{"id":"https://openalex.org/W4320027829","doi":"https://doi.org/10.1109/robio55434.2022.10011989","title":"Incorporating Trocar Clearance in the Kinematics of Multi-Backbone Continuum Robots for Single-Port Surgery","display_name":"Incorporating Trocar Clearance in the Kinematics of Multi-Backbone Continuum Robots for Single-Port Surgery","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4320027829","doi":"https://doi.org/10.1109/robio55434.2022.10011989"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011989","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011989","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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/A5100688235","display_name":"Yue Ding","orcid":"https://orcid.org/0000-0003-3662-8265"},"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":"Yue Ding","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"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/A5100389021","display_name":"Xiang Wang","orcid":"https://orcid.org/0000-0002-3355-6262"},"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":"Xiang Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"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/A5057319717","display_name":"Haomin Kuang","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":"Haomin Kuang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"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","School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"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":4,"corresponding_author_ids":["https://openalex.org/A5100688235"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55657815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1757","last_page":"1762"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9902999997138977,"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":0.9556000232696533,"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":0.7763749361038208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6637798547744751},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5465490818023682},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5108713507652283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4996926784515381},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4814800024032593},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44730469584465027},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34759247303009033},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2590183913707733},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22973531484603882},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21503040194511414},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16702449321746826},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1584002673625946}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7763749361038208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6637798547744751},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5465490818023682},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5108713507652283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4996926784515381},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4814800024032593},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44730469584465027},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34759247303009033},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2590183913707733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22973531484603882},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21503040194511414},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16702449321746826},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1584002673625946}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011989","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011989","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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/7","score":0.8299999833106995,"display_name":"Affordable and clean energy"}],"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1976270646","https://openalex.org/W2001803686","https://openalex.org/W2119343887","https://openalex.org/W2133997127","https://openalex.org/W2184993170","https://openalex.org/W2293125362","https://openalex.org/W2773367425","https://openalex.org/W2901701174","https://openalex.org/W2929897791","https://openalex.org/W2946361619","https://openalex.org/W2963068794","https://openalex.org/W3113578006","https://openalex.org/W3132467916","https://openalex.org/W3159847516","https://openalex.org/W3184175112","https://openalex.org/W3204157319","https://openalex.org/W3207306212"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"The":[0,19,137],"intrinsic":[1],"characteristics":[2],"of":[3,8,22,35,69,93],"structural":[4],"compliance":[5],"and":[6,26,53,76,98],"compactness":[7],"continuum":[9,45,74,96],"robots":[10,46],"make":[11],"them":[12],"suitable":[13],"for":[14,37,44,80,133,152],"minimally":[15],"invasive":[16],"surgical":[17,81],"procedures.":[18],"current":[20],"paradigm":[21],"single-port":[23],"laparoscopy":[24],"(SPL)":[25],"natural":[27],"orifice":[28],"transluminal":[29],"surgery":[30],"(NOTES)":[31],"concerns":[32],"extensive":[33],"uses":[34],"trocars/sheaths":[36],"instrument":[38],"delivery.":[39],"Most":[40],"existing":[41],"kinematics":[42,102,140],"models":[43],"neglect":[47],"the":[48,51,54,67,91,94,104,111,117,149,161,176,179],"clearance":[49,70,129,177],"between":[50,71],"trocar":[52,79,112,128],"internal":[55],"instrument,":[56],"which":[57],"might":[58],"result":[59],"in":[60,108,130,178],"significant":[61],"modeling":[62],"errors.":[63],"In":[64],"this":[65],"paper,":[66],"effects":[68],"a":[72,99,126,144],"multi-backbone":[73,95],"robot":[75],"its":[77],"outer":[78],"site":[82],"delivery":[83],"are":[84],"investigated":[85],"via":[86],"mechanical":[87],"approaches.":[88],"Based":[89],"on":[90],"mechanics":[92],"segments":[97],"constant":[100,138],"curvature":[101,139],"framework,":[103],"robot's":[105],"equilibrium":[106],"shape":[107],"contact":[109],"with":[110],"is":[113],"found":[114,124],"by":[115,174],"minimizing":[116],"elastic":[118],"potential":[119],"energy.":[120],"It":[121],"was":[122,166],"then":[123],"that":[125,142,160],"0.25-mm":[127],"diameter":[131],"accounted":[132],"38.11%":[134],"positional":[135,164],"error.":[136],"model":[141],"incorporates":[143],"clearance-compensation":[145],"scheme":[146],"also":[147],"allows":[148],"real-time":[150],"implementation":[151],"control.":[153],"Comparative":[154],"experiments":[155],"were":[156],"carried":[157],"out,":[158],"showing":[159],"mean":[162],"tip":[163],"error":[165],"reduced":[167],"to":[168],"2.42":[169],"mm":[170,173],"from":[171],"3.91":[172],"incorporating":[175],"model.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
