{"id":"https://openalex.org/W4408200822","doi":"https://doi.org/10.1109/robio64047.2024.10907610","title":"Design and Preliminary Experiments of A Spinal Endoscopic Surgical Robot","display_name":"Design and Preliminary Experiments of A Spinal Endoscopic Surgical Robot","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408200822","doi":"https://doi.org/10.1109/robio64047.2024.10907610"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5083001885","display_name":"Peng Zhang","orcid":"https://orcid.org/0000-0002-4598-0300"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Zhang","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051096302","display_name":"Yucheng He","orcid":"https://orcid.org/0000-0003-2459-597X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yucheng He","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042608392","display_name":"Baoliang Zhao","orcid":"https://orcid.org/0000-0002-8157-5951"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoliang Zhao","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022292402","display_name":"Xiaozhi Qi","orcid":"https://orcid.org/0000-0001-6010-3974"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozhi Qi","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114224014","display_name":"Zihao Liao","orcid":null},"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":"Zihao Liao","raw_affiliation_strings":["Harbin Institute of Technology,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083001885"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25074765,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2002","last_page":"2007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9939000010490417,"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":0.9939000010490417,"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":0.9282000064849854,"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/robot","display_name":"Robot","score":0.5273928046226501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5114551782608032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33254683017730713}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5273928046226501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5114551782608032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33254683017730713}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1520344654","https://openalex.org/W1966102857","https://openalex.org/W2078161805","https://openalex.org/W2099032975","https://openalex.org/W2101667962","https://openalex.org/W2125817642","https://openalex.org/W2150718503","https://openalex.org/W2588047059","https://openalex.org/W2782435507","https://openalex.org/W2846343682","https://openalex.org/W2921397506","https://openalex.org/W2923771956","https://openalex.org/W2967139906","https://openalex.org/W3159407446","https://openalex.org/W4286580803","https://openalex.org/W4292929469"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"With":[0],"the":[1,4,6,19,42,61,78,88,91,106,109,116,120,126,130,138,143,155,159,170,179,185,189,192,198],"aging":[2],"of":[3,8,22,26,44,80,83,108,119,142,158,173,176,184,191,197],"population,":[5],"incidence":[7],"spinal":[9,27,69],"degenerative":[10],"diseases":[11,28],"has":[12,29],"increased.":[13],"Percutaneous":[14],"endoscopic":[15,70],"spine":[16],"surgery":[17],"as":[18],"main":[20],"means":[21],"minimally":[23],"invasive":[24],"treatment":[25],"been":[30],"paid":[31],"more":[32,34],"and":[33,51,97,113,129,134,178,194],"attention.":[35],"The":[36],"traditional":[37],"rigid":[38],"rod-shaped":[39],"instruments":[40],"have":[41],"disadvantages":[43],"insufficient":[45],"movement":[46],"flexibility,":[47],"high":[48,52],"operation":[49,57],"difficulty":[50],"risk":[53],"in":[54],"a":[55,67,145],"narrow":[56],"space.":[58],"To":[59],"solve":[60],"above":[62],"problems,":[63],"this":[64,81],"paper":[65],"developed":[66],"new":[68],"surgical":[71],"robot,":[72,186],"which":[73,187],"can":[74],"provide":[75],"reference":[76],"for":[77],"development":[79],"kind":[82],"robot.":[84,160,199],"Firstly,":[85],"by":[86],"analyzing":[87],"clinical":[89],"needs,":[90],"rope":[92],"driven":[93],"continuum,":[94],"end":[95,180],"clamp":[96],"quick":[98],"change":[99],"drive":[100],"interface":[101],"are":[102],"designed":[103,151],"to":[104,152,167],"meet":[105],"requirements":[107],"robot's":[110],"motion":[111,181],"flexibility":[112],"compactness.":[114],"Then,":[115],"kinematics":[117],"model":[118],"robot":[121],"is":[122,132,150,165],"established":[123],"based":[124],"on":[125,137],"MDH":[127],"method,":[128],"workspace":[131],"calculated":[133],"checked.":[135],"Based":[136],"monocular":[139],"vision":[140],"feedback":[141],"manipulator,":[144],"fuzzy":[146],"PID":[147],"control":[148,156,182,195],"method":[149],"effectively":[153],"improve":[154],"accuracy":[157],"Finally,":[161],"an":[162],"experimental":[163],"platform":[164],"built":[166],"carry":[168],"out":[169],"function":[171,193],"experiment":[172,183],"each":[174],"degree":[175],"freedom":[177],"verified":[188],"effectiveness":[190],"algorithm":[196]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}