{"id":"https://openalex.org/W2112849305","doi":"https://doi.org/10.1109/robot.2002.1013682","title":"Positioning tele-operated surgical robots for collision-free optimal operation","display_name":"Positioning tele-operated surgical robots for collision-free optimal operation","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2112849305","doi":"https://doi.org/10.1109/robot.2002.1013682","mag":"2112849305"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1013682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5045629425","display_name":"Loua\u00ef Adhami","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"L. Adhami","raw_affiliation_strings":["INRIA Sophia-Antipolis, ChIR Medical Robotics Group, France","ChIR Med. Robotics Group, INRIA, Sophia-Antipolis, France"],"affiliations":[{"raw_affiliation_string":"INRIA Sophia-Antipolis, ChIR Medical Robotics Group, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"ChIR Med. Robotics Group, INRIA, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025907802","display_name":"\u00c8ve Coste-Mani\u00e8re","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"E. Coste-Maniere","raw_affiliation_strings":["INRIA Sophia-Antipolis, ChIR Medical Robotics Group, France","ChIR Med. Robotics Group, INRIA, Sophia-Antipolis, France"],"affiliations":[{"raw_affiliation_string":"INRIA Sophia-Antipolis, ChIR Medical Robotics Group, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"ChIR Med. Robotics Group, INRIA, Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045629425"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":2.3503,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88048791,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"2962","last_page":"2967"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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":0.9980000257492065,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.6940506100654602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6459500193595886},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5182837843894958},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5179828405380249},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5092014670372009},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49912047386169434},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48566925525665283},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4582163691520691},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3568803668022156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35115766525268555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25131309032440186},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1759553849697113}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6940506100654602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6459500193595886},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5182837843894958},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5179828405380249},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5092014670372009},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49912047386169434},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48566925525665283},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4582163691520691},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3568803668022156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35115766525268555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25131309032440186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1759553849697113},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1013682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W97189687","https://openalex.org/W1519170695","https://openalex.org/W2029246876","https://openalex.org/W2094472013","https://openalex.org/W2128990851","https://openalex.org/W2160899683","https://openalex.org/W3113966145"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W2743212448","https://openalex.org/W650625605","https://openalex.org/W4310743282","https://openalex.org/W2889566344","https://openalex.org/W2786065696","https://openalex.org/W583309402","https://openalex.org/W1819938260","https://openalex.org/W2340892746"],"abstract_inverted_index":{"Positioning":[0],"a":[1,5,14,24,36,57,79,87,97,116,127],"surgical":[2],"robot":[3],"in":[4,68,106],"typically":[6,65],"cluttered":[7],"operating":[8,31],"room":[9],"for":[10,119,175],"optimal":[11],"operation":[12],"is":[13,64,96,104,142,171],"challenging":[15],"task.":[16],"Surgical":[17],"tele-operated":[18],"manipulators":[19],"are":[20,46,133],"designed":[21],"to":[22,27,29,43,50,173,187],"have":[23,35],"flexible":[25],"structure":[26],"adapt":[28],"the":[30,61,66,72,91,102,120,123,145,148,155,181,189],"environment,":[32],"and":[33,100,166],"thus":[34],"high":[37],"number":[38],"of":[39,41,122,126],"degrees":[40],"freedom":[42],"position.":[44],"They":[45],"also":[47,85],"usually":[48],"subject":[49],"additional":[51],"spatial":[52],"constraints":[53],"such":[54],"as":[55,151,153,162],"having":[56],"fixed":[58],"point":[59],"during":[60],"intervention,":[62],"which":[63],"case":[67],"mini-invasive":[69],"interventions.":[70],"Moreover,":[71],"planned":[73],"results":[74],"should":[75,84],"not":[76,134],"only":[77],"guarantee":[78],"collision":[80],"free":[81],"operation,":[82],"but":[83],"target":[86],"maximum":[88],"separation":[89,146],"from":[90],"surrounding":[92,156],"obstacles,":[93],"since":[94,101],"this":[95,112],"critical":[98],"application,":[99],"positioning":[103,121],"done":[105],"an":[107,163,167,176],"error":[108],"prone":[109],"environment.":[110],"In":[111],"paper":[113],"we":[114],"propose":[115],"systematic":[117],"method":[118,170],"passive":[124],"dofs":[125],"robotic":[128],"system;":[129],"i.e.,":[130],"those":[131],"that":[132],"under":[135],"direct":[136],"tele-operation":[137],"or":[138],"autonomous":[139],"control.":[140],"Optimality":[141],"translated":[143],"by":[144],"between":[147],"different":[149],"manipulators,":[150],"well":[152],"with":[154],"obstacles.":[157],"These":[158],"requirements":[159],"am":[160,185],"formulated":[161],"optimization":[164],"problem,":[165],"interference":[168],"measurement":[169],"presented":[172,186],"allow":[174],"efficient":[177],"solution.":[178],"Results":[179],"on":[180],"daVinci/spl":[182],"trade/":[183],"system":[184],"illustrate":[188],"proposed":[190],"approach.":[191]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
