{"id":"https://openalex.org/W4390099699","doi":"https://doi.org/10.1109/robio58561.2023.10354591","title":"Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile","display_name":"Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099699","doi":"https://doi.org/10.1109/robio58561.2023.10354591"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354591","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5037362282","display_name":"Huanghua Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Huanghua Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,Institute of Medical Robotics,Department of Automation","Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, P. R. China","Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Institute of Medical Robotics,Department of Automation","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, P. R. China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101796128","display_name":"Yun Zou","orcid":"https://orcid.org/0000-0002-2775-3227"},"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":"Yun Zou","raw_affiliation_strings":["Institute of Medical Robotics, Shanghai Jiao Tong University,Shanghai,P. R. China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, Shanghai Jiao Tong University,Shanghai,P. R. China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101283231","display_name":"Zheng Xu","orcid":"https://orcid.org/0009-0006-9256-7937"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Zheng Xu","raw_affiliation_strings":["Shanghai Jiao Tong University,Institute of Medical Robotics,Department of Automation","Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University","Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Institute of Medical Robotics,Department of Automation","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, P. R. China","institution_ids":["https://openalex.org/I1327237609"]}]},{"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/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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,Institute of Medical Robotics,Department of Automation","Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, P. R. China","Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Institute of Medical Robotics,Department of Automation","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, P. R. China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9830999970436096,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9470999836921692,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7250624895095825},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.7111520171165466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6476613283157349},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.556573748588562},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5502972602844238},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4404824376106262},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.43543821573257446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43177253007888794},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4101138114929199},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.342398464679718},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.31466206908226013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2933279871940613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19501030445098877},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16480308771133423},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.1232207715511322}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7250624895095825},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.7111520171165466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6476613283157349},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.556573748588562},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5502972602844238},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4404824376106262},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.43543821573257446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43177253007888794},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4101138114929199},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.342398464679718},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.31466206908226013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2933279871940613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19501030445098877},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16480308771133423},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.1232207715511322},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354591","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"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/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"},{"id":"https://openalex.org/F4320327803","display_name":"Shanghai Rising-Star Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2066399169","https://openalex.org/W2101667962","https://openalex.org/W2123546047","https://openalex.org/W2147492425","https://openalex.org/W2167480813","https://openalex.org/W2184993170","https://openalex.org/W2553241245","https://openalex.org/W2562881420","https://openalex.org/W2582740614","https://openalex.org/W2588775902","https://openalex.org/W2592665943","https://openalex.org/W3008974801","https://openalex.org/W3143989206","https://openalex.org/W3211763588","https://openalex.org/W4210927443","https://openalex.org/W4285102181"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2371519816","https://openalex.org/W2048862765","https://openalex.org/W2043154226","https://openalex.org/W2770942502","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2559957734"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,20],"have":[2],"the":[3,47,69,118,123,126,130,141,156,163,168,183,186,202,206,211,217],"great":[4],"potential":[5],"in":[6,26],"endoluminal":[7],"diagnosis":[8],"and":[9,13,61,98,129,159,177,189,195,213],"intervention":[10],"toward":[11],"narrow":[12],"confined":[14],"workspace.":[15],"However,":[16],"fabrication":[17,116,208],"of":[18,55,64,101,125,137,167,185,193],"continuum":[19,40,48,120,187,219],"still":[21],"poses":[22],"a":[23,35,88,99,134,174,178,190],"grant":[24],"challenge":[25],"its":[27,84],"miniaturization.":[28],"To":[29],"solve":[30],"this,":[31],"this":[32],"paper":[33],"designs":[34],"thermally":[36],"drawn":[37],"monolithic":[38],"polymer":[39],"robot":[41,49,121,157,169],"with":[42,52,68],"laser":[43,109],"cutting":[44,110],"profile.":[45],"First,":[46],"is":[50,87,145,153,170,198],"designed":[51],"two":[53,115],"degrees":[54],"freedom":[56],"(DOF)":[57],"for":[58,77,147,155,216],"shape":[59],"deflection,":[60],"it":[62,107],"consists":[63],"four":[65],"optical":[66],"fibers":[67],"fiber":[70],"Bragg":[71],"grating":[72],"(FBG)":[73],"sensor":[74],"on":[75,106],"each":[76],"tension":[78,143],"sensing":[79,144],"as":[80],"driving":[81],"cables.":[82],"Second,":[83],"main":[85],"body":[86],"multi-channel":[89,127],"polycarbonate":[90],"(PC)":[91],"tube":[92],"produced":[93],"by":[94],"thermal":[95],"drawing":[96],"process,":[97],"series":[100],"rectangular":[102],"cutouts":[103],"are":[104,180],"made":[105],"via":[108],"process.":[111],"By":[112],"combining":[113],"these":[114],"processes,":[117],"developed":[119],"realizes":[122],"integration":[124],"structure":[128,215],"notch":[131],"feature.":[132],"Third,":[133],"control":[135],"framework":[136],"puller-follower":[138],"controller":[139],"using":[140],"integrated":[142],"proposed":[146,207],"teleoperation":[148],"control.":[149],"Finally,":[150],"experimental":[151],"setup":[152],"built":[154],"validation,":[158],"results":[160],"show":[161],"that":[162],"repeated":[164],"positioning":[165],"accuracy":[166],"1.08":[171],"mm.":[172],"Moreover,":[173],"micro":[175],"endoscope":[176],"needle":[179],"added":[181],"to":[182,200],"end":[184],"robot,":[188],"phantom":[191],"study":[192],"auripuncture":[194],"drug":[196],"delivery":[197],"completed":[199],"verify":[201],"preliminary":[203],"feasibility.":[204],"And":[205],"approach":[209],"enables":[210],"miniaturization":[212],"complex":[214],"cable-driven":[218],"robots.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}