{"id":"https://openalex.org/W4402125191","doi":"https://doi.org/10.1109/tbme.2024.3426489","title":"Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery","display_name":"Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery","publication_year":2024,"publication_date":"2024-09-02","ids":{"openalex":"https://openalex.org/W4402125191","doi":"https://doi.org/10.1109/tbme.2024.3426489","pmid":"https://pubmed.ncbi.nlm.nih.gov/39222458"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2024.3426489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2024.3426489","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-04690793v1/file/lin24tbme.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084925766","display_name":"Jui\u2010Te Lin","orcid":"https://orcid.org/0000-0002-1897-9144"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jui-Te Lin","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)"],"raw_orcid":"https://orcid.org/0000-0002-1897-9144","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076583152","display_name":"C\u00e9dric Girerd","orcid":"https://orcid.org/0000-0001-7492-7050"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"C\u00e9dric Girerd","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS, France","Department of Mechanical and Aerospace Engineering and the Department of Surgery, University of California, San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7492-7050","affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and the Department of Surgery, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044915994","display_name":"Benjamin T. Ostrander","orcid":"https://orcid.org/0000-0002-8187-8557"},"institutions":[{"id":"https://openalex.org/I2803209242","display_name":"University of California System","ror":"https://ror.org/00pjdza24","country_code":"US","type":"education","lineage":["https://openalex.org/I2803209242"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin T. Ostrander","raw_affiliation_strings":["Department of Otolaryngology - Head & Neck Surgery, University of California, USA","UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)"],"raw_orcid":"https://orcid.org/0000-0002-8187-8557","affiliations":[{"raw_affiliation_string":"Department of Otolaryngology - Head & Neck Surgery, University of California, USA","institution_ids":["https://openalex.org/I2803209242"]},{"raw_affiliation_string":"UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076070336","display_name":"Parsa Molaei","orcid":"https://orcid.org/0000-0002-5595-1327"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parsa Molaei","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Louisiana State University, USA","Department of Mechanical and Industrial Engineering, Louisiana State University, LA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5595-1327","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Louisiana State University, USA","institution_ids":["https://openalex.org/I121820613"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Louisiana State University, LA, USA","institution_ids":["https://openalex.org/I121820613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025215159","display_name":"Hunter B. Gilbert","orcid":"https://orcid.org/0000-0001-8590-2596"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hunter B. Gilbert","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Louisiana State University, USA","Department of Mechanical and Industrial Engineering, Louisiana State University, LA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8590-2596","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Louisiana State University, USA","institution_ids":["https://openalex.org/I121820613"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Louisiana State University, LA, USA","institution_ids":["https://openalex.org/I121820613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059905131","display_name":"Philip A. Weissbrod","orcid":"https://orcid.org/0000-0001-7977-6925"},"institutions":[{"id":"https://openalex.org/I2803209242","display_name":"University of California System","ror":"https://ror.org/00pjdza24","country_code":"US","type":"education","lineage":["https://openalex.org/I2803209242"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip A. Weissbrod","raw_affiliation_strings":["Department of Otolaryngology - Head & Neck Surgery, University of California, USA","UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)"],"raw_orcid":"https://orcid.org/0000-0001-7977-6925","affiliations":[{"raw_affiliation_string":"Department of Otolaryngology - Head & Neck Surgery, University of California, USA","institution_ids":["https://openalex.org/I2803209242"]},{"raw_affiliation_string":"UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041402377","display_name":"John T. Hwang","orcid":"https://orcid.org/0000-0001-7280-0240"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John T. Hwang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, USA","UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC San Diego - University of California [San Diego] (UCSD, 9500 Gilman Dr., La Jolla, CA 92093 USA - United States)","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064903569","display_name":"Tania K. Morimoto","orcid":"https://orcid.org/0000-0001-5319-8995"},"institutions":[{"id":"https://openalex.org/I2803209242","display_name":"University of California System","ror":"https://ror.org/00pjdza24","country_code":"US","type":"education","lineage":["https://openalex.org/I2803209242"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tania K. Morimoto","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering and the Department of Surgery, University of California, USA","Department of Mechanical and Aerospace Engineering and the Department of Surgery, University of California, San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5319-8995","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and the Department of Surgery, University of California, USA","institution_ids":["https://openalex.org/I95457486","https://openalex.org/I2803209242"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and the Department of Surgery, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4602,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58682236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"71","issue":"12","first_page":"3457","last_page":"3469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11260","display_name":"Tracheal and airway