{"id":"https://openalex.org/W2047611166","doi":"https://doi.org/10.1109/tro.2012.2194889","title":"Design and Evaluation of 2-DOF Compliant Forceps With Force-Sensing Capability for Minimally Invasive Robot Surgery","display_name":"Design and Evaluation of 2-DOF Compliant Forceps With Force-Sensing Capability for Minimally Invasive Robot Surgery","publication_year":2012,"publication_date":"2012-05-29","ids":{"openalex":"https://openalex.org/W2047611166","doi":"https://doi.org/10.1109/tro.2012.2194889","mag":"2047611166"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2194889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2194889","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/A5008803730","display_name":"Man Bok Hong","orcid":"https://orcid.org/0000-0001-8028-3730"},"institutions":[{"id":"https://openalex.org/I4210120052","display_name":"National Cancer Center","ror":"https://ror.org/02tsanh21","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I1290491151","https://openalex.org/I2801339556","https://openalex.org/I4210120052"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Man Bok Hong","raw_affiliation_strings":["Biomedical Engineering Branch, Division of Convergence Technology, National Cancer Center, Gyeonggi-do, South Korea","Interaction and Robotics Research Center, National Agenda Research Division, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Branch, Division of Convergence Technology, National Cancer Center, Gyeonggi-do, South Korea","institution_ids":["https://openalex.org/I4210120052"]},{"raw_affiliation_string":"Interaction and Robotics Research Center, National Agenda Research Division, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101521811","display_name":"Yung-Ho Jo","orcid":"https://orcid.org/0000-0003-0265-4481"},"institutions":[{"id":"https://openalex.org/I4210120052","display_name":"National Cancer Center","ror":"https://ror.org/02tsanh21","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I1290491151","https://openalex.org/I2801339556","https://openalex.org/I4210120052"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yung-Ho Jo","raw_affiliation_strings":["Department of Biomedical Engineering, National Cancer Center, Gyeonggi-do, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National Cancer Center, Gyeonggi-do, South Korea","institution_ids":["https://openalex.org/I4210120052"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4309,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.88092165,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"28","issue":"4","first_page":"932","last_page":"941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9904000163078308,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9883999824523926,"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/forceps","display_name":"Forceps","score":0.7979102730751038},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7037475109100342},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.6040016412734985},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.5917211771011353},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.5415042638778687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.513764500617981},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5065721273422241},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5006816387176514},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.4898754954338074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4298993647098541},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4199840724468231},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4134015440940857},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3850814998149872},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37648364901542664},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.36175596714019775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34898805618286133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15746819972991943},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1436769962310791},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.09282571077346802}],"concepts":[{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.7979102730751038},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7037475109100342},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.6040016412734985},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.5917211771011353},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.5415042638778687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.513764500617981},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5065721273422241},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5006816387176514},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4898754954338074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4298993647098541},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4199840724468231},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4134015440940857},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3850814998149872},