{"id":"https://openalex.org/W2597413148","doi":"https://doi.org/10.1109/tro.2017.2679199","title":"New Actuation Mechanism for Actively Cooled SMA Springs in a Neurosurgical Robot","display_name":"New Actuation Mechanism for Actively Cooled SMA Springs in a Neurosurgical Robot","publication_year":2017,"publication_date":"2017-03-31","ids":{"openalex":"https://openalex.org/W2597413148","doi":"https://doi.org/10.1109/tro.2017.2679199","mag":"2597413148","pmid":"https://pubmed.ncbi.nlm.nih.gov/29151822"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2679199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2679199","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5687518","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072251844","display_name":"Shing Shin Cheng","orcid":"https://orcid.org/0000-0002-9386-5497"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shing Shin Cheng","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA","Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062268787","display_name":"Yeongjin Kim","orcid":"https://orcid.org/0000-0001-5130-001X"},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeongjin Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Incheon National University, 8-204, 119 Academy-ro, Yeonsu-gu, Incheon, Republic of Korea","Department of Mechanical Engineering, Incheon National Universit, Incheon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Incheon National University, 8-204, 119 Academy-ro, Yeonsu-gu, Incheon, Republic of Korea","institution_ids":["https://openalex.org/I146429904"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Incheon National Universit, Incheon, Korea","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA","Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5855,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.90072128,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"33","issue":"4","first_page":"986","last_page":"993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9890000224113464,"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/T10618","display_name":"Aortic Disease and Treatment Approaches","score":0.9225000143051147,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.7957190275192261},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7452964782714844},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7111674547195435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.616178035736084},{"id":"https://openalex.org/keywords/compressed-air","display_name":"Compressed air","score":0.5837236642837524},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.5039605498313904},{"id":"https://openalex.org/keywords/water-cooling","display_name":"Water cooling","score":0.4685695171356201},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4154263436794281},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4089663028717041},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4085657000541687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3624681234359741},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3605077266693115},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3515438437461853},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14251628518104553},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13975849747657776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12909772992134094},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09855082631111145}],"concepts":[{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.7957190275192261},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7452964782714844},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7111674547195435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.616178035736084},{"id":"https://openalex.org/C1934278","wikidata":"https://www.wikidata.org/wiki/Q143746","display_name":"Compressed air","level":2,"score":0.5837236642837524},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.5039605498313904},{"id":"https://openalex.org/C7694927","wikidata":"https://www.wikidata.org/wiki/Q7667810","display_name":"Water cooling","level":2,"score":0.4685695171356201},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4154263436794281},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4089663028717041},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4085657000541687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3624681234359741},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3605077266693115},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3515438437461853},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14251628518104553},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13975849747657776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12909772992134094},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09855082631111145},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2017.2679199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2679199","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":"pmid:29151822","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29151822","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:europepmc.org:5019876","is_oa":false,"landing_page_url":"http://europepmc.org/pmc/articles/PMC5687518","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5687518","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5687518","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:5687518","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5687518","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/6","display_name":"Clean water and sanitation","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G1394514161","display_name":null,"funder_award_id":"R01EB015870","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G7164657237","display_name":null,"funder_award_id":"R01 EB015870","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1502266430","https://openalex.org/W1579879290","https://openalex.org/W1855078625","https://openalex.org/W1881254413","https://openalex.org/W1969107410","https://openalex.org/W1972942622","https://openalex.org/W2005605624","https://openalex.org/W2013701630","https://openalex.org/W2026859305","https://openalex.org/W2027887952","https://openalex.org/W2030797739","https://openalex.org/W2044952503","https://openalex.org/W2052805468","https://openalex.org/W2060908539","https://openalex.org/W2068971113","https://openalex.org/W2084432779","https://openalex.org/W2091394337","https://openalex.org/W2100949194","https://openalex.org/W2116144804","https://openalex.org/W2116318246","https://openalex.org/W2123296641","https://openalex.org/W2140759426","https://openalex.org/W2142828858","https://openalex.org/W2157570937","https://openalex.org/W2200568177","https://openalex.org/W2218460536","https://openalex.org/W2219576406","https://openalex.org/W2254832898","https://openalex.org/W2263086002","https://openalex.org/W2471957552","https://openalex.org/W2494419248","https://openalex.org/W2535851765","https://openalex.org/W2737415218","https://openalex.org/W3155762550","https://openalex.org/W4285719527","https://openalex.org/W6630236755","https://openalex.org/W6675180886","https://openalex.org/W6688841473","https://openalex.org/W6693285268","https://openalex.org/W6720605026"],"related_works":["https://openalex.org/W2240404672","https://openalex.org/W2744612160","https://openalex.org/W2089457653","https://openalex.org/W2368486505","https://openalex.org/W1986752515","https://openalex.org/W4252077727","https://openalex.org/W2626373589","https://openalex.org/W2382235839","https://openalex.org/W2153672924","https://openalex.org/W2163192098"],"abstract_inverted_index":{"The":[0],"paper":[1],"presents":[2],"the":[3,17,20,28,33,39,44,54,70,76,82,98,117,138,141],"use":[4],"of":[5,19,30,53,69,140],"shape":[6],"memory":[7],"alloy":[8],"(SMA)":[9],"spring":[10],"actuators":[11],"with":[12,109],"real-time":[13,51],"cooling":[14,34,104,112],"to":[15,41,49,96,115,120],"control":[16,52],"motion":[18,100],"MINIR-II":[21],"robot.":[22],"A":[23],"new":[24],"actuation":[25,83,142],"mechanism":[26],"involving":[27],"passage":[29],"water":[31,45,61,103],"as":[32,38,59],"medium":[35,40],"and":[36,66,80,88,113,129],"air":[37,111],"drive":[42],"out":[43],"has":[46,105],"been":[47,91,107,135],"developed":[48,136],"facilitate":[50],"springs.":[55],"Control":[56],"parameters,":[57],"such":[58],"current,":[60],"flow":[62],"rates,":[63],"SMA":[64,77],"pre-displacement,":[65],"gauge":[67],"pressure":[68],"compressed":[71],"air,":[72],"are":[73],"identified":[74],"from":[75,81],"thermal":[78],"model":[79],"mechanism.":[84,143],"In":[85],"depth":[86],"modeling":[87],"characterization":[89],"have":[90,134],"performed":[92],"regarding":[93],"these":[94],"parameters":[95],"optimize":[97],"robot":[99,123,127],"speed.":[101,124],"Forced":[102],"also":[106],"compared":[108],"forced":[110],"proved":[114],"be":[116],"superior":[118],"method":[119],"achieve":[121],"higher":[122],"An":[125],"improved":[126],"design":[128],"an":[130],"MRI-compatible":[131],"experimental":[132],"platform":[133],"for":[137],"implementation":[139]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":7}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