disorders","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9812999963760376,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.7590316534042358},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.658447265625},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6122179627418518},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.5863031148910522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5654899477958679},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4306296706199646},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39208585023880005},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.36746644973754883},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33885395526885986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33854958415031433},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.26823827624320984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2263195812702179},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17059701681137085}],"concepts":[{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.7590316534042358},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.658447265625},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6122179627418518},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.5863031148910522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5654899477958679},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4306296706199646},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39208585023880005},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.36746644973754883},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33885395526885986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33854958415031433},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.26823827624320984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2263195812702179},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17059701681137085},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","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":"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":true},{"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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007830","descriptor_name":"Larynx","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D007830","descriptor_name":"Larynx","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D007830","descriptor_name":"Larynx","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D007830","descriptor_name":"Larynx","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D008866","descriptor_name":"Microsurgery","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":4,"locations":[{"id":"doi:10.1109/tbme.2024.3426489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2024.3426489","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:39222458","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39222458","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},{"id":"pmh:oai:HAL:hal-04690793v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04690793","pdf_url":"https://hal.science/hal-04690793v1/file/lin24tbme.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Biomedical Engineering, 2024, 71 (12), pp.3457-3469. ⟨10.1109/TBME.2024.3426489⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:repository.lsu.edu:mechanical_engineering_pubs-1880","is_oa":true,"landing_page_url":"https://repository.lsu.edu/mechanical_engineering_pubs/880","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04690793v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04690793","pdf_url":"https://hal.science/hal-04690793v1/file/lin24tbme.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Biomedical Engineering, 2024, 71 (12), pp.3457-3469. ⟨10.1109/TBME.2024.3426489⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4571769700","display_name":"CAREER: Extending Human Dexterity Through Hand-Held Continuum Robots","funder_award_id":"2146095","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402125191.pdf","grobid_xml":"https://content.openalex.org/works/W4402125191.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W587907941","https://openalex.org/W1981492573","https://openalex.org/W2014100751","https://openalex.org/W2061265443","https://openalex.org/W2118997958","https://openalex.org/W2130153987","https://openalex.org/W2131150943","https://openalex.org/W2134555091","https://openalex.org/W2156199850","https://openalex.org/W2163528426","https://openalex.org/W2184993170","https://openalex.org/W2209444443","https://openalex.org/W2240671935","https://openalex.org/W2283595331","https://openalex.org/W2543780088","https://openalex.org/W2809377761","https://openalex.org/W2942174939","https://openalex.org/W2969919508","https://openalex.org/W3024072584","https://openalex.org/W3047474018","https://openalex.org/W3047498443","https://openalex.org/W3113578006","https://openalex.org/W3153067241","https://openalex.org/W3159847516","https://openalex.org/W4210927443","https://openalex.org/W4285120459","https://openalex.org/W4312844948","https://openalex.org/W4380537418","https://openalex.org/W4399469378","https://openalex.org/W6617491723"],"related_works":["https://openalex.org/W2032745795","https://openalex.org/W4241659117","https://openalex.org/W2042569643","https://openalex.org/W4252230788","https://openalex.org/W2254998354","https://openalex.org/W4235256213","https://openalex.org/W2048369647","https://openalex.org/W2369068860","https://openalex.org/W4245719048","https://openalex.org/W2737864262"],"abstract_inverted_index":{"Concentric":[0],"tube":[1,72,101],"robots":[2],"(CTRs)":[3],"are":[4],"well-suited":[5],"to":[6,17,23,36,44,178],"address":[7],"the":[8,31,39,60,94,104,113,120,131,141,144,149,154,157,161,164,202],"unique":[9],"challenges":[10,37],"of":[11,63,88,97,143,163,183,204],"minimally":[12],"invasive":[13],"surgical":[14,171],"procedures":[15],"due":[16],"their":[18],"small":[19],"size":[20],"and":[21,74,84,124],"ability":[22],"navigate":[24],"highly":[25],"constrained":[26],"environments.":[27],"However,":[28],"uncertainties":[29,111],"in":[30,38,169,201],"manufacturing":[32,64,89,98,188],"process":[33],"can":[34,117],"lead":[35],"transition":[40],"from":[41,153],"simulated":[42,150],"designs":[43],"physical":[45,105,145],"robots.":[46],"In":[47],"this":[48],"work,":[49],"we":[50,116],"propose":[51],"an":[52,85],"end-to-end":[53],"design":[54,82,114,134,185],"workflow":[55],"for":[56,167,196],"CTRs":[57],"that":[58,140],"considers":[59],"often-overlooked":[61],"impact":[62],"uncertainty,":[65],"focusing":[66],"on":[67,103],"two":[68],"primary":[69],"sources":[70],"-":[71],"curvature":[73],"diameter.":[75],"This":[76,173],"comprehensive":[77,181],"approach":[78],"incorporates":[79],"a":[80,179,193],"two-step":[81],"optimization":[83],"uncertainty-based":[86],"selection":[87],"tolerances.":[90],"Simulation":[91],"results":[92],"highlight":[93],"substantial":[95],"influence":[96],"uncertainties,":[99,189],"particularly":[100],"curvature,":[102],"robot's":[106],"performance.":[107,126],"By":[108],"integrating":[109],"these":[110],"into":[112],"process,":[115],"effectively":[118],"bridge":[119],"gap":[121],"between":[122],"simulation":[123],"real-world":[125],"Two":[127],"hardware":[128],"experiments":[129],"validate":[130],"proposed":[132],"CTR":[133,184],"workflow.":[135],"The":[136],"first":[137],"experiment":[138,159],"confirms":[139],"performance":[142],"robot":[146],"lies":[147],"within":[148],"probability":[151],"distribution":[152],"optimization,":[155],"while":[156],"second":[158],"demonstrates":[160],"feasibility":[162],"overall":[165],"system":[166],"use":[168],"micro-laryngeal":[170,205],"tasks.":[172],"work":[174],"not":[175],"only":[176],"contributes":[177],"more":[180],"understanding":[182],"by":[186],"addressing":[187],"but":[190],"also":[191],"creates":[192],"new":[194],"framework":[195],"robust":[197],"design,":[198],"as":[199],"illustrated":[200],"context":[203],"surgery.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-04T07:58:01.006859","created_date":"2025-10-10T00:00:00"}