{"id":"https://openalex.org/W2108045637","doi":"https://doi.org/10.1109/robot.2005.1570558","title":"Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis","display_name":"Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2108045637","doi":"https://doi.org/10.1109/robot.2005.1570558","mag":"2108045637"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5065535003","display_name":"Christopher Kennedy","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.W. Kennedy","raw_affiliation_strings":["Program for Robotics, Intelligent Sensing and Mechatronics (PRISM) Laboratory, Drexel University, Philadelphia, PA, USA","Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, Drexel University, Philadelphia, PA 19104 USA; e-mail: cwk@coe.drexel.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Program for Robotics, Intelligent Sensing and Mechatronics (PRISM) Laboratory, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, Drexel University, Philadelphia, PA 19104 USA; e-mail: cwk@coe.drexel.edu","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.P. Desai","raw_affiliation_strings":["Program for Robotics, Intelligent Sensing and Mechatronics (PRISM) Laboratory, Drexel University, Philadelphia, PA, USA","e-mail: cwk@coe.drexel.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Program for Robotics, Intelligent Sensing and Mechatronics (PRISM) Laboratory, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"e-mail: cwk@coe.drexel.edu","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I72816309"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"2927","last_page":"2932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9977999925613403,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9883000254631042,"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/teleoperation","display_name":"Teleoperation","score":0.9595377445220947},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6048110723495483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6029776930809021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5188995003700256},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5078960061073303},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5046652555465698},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49240314960479736},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4670865535736084},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45594510436058044},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4442146420478821},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4355891942977905},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4296714663505554},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.310671329498291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28364378213882446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2586832046508789},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14253732562065125},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07247644662857056}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9595377445220947},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6048110723495483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6029776930809021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5188995003700256},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5078960061073303},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5046652555465698},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49240314960479736},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4670865535736084},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45594510436058044},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4442146420478821},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4355891942977905},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4296714663505554},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.310671329498291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28364378213882446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2586832046508789},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14253732562065125},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07247644662857056},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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":19,"referenced_works":["https://openalex.org/W1484422613","https://openalex.org/W1493151227","https://openalex.org/W1532255447","https://openalex.org/W1585910516","https://openalex.org/W1821874885","https://openalex.org/W1873393810","https://openalex.org/W1996552274","https://openalex.org/W2057102815","https://openalex.org/W2098759960","https://openalex.org/W2115570519","https://openalex.org/W2134927525","https://openalex.org/W2145939397","https://openalex.org/W2160192576","https://openalex.org/W2171894703","https://openalex.org/W2304108241","https://openalex.org/W2940957385","https://openalex.org/W4252442944","https://openalex.org/W6631784269","https://openalex.org/W6638542955"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"Performing":[0],"a":[1,6,10,54,66,85],"fine":[2],"manipulation":[3],"task":[4],"on":[5],"moving":[7],"surface":[8],"through":[9],"teleoperated":[11],"robotic":[12,28],"system":[13,94],"presents":[14],"significant":[15,67],"challenges":[16,23],"to":[17,57,78,114,134,147],"the":[18,34,43,46,59,62,80,97,115,130,135,139,158,163],"human":[19,164],"operator.":[20],"Addressing":[21],"these":[22],"is":[24,77],"particularly":[25],"important":[26],"in":[27,38,84,95,122],"surgical":[29,39],"systems,":[30],"where":[31],"motion":[32,51,60],"of":[33,45,50,61,74,82,99,129,157,162],"patient":[35,63],"can":[36],"result":[37],"errors":[40,153],"that":[41,117],"degrade":[42],"quality":[44],"surgery.":[47],"The":[48,72],"use":[49],"compensation":[52],"by":[53,151,154],"robot":[55,108],"manipulator":[56],"cancel":[58],"would":[64],"represent":[65],"improvement":[68],"over":[69],"existing":[70],"techniques.":[71],"purpose":[73],"this":[75],"research":[76],"evaluate":[79],"role":[81],"force-feedback":[83,118],"motion-canceling":[86,123],"teleoperation":[87,102,124],"system.":[88],"We":[89],"have":[90,103],"developed":[91],"an":[92],"experimental":[93],"which":[96],"roles":[98],"motion-cancellation":[100],"and":[101,142],"been":[104],"decoupled":[105],"between":[106],"separate":[107],"manipulators.":[109],"Our":[110],"results":[111],"lead":[112],"us":[113],"conclusion":[116],"minimizes":[119],"contact":[120,137,149],"forces":[121,132,145],"due":[125,133,146],"to:":[126],"1)":[127],"minimization":[128],"collision":[131],"initial":[136],"with":[138],"target":[140],"surface,":[141],"2)":[143],"minimizing":[144],"accidental":[148],"generated":[150],"tracking":[152],"taking":[155],"advantage":[156],"naturally":[159],"modulated":[160],"impedance":[161],"hand":[165],"during":[166],"such":[167],"tasks.":[168]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}