{"id":"https://openalex.org/W3164830757","doi":"https://doi.org/10.1109/thms.2021.3076038","title":"Using Operator Gaze Tracking to Design Wrist Mechanism for Surgical Robots","display_name":"Using Operator Gaze Tracking to Design Wrist Mechanism for Surgical Robots","publication_year":2021,"publication_date":"2021-05-24","ids":{"openalex":"https://openalex.org/W3164830757","doi":"https://doi.org/10.1109/thms.2021.3076038","mag":"3164830757"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2021.3076038","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3076038","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-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/A5064884431","display_name":"Satoshi Miura","orcid":"https://orcid.org/0000-0001-5402-8074"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Satoshi Miura","raw_affiliation_strings":["Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Department of Mechanical Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5402-8074","affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082314726","display_name":"Ryutaro Ohta","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryutaro Ohta","raw_affiliation_strings":["Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101671671","display_name":"Yang Cao","orcid":"https://orcid.org/0000-0003-2894-6730"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yang Cao","raw_affiliation_strings":["Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014322597","display_name":"Kazuya Kawamura","orcid":"https://orcid.org/0000-0002-2736-1311"},"institutions":[{"id":"https://openalex.org/I159385669","display_name":"Chiba University","ror":"https://ror.org/01hjzeq58","country_code":"JP","type":"education","lineage":["https://openalex.org/I159385669"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Kawamura","raw_affiliation_strings":["Chiba University, Chiba, Japan","Center for Frontier Medical Engineering, Chiba University, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2736-1311","affiliations":[{"raw_affiliation_string":"Chiba University, Chiba, Japan","institution_ids":["https://openalex.org/I159385669"]},{"raw_affiliation_string":"Center for Frontier Medical Engineering, Chiba University, Chiba, Japan","institution_ids":["https://openalex.org/I159385669"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070277351","display_name":"Yo Kobayashi","orcid":"https://orcid.org/0000-0003-4358-6294"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yo Kobayashi","raw_affiliation_strings":["Healthcare Robotics Institute, Waseda University, Tokyo, Japan","Future Robotics Organization, Healthcare Robotics Institute, Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4358-6294","affiliations":[{"raw_affiliation_string":"Healthcare Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Future Robotics Organization, Healthcare Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masakatsu G. Fujie","raw_affiliation_strings":["Healthcare Robotics Institute, Waseda University, Tokyo, Japan","Future Robotics Organization, Healthcare Robotics Institute, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Healthcare Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Future Robotics Organization, Healthcare Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5064884431"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.3398,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.53174456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"51","issue":"4","first_page":"376","last_page":"383"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.6892894506454468},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6441839933395386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.618802011013031},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.6093675494194031},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5575505495071411},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5137008428573608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.513127863407135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48370200395584106},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4654206931591034},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4622580409049988},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.437238872051239},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42600885033607483},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4250672459602356},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3385000228881836},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.33047497272491455},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19036424160003662},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.18472355604171753}],"concepts":[{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.6892894506454468},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6441839933395386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.618802011013031},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.6093675494194031},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5575505495071411},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5137008428573608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.513127863407135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48