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37648364901542664},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.36175596714019775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34898805618286133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15746819972991943},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1436769962310791},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.09282571077346802},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/tro.2012.2194889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2194889","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W76008554","https://openalex.org/W194813639","https://openalex.org/W1530513350","https://openalex.org/W1542056982","https://openalex.org/W1572165346","https://openalex.org/W1589859477","https://openalex.org/W1642092999","https://openalex.org/W1857721871","https://openalex.org/W1907537948","https://openalex.org/W1967085618","https://openalex.org/W1968209898","https://openalex.org/W2056807027","https://openalex.org/W2068050180","https://openalex.org/W2070328658","https://openalex.org/W2075646285","https://openalex.org/W2079456467","https://openalex.org/W2084675938","https://openalex.org/W2084780923","https://openalex.org/W2088518038","https://openalex.org/W2092925708","https://openalex.org/W2099338749","https://openalex.org/W2102170685","https://openalex.org/W2103978904","https://openalex.org/W2104370419","https://openalex.org/W2104481152","https://openalex.org/W2108817574","https://openalex.org/W2113351044","https://openalex.org/W2113858239","https://openalex.org/W2114511687","https://openalex.org/W2122933851","https://openalex.org/W2123553240","https://openalex.org/W2127249762","https://openalex.org/W2130666261","https://openalex.org/W2131066285","https://openalex.org/W2133066598","https://openalex.org/W2141176260","https://openalex.org/W2150015419","https://openalex.org/W2151770858","https://openalex.org/W2153361386","https://openalex.org/W2153923500","https://openalex.org/W2160899683","https://openalex.org/W2163824586","https://openalex.org/W2227355791","https://openalex.org/W2913641857","https://openalex.org/W2942697982","https://openalex.org/W3114830029","https://openalex.org/W4211256356","https://openalex.org/W4299418557","https://openalex.org/W6607989478","https://openalex.org/W6634207890","https://openalex.org/W6675495287","https://openalex.org/W6675541279","https://openalex.org/W6677307673","https://openalex.org/W6679587399","https://openalex.org/W6680826148","https://openalex.org/W6684317930","https://openalex.org/W6788070110"],"related_works":["https://openalex.org/W2940334365","https://openalex.org/W3093039488","https://openalex.org/W1771995663","https://openalex.org/W629783067","https://openalex.org/W3013935485","https://openalex.org/W2765432735","https://openalex.org/W2183728281","https://openalex.org/W2063698001","https://openalex.org/W3106832789","https://openalex.org/W2373298135"],"abstract_inverted_index":{"In":[0],"this":[1,112],"paper,":[2],"a":[3,47,108,161],"novel":[4],"concept":[5],"of":[6,16,24,35,73,97,107,117,140,154,157,176,181,191],"two-degree-of-freedom":[7],"(2-DOF)":[8],"compliant":[9,37,66,184],"forceps":[10,185],"is":[11,102,123,143,171,186],"suggested":[12],"for":[13,27,69],"the":[14,22,33,36,39,65,70,74,78,91,98,118,126,135,141,151,165,174,182,189,192],"measure":[15],"pulling":[17,119,167],"and":[18,54,120,128,168,197],"grasp":[19,121,169],"forces":[20,122,170],"at":[21,125],"tip":[23],"surgical":[25],"instrument":[26],"minimally":[28],"invasive":[29],"surgery":[30],"robot.":[31],"For":[32],"design":[34,113,142],"forceps,":[38,127],"required":[40],"compliance":[41,88],"characteristics":[42,89],"are":[43],"first":[44],"defined":[45],"using":[46,194],"simple":[48],"spring":[49,79,93],"model":[50,59,80],"with":[51,81],"one":[52,55],"linear":[53],"torsional":[56,83,100],"springs.":[57],"This":[58],"may":[60],"be":[61,132],"directly":[62],"realized":[63,103],"as":[64],"forceps.":[67],"However,":[68],"compact":[71],"realization":[72],"mechanism,":[75],"we":[76],"synthesize":[77],"two":[82,158],"springs":[84,101],"that":[85],"has":[86],"equivalent":[87],"to":[90,163],"linear-torsional":[92],"model.":[94],"Then,":[95],"each":[96],"synthesized":[99],"physically":[104],"by":[105,145],"means":[106],"flexure":[109,159],"hinge.":[110],"From":[111],"approach,":[114],"direct":[115],"measurement":[116],"possible":[124],"measuring":[129],"sensitivity":[130],"can":[131],"adjusted":[133],"in":[134],"synthesis":[136],"process.":[137],"The":[138],"validity":[139],"evaluated":[144],"finite":[146],"element":[147],"analysis.":[148],"Further,":[149],"from":[150,188],"measured":[152],"values":[153],"bending":[155],"strains":[156],"hinges,":[160],"method":[162],"compute":[164],"decoupled":[166],"presented":[172],"via":[173],"theory":[175],"screws.":[177],"Finally,":[178],"force-sensing":[179],"performance":[180],"proposed":[183],"verified":[187],"experiments":[190],"prototype":[193],"some":[195],"weights":[196],"load":[198],"cells.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}