{"id":"https://openalex.org/W2165860509","doi":"https://doi.org/10.1109/robot.2002.1014813","title":"A compact, compliant laparoscopic endoscope manipulator","display_name":"A compact, compliant laparoscopic endoscope manipulator","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2165860509","doi":"https://doi.org/10.1109/robot.2002.1014813","mag":"2165860509"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014813","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/A5023941662","display_name":"Peter Berkelman","orcid":"https://orcid.org/0000-0002-1738-4843"},"institutions":[{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210160510","display_name":"Institut pour l'avanc\u00e9e des biosciences","ror":"https://ror.org/05kwbf598","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I2800555055","https://openalex.org/I4210128919","https://openalex.org/I4210139971","https://openalex.org/I4210150872","https://openalex.org/I4210160510","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Berkelman","raw_affiliation_strings":["Institut Albert Bonniot, TIMC-IMAG, La Tronche, France"],"affiliations":[{"raw_affiliation_string":"Institut Albert Bonniot, TIMC-IMAG, La Tronche, France","institution_ids":["https://openalex.org/I4210160510","https://openalex.org/I4210136308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106460525","display_name":"Philippe Cinquin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160510","display_name":"Institut pour l'avanc\u00e9e des biosciences","ror":"https://ror.org/05kwbf598","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I2800555055","https://openalex.org/I4210128919","https://openalex.org/I4210139971","https://openalex.org/I4210150872","https://openalex.org/I4210160510","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Cinquin","raw_affiliation_strings":["Institut Albert Bonniot, TIMC-IMAG, La Tronche, France"],"affiliations":[{"raw_affiliation_string":"Institut Albert Bonniot, TIMC-IMAG, La Tronche, France","institution_ids":["https://openalex.org/I4210160510","https://openalex.org/I4210136308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083741691","display_name":"Jocelyne Troccaz","orcid":"https://orcid.org/0000-0001-5921-9419"},"institutions":[{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210160510","display_name":"Institut pour l'avanc\u00e9e des biosciences","ror":"https://ror.org/05kwbf598","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I2800555055","https://openalex.org/I4210128919","https://openalex.org/I4210139971","https://openalex.org/I4210150872","https://openalex.org/I4210160510","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Troccaz","raw_affiliation_strings":["Institut Albert Bonniot, TIMC-IMAG, La Tronche, France"],"affiliations":[{"raw_affiliation_string":"Institut Albert Bonniot, TIMC-IMAG, La Tronche, France","institution_ids":["https://openalex.org/I4210160510","https://openalex.org/I4210136308"]}]},{"author_position":"middle","author":{"id":null,"display_name":"J. Ayoubi","orcid":null},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I2800555055","display_name":"Centre Hospitalier Universitaire de Grenoble","ror":"https://ror.org/041rhpw39","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I2800555055"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Ayoubi","raw_affiliation_strings":["Centre Hospitalier Universitaire de Grenoble, France"],"affiliations":[{"raw_affiliation_string":"Centre Hospitalier Universitaire de Grenoble, France","institution_ids":["https://openalex.org/I2800555055","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067303847","display_name":"Christian L\u00e9toublon","orcid":null},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I2800555055","display_name":"Centre Hospitalier Universitaire de Grenoble","ror":"https://ror.org/041rhpw39","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I2800555055"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Letoublon","raw_affiliation_strings":["Centre Hospitalier Universitaire de Grenoble, France"],"affiliations":[{"raw_affiliation_string":"Centre Hospitalier Universitaire de Grenoble, France","institution_ids":["https://openalex.org/I2800555055","https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050847777","display_name":"F. Bouchard","orcid":null},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I2800555055","display_name":"Centre Hospitalier Universitaire de Grenoble","ror":"https://ror.org/041rhpw39","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I2800555055"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Bouchard","raw_affiliation_strings":["Centre Hospitalier Universitaire de Grenoble, France"],"affiliations":[{"raw_affiliation_string":"Centre Hospitalier Universitaire de