{"id":"https://openalex.org/W3040860850","doi":"https://doi.org/10.1109/tbme.2020.3007581","title":"Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy","display_name":"Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy","publication_year":2020,"publication_date":"2020-07-08","ids":{"openalex":"https://openalex.org/W3040860850","doi":"https://doi.org/10.1109/tbme.2020.3007581","mag":"3040860850","pmid":"https://pubmed.ncbi.nlm.nih.gov/32746054"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2020.3007581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2020.3007581","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5019025942","display_name":"Andrew Lim","orcid":"https://orcid.org/0000-0002-6168-5766"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Andrew Lim","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto"],"raw_orcid":"https://orcid.org/0000-0002-6168-5766","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023478344","display_name":"Adam Schonewille","orcid":"https://orcid.org/0000-0002-7446-0371"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Adam Schonewille","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto"],"raw_orcid":"https://orcid.org/0000-0002-7446-0371","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029671602","display_name":"Cameron Forbrigger","orcid":"https://orcid.org/0000-0002-6076-063X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Cameron Forbrigger","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073182314","display_name":"Thomas Looi","orcid":"https://orcid.org/0000-0001-6453-2928"},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thomas Looi","raw_affiliation_strings":["Centre for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children","institution_ids":["https://openalex.org/I2801317318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002892990","display_name":"James M. Drake","orcid":"https://orcid.org/0000-0001-6841-9025"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James Drake","raw_affiliation_strings":["Centre for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children","Department of Mechanical and Industrial Engineering, University of Toronto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children","institution_ids":["https://openalex.org/I2801317318"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021398654","display_name":"Eric Diller","orcid":"https://orcid.org/0000-0003-4627-0797"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Eric Diller","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4627-0797","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1328,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.75536355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"68","issue":"3","first_page":"846","last_page":"856"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.7354271411895752},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.6775848865509033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5968148112297058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.504149317741394},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.460064560174942},{"id":"https://openalex.org/keywords/magnetic-flux","display_name":"Magnetic flux","score":0.4394172728061676},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.42970627546310425},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.41912591457366943},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4177740812301636},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39451688528060913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3751150369644165},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33749473094940186},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3171461522579193},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28423088788986206},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.21572792530059814},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1843838393688202},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1830247938632965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16848105192184448},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.10540369153022766}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7354271411895752},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.6775848865509033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5968148112297058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.504149317741394},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.460064560174942},{"id":"https://openalex.org/C157479481","wikidata":"https://www.wikidata.org/wiki/Q177831","display_name":"Magnetic flux","level":3,"score":0.4394172728061676},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.42970627546310425},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.41912591457366943},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4177740812301636},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39451688528060913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3751150369644165},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33749473094940186},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3171461522579193},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28423088788986206},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.21572792530059814},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1843838393688202},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1830247938632965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16848105192184448},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.10540369153022766},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013525","descriptor_name":"Surgical