{"id":"https://openalex.org/W2113984044","doi":"https://doi.org/10.1109/tro.2008.2006865","title":"Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs","display_name":"Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs","publication_year":2008,"publication_date":"2008-12-08","ids":{"openalex":"https://openalex.org/W2113984044","doi":"https://doi.org/10.1109/tro.2008.2006865","mag":"2113984044"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2008.2006865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2006865","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5100323807","display_name":"Wei Wei","orcid":"https://orcid.org/0000-0003-1759-4127"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Wei","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA","Dept. of Mech. Eng., Columbia Univ., New York, NY#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Columbia Univ., New York, NY#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006408200","display_name":"Roger E. Goldman","orcid":"https://orcid.org/0000-0003-0394-3744"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.E. Goldman","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA","Dept. of Mech. Eng., Columbia Univ., New York, NY#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Columbia Univ., New York, NY#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113992765","display_name":"H. F. Fine","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H.F. Fine","raw_affiliation_strings":["Department of Ophthalmology, Columbia University, New York, NY, USA","Department of Ophthalmology, Columbia University, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Ophthalmology, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Department of Ophthalmology, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036585007","display_name":"Stanley Chang","orcid":"https://orcid.org/0000-0002-0103-2915"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stanley Chang","raw_affiliation_strings":["Department of Ophthalmology, Columbia University, New York, NY, USA","Department of Ophthalmology, Columbia University, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Ophthalmology, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Department of Ophthalmology, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007822020","display_name":"Nabil Simaan","orcid":"https://orcid.org/0000-0002-6125-3891"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Simaan","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA","Dept. of Mech. Eng., Columbia Univ., New York, NY#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Columbia Univ., New York, NY#TAB#","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":2.7019,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.89662152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"25","issue":"1","first_page":"147","last_page":"157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9922999739646912,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/robotic-arm","display_name":"Robotic arm","score":0.6347032189369202},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5341763496398926},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5255635976791382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47892531752586365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44932398200035095},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.4329123795032501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4271197021007538},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40758299827575684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3112221956253052}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6347032189369202},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5341763496398926},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5255635976791382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47892531752586365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44932398200035095},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.4329123795032501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4271197021007538},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40758299827575684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3112221956253052},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2008.2006865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2006865","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.510.6719","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.510.6719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.columbia.edu/cu/mece/arma/publications/Wei_Simaan_TRO_Paper_Final_for_ARMA_web_page.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W173264240","https://openalex.org/W1256870269","https://openalex.org/W1494903981","https://openalex.org/W1510918013","https://openalex.org/W1593906170","https://openalex.org/W1602060176","https://openalex.org/W1629552200","https://openalex.org/W1896435690","https://openalex.org/W1977186231","https://openalex.org/W1980232872","https://openalex.org/W2016061395","https://openalex.org/W2026054764","https://openalex.org/W2031635696","https://openalex.org/W2035018511","https://openalex.org/W2048614110","https://openalex.org/W2049410986","https://openalex.org/W2062653996","https://openalex.org/W2070917084","https://openalex.org/W2077129956","https://openalex.org/W2080865204","https://openalex.org/W2096117953","https://openalex.org/W2097193816","https://openalex.org/W2098408745","https://openalex.org/W2100932843","https://openalex.org/W2110647104","https://openalex.org/W2113263132","https://openalex.org/W2124860692","https://openalex.org/W2125429845","https://openalex.org/W2132167838","https://openalex.org/W2134204474","https://openalex.org/W2134555091","https://openalex.org/W2137011683","https://openalex.org/W2137091831","https://openalex.org/W2142032247","https://openalex.org/W2143047169","https://openalex.org/W2144166656","https://openalex.org/W2145296276","https://openalex.org/W2148735693","https://openalex.org/W2149985621","https://openalex.org/W2153091458","https://openalex.org/W2157476440","https://openalex.org/W2166328906","https://openalex.org/W2167487997","https://openalex.org/W2170714800","https://openalex.org/W2341668857","https://openalex.org/W2973733253","https://openalex.org/W3023331588","https://openalex.org/W3180482864","https://openalex.org/W4210556961","https://openalex.org/W4231034584","https://openalex.org/W4252180319","https://openalex.org/W6674977119"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W1992538606","https://openalex.org/W2746642893","https://openalex.org/W4313255720","https://openalex.org/W2658949566","https://openalex.org/W2159863035","https://openalex.org/W4283785991","https://openalex.org/W1627529007","https://openalex.org/W2330742316","https://openalex.org/W4285181509"],"abstract_inverted_index":{"This":[0,23],"paper":[1],"presents":[2],"a":[3,28,103],"unified":[4],"mathematical":[5],"framework":[6,24],"for":[7,36,50,68,82,87],"modeling":[8],"and":[9],"evaluating":[10],"the":[11,46,78],"performance":[12],"of":[13,77,94],"multiple":[14,63],"robotic":[15,32,80,96],"arms":[16],"that":[17],"operate":[18],"on":[19,62],"hollow":[20,56],"suspended":[21,57],"organs.":[22,58],"is":[25],"applied":[26],"to":[27,44,71],"novel":[29],"two-armed":[30],"hybrid":[31],"system":[33,81,97],"being":[34],"developed":[35],"ophthalmic":[37,83],"vitreous":[38],"surgeries.":[39],"Four":[40],"cases":[41],"are":[42,66,85],"designated":[43],"capture":[45],"general":[47],"movements":[48],"required":[49],"any":[51],"surgical":[52,100],"procedure":[53],"associated":[54],"with":[55,98],"Dexterity":[59],"measures,":[60],"based":[61],"characteristic":[64],"lengths,":[65],"presented":[67,86],"procedures":[69],"corresponding":[70],"these":[72],"manipulation":[73,90],"cases.":[74,91],"Simulation":[75],"results":[76],"dual-arm":[79],"surgery":[84],"all":[88],"four":[89],"A":[92],"comparison":[93],"this":[95],"current":[99],"tools":[101],"shows":[102],"significant":[104],"improvement":[105],"in":[106],"intraocular":[107],"dexterity.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}