{"id":"https://openalex.org/W2780143578","doi":"https://doi.org/10.1109/tie.2017.2786206","title":"Single-Master Dual-Slave Surgical Robot With Automated Relay of Suture Needle","display_name":"Single-Master Dual-Slave Surgical Robot With Automated Relay of Suture Needle","publication_year":2018,"publication_date":"2018-01-02","ids":{"openalex":"https://openalex.org/W2780143578","doi":"https://doi.org/10.1109/tie.2017.2786206","mag":"2780143578"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2017.2786206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2786206","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5101522395","display_name":"Kengo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kengo Watanabe","raw_affiliation_strings":["Department of Biomechanics, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo, Japan","institution_ids":["https://openalex.org/I125602781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060719426","display_name":"Takahiro Kanno","orcid":"https://orcid.org/0000-0003-0635-9084"},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Kanno","raw_affiliation_strings":["Department of Biomechanics, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo, Japan","institution_ids":["https://openalex.org/I125602781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106546962","display_name":"Kazuhisa Ito","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhisa Ito","raw_affiliation_strings":["Department of Machinery and Control Systems, Shibaura Institute of Technology, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Machinery and Control Systems, Shibaura Institute of Technology, Saitama, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084289055","display_name":"Kenji Kawashima","orcid":"https://orcid.org/0000-0002-0161-8270"},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Kawashima","raw_affiliation_strings":["Department of Biomechanics, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo, Japan","institution_ids":["https://openalex.org/I125602781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101522395"],"corresponding_institution_ids":["https://openalex.org/I125602781"],"apc_list":null,"apc_paid":null,"fwci":3.0508,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.91498154,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"65","issue":"8","first_page":"6343","last_page":"6351"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.998199999332428,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9976000189781189,"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/master/slave","display_name":"Master/slave","score":0.9142255783081055},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8633763790130615},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.8028242588043213},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6698471307754517},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6660608053207397},{"id":"https://openalex.org/keywords/throwing","display_name":"Throwing","score":0.5679384469985962},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.5428339242935181},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.49094560742378235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4722292423248291},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46480074524879456},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4430431127548218},{"id":"https://openalex.org/keywords/fibrous-joint","display_name":"Fibrous joint","score":0.44253650307655334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37788477540016174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3386371433734894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3280133903026581},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.27220118045806885},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15109336376190186},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13546642661094666},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11513620615005493}],"concepts":[{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.9142255783081055},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8633763790130615},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.8028242588043213},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6698471307754517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6660608053207397},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.5679384469985962},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.5428339242935181},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.49094560742378235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4722292423248291},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46480074524879456},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4430431127548218},{"id":"https://openalex.org/C2777327002","wikidata":"https://www.wikidata.org/wiki/Q2865760","display_name":"Fibrous joint","level":2,"score":0.44253650307655334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37788477540016174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3386371433734894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3280133903026581},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.27220118045806885},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15109336376190186},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13546642661094666},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11513620615005493},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2017.2786206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2786206","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W76008554","https://openalex.org/W1584687743","https://openalex.org/W1588269491","https://openalex.org/W2002072140","https://openalex.org/W2026988104","https://openalex.org/W2029484250","https://openalex.org/W2042262752","https://openalex.org/W2061417916","https://openalex.org/W2065883524","https://openalex.org/W2070927739","https://openalex.org/W2083016933","https://openalex.org/W2098701449","https://openalex.org/W2102935817","https://openalex.org/W2105605116","https://openalex.org/W2109287591","https://openalex.org/W2145981264","https://openalex.org/W2146230014","https://openalex.org/W2153552528","https://openalex.org/W2165077289","https://openalex.org/W2166851428","https://openalex.org/W2169817992","https://openalex.org/W2525921023","https://openalex.org/W2598070036","https://openalex.org/W4235876038","https://openalex.org/W4245630123","https://openalex.org/W6675860670","https://openalex.org/W6683933436"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W157833000","https://openalex.org/W2101849315"],"abstract_inverted_index":{"Automating":[0],"ubiquitous":[1],"surgical":[2,25],"subtasks":[3],"such":[4],"as":[5,164],"suturing":[6,129],"makes":[7],"surgery":[8,17],"more":[9],"efficient,":[10],"e.g.,":[11],"reduction":[12],"of":[13,38,49,62,85,102,159,172,209],"surgeon":[14],"fatigue":[15],"and/or":[16],"time.":[18],"However,":[19],"fully":[20],"autonomous":[21,170],"control":[22],"in":[23,34,56,185,211],"a":[24,46,50,67,91,165],"robot":[26],"is":[27,130,140,151,162],"still":[28],"difficult":[29],"due":[30],"to":[31,80,117,142,167,175],"individual":[32],"differences":[33],"layout":[35],"and":[36,53,69,105,112,127,183,188,197],"deformation":[37],"human":[39],"organs.":[40],"In":[41],"this":[42,134],"paper,":[43],"we":[44],"propose":[45],"system":[47,196],"consisting":[48],"single":[51,181],"master":[52,68],"dual":[54],"slave,":[55],"which":[57,150],"the":[58,63,70,78,86,100,103,110,114,125,128,144,155,169,177,186,190,194],"operator":[59,76],"commands":[60],"one":[61,84],"slaves":[64,87],"manually":[65,82,152],"through":[66],"other":[71,94],"slave":[72,95],"autonomously":[73],"moves.":[74],"The":[75,93,136,201],"inserts":[77],"needle":[79,104,115,126,145],"organ":[81],"using":[83,193],"(Slave":[88,96],"A1)":[89],"with":[90,154],"master.":[92,156],"A2)":[97],"automatically":[98],"grasps":[99],"tip":[101],"pulls":[106],"it":[107],"out":[108],"from":[109],"organ,":[111],"hands":[113],"back":[116],"Slave":[118,122,148,173],"A1":[119,123],"automatically.":[120],"Finally,":[121],"regrasps":[124],"performed":[131],"by":[132,147,206],"repeating":[133],"procedure.":[135],"estimated":[137],"external":[138,160],"force":[139,161],"used":[141,163],"recognize":[143],"insertion":[146],"A1,":[149],"controlled":[153],"This":[157],"recognition":[158],"trigger":[166],"start":[168],"approach":[171],"A2":[174],"grasp":[176],"needle.":[178],"We":[179],"conducted":[180],"throwing":[182],"reinsertion":[184],"experiment":[187],"compared":[189],"completion":[191,202],"time":[192,203],"proposed":[195],"conventional":[198],"bimanual":[199],"teleoperation.":[200],"was":[204],"decreased":[205],"an":[207],"average":[208],"20%":[210],"total.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}