Instruments","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013525","descriptor_name":"Surgical Instruments","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013525","descriptor_name":"Surgical Instruments","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D044583","descriptor_name":"Neuroendoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D044583","descriptor_name":"Neuroendoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D044583","descriptor_name":"Neuroendoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2020.3007581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2020.3007581","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:32746054","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32746054","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2109060739","display_name":null,"funder_award_id":"72055222","funder_id":"https://openalex.org/F4320334506","funder_display_name":"Canadian Institutes of Health Research"},{"id":"https://openalex.org/G3446791890","display_name":null,"funder_award_id":"72055331","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1649519359","https://openalex.org/W1976270646","https://openalex.org/W1977579098","https://openalex.org/W1985568314","https://openalex.org/W1987715976","https://openalex.org/W1990785667","https://openalex.org/W1991113424","https://openalex.org/W1998032839","https://openalex.org/W2011963952","https://openalex.org/W2018254475","https://openalex.org/W2019722428","https://openalex.org/W2029069090","https://openalex.org/W2050268494","https://openalex.org/W2055466277","https://openalex.org/W2055573331","https://openalex.org/W2056454342","https://openalex.org/W2066075097","https://openalex.org/W2080728731","https://openalex.org/W2100512598","https://openalex.org/W2100593987","https://openalex.org/W2115980364","https://openalex.org/W2130217551","https://openalex.org/W2152655650","https://openalex.org/W2184993170","https://openalex.org/W2272658821","https://openalex.org/W2412810726","https://openalex.org/W2548391103","https://openalex.org/W2611394463","https://openalex.org/W2735010709","https://openalex.org/W2737603075","https://openalex.org/W2771636580","https://openalex.org/W2793873467","https://openalex.org/W2896049741","https://openalex.org/W2904065726","https://openalex.org/W2912680988","https://openalex.org/W2913653683","https://openalex.org/W2971278234","https://openalex.org/W2980790222","https://openalex.org/W3016347190","https://openalex.org/W6664274544"],"related_works":["https://openalex.org/W2008739476","https://openalex.org/W2004937500","https://openalex.org/W2417440389","https://openalex.org/W4244157427","https://openalex.org/W2734382758","https://openalex.org/W4385556839","https://openalex.org/W2347613431","https://openalex.org/W4205680839","https://openalex.org/W1996180058","https://openalex.org/W2387504722"],"abstract_inverted_index":{"Robot-assisted":[0],"minimally":[1,208],"invasive":[2,209],"surgical":[3,43,74],"(MIS)":[4],"techniques":[5,38],"offer":[6],"improved":[7],"instrument":[8],"precision":[9],"and":[10,15,17,34,96,117,135],"dexterity,":[11],"reduced":[12],"patient":[13],"trauma":[14],"risk,":[16],"promise":[18],"to":[19,169],"lessen":[20],"the":[21,69,99,108,139,144,170],"skill":[22],"gap":[23],"among":[24],"surgeons.":[25],"These":[26,193],"approaches":[27],"are":[28],"common":[29],"in":[30,188],"general":[31],"surgery,":[32],"urology,":[33],"gynecology.":[35],"However,":[36],"MIS":[37],"remain":[39],"largely":[40],"absent":[41],"for":[42,107,138,203],"applications":[44],"within":[45,148],"narrow,":[46],"confined":[47],"workspaces,":[48],"such":[49],"as":[50],"neuroendoscopy.":[51],"The":[52,151,172],"limitation":[53],"stems":[54],"from":[55],"a":[56,73,77,87,104,162,179,185,189],"lack":[57],"of":[58,72,83,111,121,153,166],"small":[59],"yet":[60],"dexterous":[61],"robotic":[62],"tools.":[63],"In":[64],"this":[65],"work,":[66],"we":[67],"present":[68],"first":[70],"instance":[71],"robot":[75],"with":[76],"direct":[78],"magnetically-driven":[79],"end":[80],"effector":[81],"capable":[82],"being":[84],"deployed":[85],"through":[86],"standard":[88],"neuroendoscopic":[89],"working":[90],"channel":[91],"(3.2":[92],"mm":[93],"outer":[94],"diameter)":[95],"operate":[97],"at":[98],"neuroventricular":[100],"scale.":[101],"We":[102],"propose":[103],"physical":[105,145],"model":[106],"gripping":[109],"performance":[110,174],"three":[112,140],"unique":[113],"end-effector":[114],"magnetization":[115],"profiles":[116],"mechanical":[118],"designs.":[119],"Rates":[120],"blocking":[122],"force":[123],"per":[124,156],"external":[125,157],"magnetic":[126,158,198],"flux":[127,159],"density":[128,160],"magnitude":[129],"were":[130],"0.309":[131],"N/T,":[132,134],"0.880":[133],"0.351":[136],"N/T":[137],"designs":[141],"which":[142],"matched":[143],"model's":[146],"prediction":[147],"14.9%":[149],"error.":[150],"rate":[152],"gripper":[154],"closure":[155],"had":[161],"mean":[163],"percent":[164],"error":[165],"11.2%":[167],"compared":[168],"model.":[171],"robot's":[173],"was":[175],"qualitatively":[176],"evaluated":[177],"during":[178,207],"pineal":[180],"region":[181],"tumor":[182,186],"resection":[183],"on":[184],"analogue":[187],"silicone":[190],"brain":[191],"phantom.":[192],"results":[194],"suggest":[195],"that":[196],"wireless":[197],"actuation":[199],"may":[200],"be":[201],"feasible":[202],"dexterously":[204],"manipulating":[205],"tissue":[206],"neurosurgical":[210],"procedures.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}