{"id":"https://openalex.org/W2284990594","doi":"https://doi.org/10.1109/tro.2015.2507163","title":"Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery","display_name":"Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery","publication_year":2016,"publication_date":"2016-01-18","ids":{"openalex":"https://openalex.org/W2284990594","doi":"https://doi.org/10.1109/tro.2015.2507163","mag":"2284990594"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2507163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2507163","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/A5067435465","display_name":"Joshua G. Petersen","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joshua G. Petersen","raw_affiliation_strings":["Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008455248","display_name":"Stuart A Bowyer","orcid":"https://orcid.org/0000-0003-2726-1705"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stuart A. Bowyer","raw_affiliation_strings":["Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5199-9083","affiliations":[{"raw_affiliation_string":"Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.3647,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.79796659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"32","issue":"1","first_page":"201","last_page":"213"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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":0.9980999827384949,"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/robot-end-effector","display_name":"Robot end effector","score":0.708716630935669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6886835694313049},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6590591669082642},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.610423743724823},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.5532745122909546},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.5462599992752075},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.48290061950683594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4728676974773407},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4483923017978668},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43859192728996277},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.42050546407699585},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39753955602645874},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38916561007499695},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3493606150150299},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.325746089220047}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.708716630935669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6886835694313049},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6590591669082642},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.610423743724823},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.5532745122909546},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.5462599992752075},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.48290061950683594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4728676974773407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4483923017978668},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43859192728996277},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.42050546407699585},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39753955602645874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38916561007499695},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3493606150150299},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.325746089220047},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2015.2507163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2507163","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:spiral.imperial.ac.uk:10044/1/28141","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/28141","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"213","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320319993","display_name":"Leverhulme Trust","ror":"https://ror.org/012mzw131"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W15977616","https://openalex.org/W1567848500","https://openalex.org/W1569416880","https://openalex.org/W1942323340","https://openalex.org/W1967579238","https://openalex.org/W1973002554","https://openalex.org/W1974194387","https://openalex.org/W1981483064","https://openalex.org/W1982442957","https://openalex.org/W1982801892","https://openalex.org/W1986799330","https://openalex.org/W1992776806","https://openalex.org/W1993835416","https://openalex.org/W1997334918","https://openalex.org/W1997617402","https://openalex.org/W2007038009","https://openalex.org/W2013504885","https://openalex.org/W2015798206","https://openalex.org/W2016284881","https://openalex.org/W2045555288","https://openalex.org/W2049617391","https://openalex.org/W2049739652","https://openalex.org/W2054478282","https://openalex.org/W2059368191","https://openalex.org/W2066379939","https://openalex.org/W2068793240","https://openalex.org/W2069118837","https://openalex.org/W2070186199","https://openalex.org/W2081814343","https://openalex.org/W2089145243","https://openalex.org/W2102000567","https://openalex.org/W2102592071","https://openalex.org/W2109207762","https://openalex.org/W2114000612","https://openalex.org/W2115963790","https://openalex.org/W2128543011","https://openalex.org/W2129644801","https://openalex.org/W2130440600","https://openalex.org/W2138300314","https://openalex.org/W2139548710","https://openalex.org/W2140280613","https://openalex.org/W2141499439","https://openalex.org/W2144082062","https://openalex.org/W2144144709","https://openalex.org/W2144556291","https://openalex.org/W2150335084","https://openalex.org/W2152882024","https://openalex.org/W2153549289","https://openalex.org/W2161697710","https://openalex.org/W2164032318","https://openalex.org/W2165623742","https://openalex.org/W2166271005","https://openalex.org/W2171025682","https://openalex.org/W2188295614","https://openalex.org/W2201356391","https://openalex.org/W2250331966","https://openalex.org/W2293268320","https://openalex.org/W2296280963","https://openalex.org/W2546356977","https://openalex.org/W2615266555","https://openalex.org/W3088063282","https://openalex.org/W4238929613"],"related_works":["https://openalex.org/W2997059194","https://openalex.org/W3156745548","https://openalex.org/W2910696801","https://openalex.org/W2391238498","https://openalex.org/W2016836876","https://openalex.org/W2120214714","https://openalex.org/W2042803082","https://openalex.org/W4310880103","https://openalex.org/W2252542483","https://openalex.org/W1841813327"],"abstract_inverted_index":{"In":[0],"hands-on":[1,61],"robotic":[2],"surgery,":[3,69],"the":[4,10,20,25,34,45,51,72,77,80,83,102,107,113,123,126,130,141,147,156,171,176],"surgical":[5,210,218],"tool":[6,205],"is":[7,16,70,110,158],"mounted":[8],"on":[9,183],"end-effector":[11],"of":[12,27,44,50,79,106,125],"a":[13,95,117,149,196,202],"robot":[14,81,108],"and":[15,30,40,55,89,104,132,165,180,186,220],"directly":[17,36],"manipulated":[18],"by":[19,112,146,155],"surgeon.":[21,114],"This":[22,92],"simultaneously":[23,100],"exploits":[24],"strengths":[26],"both":[28,163],"humans":[29],"robots,":[31],"such":[32,67],"that":[33,71,109,170,194],"surgeon":[35],"feels":[37],"tool\u2013tissue":[38],"interactions":[39],"remains":[41],"in":[42,60,152,162,201],"control":[43],"procedure,":[46],"while":[47],"taking":[48],"advantage":[49],"robot's":[52],"higher":[53],"precision":[54],"accuracy.":[56],"A":[57],"crucial":[58],"challenge":[59],"robotics":[62],"for":[63,99,121,139],"delicate":[64],"manipulation":[65],"tasks,":[66],"as":[68,144],"user":[73,157,167],"must":[74],"interact":[75],"with":[76,135,214],"dynamics":[78,153],"at":[82],"end-effector,":[84,131],"which":[85],"can":[86,174,199],"reduce":[87,175],"dexterity":[88],"increase":[90],"fatigue.":[91],"paper":[93],"presents":[94],"null-space-based":[96],"optimization":[97,119],"technique":[98,120],"minimizing":[101,122,140],"mass":[103,179],"friction":[105,128,181],"experienced":[111],"By":[115],"defining":[116],"novel":[118],"projection":[124],"joint":[127],"onto":[129],"integrating":[133],"this":[134],"our":[136],"previous":[137],"techniques":[138],"belted":[142],"mass/inertia":[143],"perceived":[145],"hand,":[148],"significant":[150],"reduction":[151],"felt":[154],"achieved.":[159],"Experimental":[160],"analyses":[161],"simulation":[164],"human":[166],"trials":[168],"demonstrate":[169,193],"presented":[172,191],"method":[173],"user-experienced":[177],"dynamic":[178],"by,":[182],"average,":[184],"44%":[185],"41%,":[187],"respectively.":[188],"The":[189],"results":[190],"robustly":[192],"optimizing":[195],"robots":[197,211],"pose":[198],"result":[200],"more":[203],"natural":[204],"motion,":[206],"potentially":[207],"allowing":[208],"future":[209],"to":[212],"operate":[213],"increased":[215],"usability,":[216],"improved":[217],"outcomes,":[219],"wider":[221],"clinical":[222],"uptake.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}