370200395584106},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4654206931591034},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4622580409049988},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.437238872051239},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42600885033607483},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4250672459602356},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3385000228881836},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.33047497272491455},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19036424160003662},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.18472355604171753},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2021.3076038","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3076038","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W64871464","https://openalex.org/W107587706","https://openalex.org/W1541492410","https://openalex.org/W1632095576","https://openalex.org/W1839056917","https://openalex.org/W1942566371","https://openalex.org/W1966059025","https://openalex.org/W1969202206","https://openalex.org/W1976425187","https://openalex.org/W1993254594","https://openalex.org/W2011832765","https://openalex.org/W2021435529","https://openalex.org/W2022020105","https://openalex.org/W2028377616","https://openalex.org/W2042750428","https://openalex.org/W2059164233","https://openalex.org/W2061148251","https://openalex.org/W2077064828","https://openalex.org/W2077819131","https://openalex.org/W2089913832","https://openalex.org/W2095164951","https://openalex.org/W2103617625","https://openalex.org/W2114414717","https://openalex.org/W2149369295","https://openalex.org/W2150497272","https://openalex.org/W2169417829","https://openalex.org/W2292627934","https://openalex.org/W2293674990","https://openalex.org/W2301658739","https://openalex.org/W2399733154","https://openalex.org/W2594232701","https://openalex.org/W2617207308","https://openalex.org/W2620076767","https://openalex.org/W2679674811","https://openalex.org/W2726635411","https://openalex.org/W2737009123","https://openalex.org/W2747460274","https://openalex.org/W2761691867","https://openalex.org/W2767544118","https://openalex.org/W2803865397","https://openalex.org/W2885086590","https://openalex.org/W2890251228","https://openalex.org/W2891405116","https://openalex.org/W2899441495","https://openalex.org/W2902084613","https://openalex.org/W2904256700","https://openalex.org/W2951211159","https://openalex.org/W2963837533","https://openalex.org/W4285719527","https://openalex.org/W4303101870","https://openalex.org/W6741734696"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1880689012","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2077790809"],"abstract_inverted_index":{"This":[0,50],"article":[1],"assessed":[2],"how":[3],"surgical":[4,13,59,109],"robot":[5],"parameters":[6],"influenced":[7],"operator":[8],"viewpoint":[9,119],"during":[10,47],"a":[11,106],"simulated":[12,129],"procedure.":[14,49],"Surgical":[15],"robots":[16],"are":[17],"useful":[18],"tools":[19],"in":[20,54,64],"minimally":[21],"invasive":[22],"surgery.":[23,66],"However,":[24],"even":[25],"with":[26,124],"robots,":[27],"suturing":[28],"is":[29,34,42,51,61],"difficult":[30],"because":[31],"the":[32,48,58,72,94,99,115,132,136,141,145,153,156,160,165,168,174,180,189,203,207,212,222,227,233],"needle":[33,162],"sometimes":[35],"obscured":[36],"by":[37,217],"tissue":[38,130],"or":[39,214],"manipulators":[40],"and":[41,74,78,82,96,117,125,131,176,225,232],"thus":[43],"not":[44],"always":[45],"visible":[46],"especially":[52],"true":[53],"pediatric":[55],"surgery,":[56],"where":[57],"environment":[60],"smaller":[62],"than":[63],"adult":[65],"Hence,":[67],"surgeons":[68],"must":[69],"carefully":[70],"track":[71],"instruments":[73,175,213],"tissues":[75],"to":[76,92,147],"understand":[77],"predict":[79],"their":[80],"current":[81],"expected":[83],"situations.":[84],"In":[85,135,152,164],"this":[86,198],"article,":[87],"we":[88,121,139,201],"used":[89],"gaze-tracking":[90],"techniques":[91],"analyze":[93],"location":[95],"timing":[97],"of":[98,101,144,185,205],"gaze":[100],"participants":[102,157,169,208],"while":[103],"they":[104],"manipulated":[105],"virtual":[107],"robotic":[108],"simulation":[110],"system.":[111],"To":[112],"differentiate":[113],"between":[114,229],"ideal":[116],"actual":[118],"trajectories,":[120],"conducted":[122],"experiments":[123],"without":[126],"obstacles":[127],"(i.e.,":[128],"manipulator":[133,146],"arm).":[134],"obstacle":[137],"condition,":[138,155,167],"modulated":[140],"wrist":[142,194,218,230],"length":[143,195,231],"bring":[148],"it":[149],"into":[150],"view.":[151],"no-obstacle":[154],"mostly":[158],"watched":[159],"suture":[161],"tip.":[163],"with-obstacle":[166],"spent":[170,187,209],"less":[171],"time":[172,178,186,206],"watching":[173,179,188,234],"more":[177],"target":[181,190,215],"point.":[182],"The":[183],"amount":[184],"point":[191],"increased":[192],"as":[193],"increased.":[196],"Given":[197],"tradeoff":[199],"relationship,":[200],"examined":[202],"proportion":[204],"looking":[210],"at":[211],"points":[216],"length.":[219],"We":[220],"calculated":[221],"Pareto":[223],"solutions":[224],"clarified":[226],"relationship":[228],"parts.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