Grenoble, France","institution_ids":["https://openalex.org/I2800555055","https://openalex.org/I899635006"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5023941662"],"corresponding_institution_ids":["https://openalex.org/I4210136308","https://openalex.org/I4210160510"],"apc_list":null,"apc_paid":null,"fwci":5.8753,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.96640511,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"1870","last_page":"1875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996999979019165,"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":0.9965000152587891,"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/endoscope","display_name":"Endoscope","score":0.8064029216766357},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.8056005239486694},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.599818229675293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49306628108024597},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.4572555422782898},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39799052476882935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3465702533721924},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33809465169906616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3291509747505188},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1698445975780487},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09239691495895386}],"concepts":[{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.8064029216766357},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.8056005239486694},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.599818229675293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49306628108024597},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.4572555422782898},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39799052476882935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3465702533721924},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33809465169906616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3291509747505188},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1698445975780487},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09239691495895386}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014813","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W31112617","https://openalex.org/W128910766","https://openalex.org/W1534677409","https://openalex.org/W1966939569","https://openalex.org/W2042849704","https://openalex.org/W2075646285","https://openalex.org/W2092685321","https://openalex.org/W2146230014","https://openalex.org/W2156378823","https://openalex.org/W2160899683","https://openalex.org/W2603320186","https://openalex.org/W2615154286","https://openalex.org/W3144147306","https://openalex.org/W6601212840","https://openalex.org/W6605232865"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2773810465","https://openalex.org/W2123055169","https://openalex.org/W4224212509","https://openalex.org/W1978574942","https://openalex.org/W1502247793","https://openalex.org/W2619747063","https://openalex.org/W2320465958","https://openalex.org/W3128773183"],"abstract_inverted_index":{"We":[0],"have":[1],"developed":[2,77],"a":[3,27,67],"cable-driven":[4],"manipulator":[5,25,79],"using":[6],"pneumatic":[7],"artificial":[8],"muscle":[9],"actuators":[10],"to":[11,30,43],"control":[12,56,136],"the":[13,38,50,57,109,124],"orientation":[14],"and":[15,97,101,105,134],"insertion":[16],"depth":[17],"of":[18,47,74,82,95,111,132],"an":[19,45],"endoscope":[20,39,58,78],"during":[21],"abdominal":[22],"surgery.":[23],"This":[24],"enables":[26],"single":[28],"surgeon":[29,53],"manipulate":[31],"surgical":[32,87],"instruments":[33,118],"with":[34,108],"both":[35],"hands":[36],"while":[37],"position":[40],"is":[41],"controlled":[42],"view":[44],"area":[46],"interest":[48],"inside":[49],"abdomen.":[51],"The":[52,72],"may":[54,119],"then":[55],"by":[59,123],"alternate":[60],"methods":[61,137],"such":[62],"as":[63],"voice":[64],"commands,":[65],"pedals,":[66],"joystick,":[68],"or":[69],"head":[70],"movements.":[71],"advantages":[73],"our":[75],"newly":[76],"over":[80],"those":[81],"commercially":[83],"available":[84],"robotic":[85],"laparoscopic":[86],"systems":[88],"are":[89,138],"its":[90],"low":[91],"cost,":[92],"simplicity,":[93],"ease":[94],"setup":[96],"use,":[98],"compliance,":[99],"nonintrusiveness,":[100],"very":[102],"small":[103],"size":[104],"light":[106],"weight,":[107],"disadvantage":[110],"somewhat":[112],"reduced":[113],"absolute":[114],"positioning":[115],"accuracy.":[116],"Multiple":[117],"be":[120],"manipulated":[121],"simultaneously":[122],"manipulators":[125],"set":[126],"close":[127],"together.":[128],"Experimental":[129],"performance":[130],"results":[131],"open-loop":[133],"feedback":[135],"presented.":[139]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
