://openalex.org/W3016170712","https://openalex.org/W3017011368","https://openalex.org/W3033616420","https://openalex.org/W3088812750","https://openalex.org/W3091936562","https://openalex.org/W3097841153","https://openalex.org/W3200359690","https://openalex.org/W3205103952"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W1970280380","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2026756596"],"abstract_inverted_index":{"Deep":[0],"brain":[1,51],"stimulation":[2],"(DBS)":[3],"has":[4,22],"been":[5],"widely":[6],"used":[7],"in":[8,73,131,139],"clinical":[9],"practice":[10],"as":[11],"an":[12],"effective":[13],"therapy":[14],"for":[15,26,49,86],"neurological":[16],"disorders.":[17],"MR-conditional":[18],"robot-assisted":[19,136],"electrode":[20,52],"implantation":[21],"attracted":[23],"more":[24],"attention":[25],"DBS":[27],"because":[28],"of":[29,117],"its":[30,95],"great":[31],"accuracy":[32],"and":[33,58,97,110,134],"high-quality":[34],"guiding":[35],"images":[36],"by":[37],"using":[38,82],"MRI.":[39],"This":[40],"paper":[41],"develops":[42],"a":[43],"pneumatically":[44],"actuated":[45],"MR-safe":[46,59],"parallel":[47,78,125],"robot":[48,79,126],"deep":[50],"implantation.":[53],"Its":[54],"fully":[55],"plastic":[56],"components":[57],"pneumatic":[60],"actuators":[61],"enable":[62],"the":[63,99,108,114,118,128,132],"robotic":[64],"system":[65],"to":[66,93,106],"be":[67],"MR-safe,":[68],"posing":[69],"no":[70],"known":[71],"hazards":[72],"MR":[74],"environment.":[75],"A":[76],"6-DOF":[77],"is":[80,91,120],"developed":[81,124],"six":[83],"slider-crank":[84],"mechanisms":[85],"prismatic":[87],"motions.":[88],"Inverse":[89],"kinematics":[90],"built":[92],"investigate":[94],"workspace":[96],"achieve":[98],"precise":[100,135],"control.":[101],"Experiments":[102],"are":[103],"carried":[104],"out":[105],"validate":[107],"feasibility,":[109],"results":[111],"shows":[112,127],"that":[113],"average":[115],"error":[116],"motion":[119],"0.11":[121],"mm.":[122],"The":[123],"potential":[129],"advantages":[130],"automatic":[133],"neurosurgical":[137],"surgery":[138],"future.":[140]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
