{"id":"https://openalex.org/W4285310590","doi":"https://doi.org/10.1109/tim.2022.3183672","title":"A Compact FBG-Based Triaxial Force Sensor With Parallel Helical Beams for Robotic-Assisted Surgery","display_name":"A Compact FBG-Based Triaxial Force Sensor With Parallel Helical Beams for Robotic-Assisted Surgery","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4285310590","doi":"https://doi.org/10.1109/tim.2022.3183672"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3183672","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3183672","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100391352","display_name":"Jianhua Li","orcid":"https://orcid.org/0000-0001-9967-052X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianhua Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","Chinese Academy of Sciences, Shenyang, China","Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9967-052X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","institution_ids":[]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089715645","display_name":"Chongyang Wang","orcid":"https://orcid.org/0000-0001-8244-8586"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongyang Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-8244-8586","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","institution_ids":[]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075758787","display_name":"Zhiyuan Mao","orcid":"https://orcid.org/0000-0002-2434-1067"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I91656880","display_name":"China Medical University","ror":"https://ror.org/032d4f246","country_code":"CN","type":"education","lineage":["https://openalex.org/I91656880"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Mao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","China Medical University, Shenyang, China","Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-2434-1067","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"China Medical University, Shenyang, China","institution_ids":["https://openalex.org/I91656880"]},{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","institution_ids":[]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100345962","display_name":"Yu Liu","orcid":"https://orcid.org/0000-0003-4897-5299"},"institutions":[{"id":"https://openalex.org/I4210129955","display_name":"General Hospital of Shenyang Military Region","ror":"https://ror.org/0340t0585","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129955"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["General Hospital of Northern Theater Command, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-4897-5299","affiliations":[{"raw_affiliation_string":"General Hospital of Northern Theater Command, Shenyang, China","institution_ids":["https://openalex.org/I4210129955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756467","display_name":"Zhidong Wang","orcid":"https://orcid.org/0000-0001-7136-3341"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhidong Wang","raw_affiliation_strings":["Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Narashino, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7136-3341","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Narashino, Japan","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082274282","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0002-8278-1263"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liu","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","Chinese Academy of Sciences, Shenyang, China","Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-8278-1263","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100391352"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":2.7797,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.90733199,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"9"},"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9681000113487244,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4606267511844635},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.40931856632232666},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.36713576316833496},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3487209379673004}],"concepts":[{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4606267511844635},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.40931856632232666},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.36713576316833496},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3487209379673004}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2022.3183672","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3183672","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2123592406","display_name":null,"funder_award_id":"2020-KF-12-01","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G5417242182","display_name":null,"funder_award_id":"61873257","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8837333616","display_name":null,"funder_award_id":"U20A20195","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W2010867526","https://openalex.org/W2042262752","https://openalex.org/W2099295786","https://openalex.org/W2111551460","https://openalex.org/W2514103357","https://openalex.org/W2586629171","https://openalex.org/W2588333893","https://openalex.org/W2606215192","https://openalex.org/W2746515375","https://openalex.org/W2787667999","https://openalex.org/W2795232811","https://openalex.org/W2884823105","https://openalex.org/W2889343662","https://openalex.org/W2889778899","https://openalex.org/W2914029293","https://openalex.org/W2935692098","https://openalex.org/W2966933909","https://openalex.org/W2967570366","https://openalex.org/W2984069541","https://openalex.org/W2998475224","https://openalex.org/W3011788952","https://openalex.org/W3034458170","https://openalex.org/W3083942091","https://openalex.org/W3193297763","https://openalex.org/W3204157319","https://openalex.org/W3205296610","https://openalex.org/W4205999925","https://openalex.org/W4206700596","https://openalex.org/W4206941544"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036"],"abstract_inverted_index":{"Force":[0],"sensing":[1],"is":[2,35,81,88,108,129,157],"important":[3],"for":[4,134],"surgical":[5,11,15],"robotics":[6],"in":[7,190],"order":[8],"to":[9,110,163],"realize":[10],"palpation":[12,167],"and":[13,44,56,66,83,102,112,138,145,183],"ensure":[14],"safety.":[16],"In":[17,153],"this":[18],"paper,":[19],"we":[20],"design":[21],"a":[22,49,148,160,191],"compact":[23,98],"triaxial":[24],"force":[25,33,92,115,121,125,137,140],"sensor":[26,34,72,80,93,122,156,175],"based":[27],"on":[28,159],"fiber":[29],"Bragg":[30],"gratings.":[31],"The":[32,75,91,117,132,169],"composed":[36],"of":[37,70,78,86,97,119,150,186],"an":[38],"elastic":[39,60],"structure,":[40,99],"two":[41],"supporting":[42],"disks,":[43],"four":[45],"fibers.":[46],"To":[47],"achieve":[48],"good":[50,103],"balance":[51],"between":[52],"the":[53,59,67,71,79,84,95,114,120,135,155,174,184,187],"axial":[54,136],"resolution":[55],"radial":[57,139],"resolution,":[58],"structure":[61,68],"has":[62,94],"parallel":[63],"helical":[64],"beams":[65],"parameters":[69],"are":[73,141],"optimized.":[74],"mechanical":[76],"model":[77,193],"proposed":[82],"influence":[85],"temperature":[87],"also":[89,130,195],"considered.":[90],"advantages":[96],"easy":[100],"assembly,":[101],"scalability.":[104],"An":[105],"experimental":[106,170],"setup":[107],"used":[109],"calibrate":[111],"evaluate":[113,165],"sensor.":[116],"performance":[118],"under":[123],"dynamic":[124],"with":[126,147,180],"different":[127,178,181],"frequencies":[128],"evaluated.":[131],"resolutions":[133],"respectively":[142],"0.01":[143],"N":[144],"0.012N":[146],"range":[149],"0~5":[151],"N.":[152],"addition,":[154],"fixed":[158],"robot":[161],"arm":[162],"further":[164],"its":[166],"ability.":[168],"results":[171],"show":[172],"that":[173],"can":[176,194],"recognize":[177],"materials":[179],"stiffnesses":[182],"position":[185],"rigid":[188],"body":[189],"silica":[192],"be":[196],"determined.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}