{"id":"https://openalex.org/W2740405518","doi":"https://doi.org/10.1109/tro.2017.2719035","title":"Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot","display_name":"Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot","publication_year":2017,"publication_date":"2017-07-27","ids":{"openalex":"https://openalex.org/W2740405518","doi":"https://doi.org/10.1109/tro.2017.2719035","mag":"2740405518","pmid":"https://pubmed.ncbi.nlm.nih.gov/29225557"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2719035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2719035","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/5718214","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":true,"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 University, Incheon, South 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 University, Incheon, South Korea","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"middle","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, USA, 30332","Medical Robotics and Automation Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9386-5497","affiliations":[{"raw_affiliation_string":"Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA, 30332","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Medical Robotics and Automation 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/A5101948226","display_name":"Mahamadou Diakit\u00e9","orcid":"https://orcid.org/0000-0002-4268-8857"},"institutions":[{"id":"https://openalex.org/I1299303238","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88","country_code":"US","type":"government","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238"]},{"id":"https://openalex.org/I4210106489","display_name":"National Heart Lung and Blood Institute","ror":"https://ror.org/012pb6c26","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I4210106489"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahamadou Diakite","raw_affiliation_strings":["Laboratory of Imaging Technology, Biochemistry and Biophysics Center, National Heart, Lung, and Blood Institute, National Institutes of Health","Laboratory of Imaging Technology, Biochemistry and Biophysics Center, National Heart, Lung, and Blood Institute, National Institutes of Health, Bethesda, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Imaging Technology, Biochemistry and Biophysics Center, National Heart, Lung, and Blood Institute, National Institutes of Health","institution_ids":["https://openalex.org/I4210106489"]},{"raw_affiliation_string":"Laboratory of Imaging Technology, Biochemistry and Biophysics Center, National Heart, Lung, and Blood Institute, National Institutes of Health, Bethesda, MD, USA","institution_ids":["https://openalex.org/I4210106489","https://openalex.org/I1299303238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083023771","display_name":"Rao P. Gullapalli","orcid":"https://orcid.org/0000-0003-0551-0379"},"institutions":[{"id":"https://openalex.org/I126744593","display_name":"University of Maryland, Baltimore","ror":"https://ror.org/04rq5mt64","country_code":"US","type":"education","lineage":["https://openalex.org/I126744593"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rao P. Gullapalli","raw_affiliation_strings":["University of Maryland School of Medicine, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland School of Medicine, Baltimore, MD, USA","institution_ids":["https://openalex.org/I126744593"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073844022","display_name":"J. Marc Simard","orcid":"https://orcid.org/0000-0002-5373-1988"},"institutions":[{"id":"https://openalex.org/I126744593","display_name":"University of Maryland, Baltimore","ror":"https://ror.org/04rq5mt64","country_code":"US","type":"education","lineage":["https://openalex.org/I126744593"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Marc Simard","raw_affiliation_strings":["University of Maryland School of Medicine, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland School of Medicine, Baltimore, MD, USA","institution_ids":["https://openalex.org/I126744593"]}]},{"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, USA, 30332","Medical Robotics and Automation 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, USA, 30332","institution_ids":["https://openalex.org/I2802612298"]},{"raw_affiliation_string":"Medical Robotics and Automation 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":6,"corresponding_author_ids":["https://openalex.org/A5062268787"],"corresponding_institution_ids":["https://openalex.org/I146429904"],"apc_list":null,"apc_paid":null,"fwci":4.856,"has_fulltext":false,"cited_by_count":128,"citation_normalized_percentile":{"value":0.95740521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"33","issue":"6","first_page":"1386","last_page":"1397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mesoscale-meteorology","display_name":"Mesoscale meteorology","score":0.7206503748893738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5663293600082397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47493985295295715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42192813754081726},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39895859360694885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.328768253326416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2805948257446289},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.0740964412689209}],"concepts":[{"id":"https://openalex.org/C40382383","wikidata":"https://www.wikidata.org/wiki/Q2399824","display_name":"Mesoscale meteorology","level":2,"score":0.7206503748893738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5663293600082397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47493985295295715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42192813754081726},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39895859360694885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.328768253326416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2805948257446289},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0740964412689209}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2017.2719035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2719035","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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:29225557","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29225557","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:5233634","is_oa":false,"landing_page_url":"http://europepmc.org/pmc/articles/PMC5718214","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:5718214","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5718214","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:5718214","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5718214","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":[],"awards":[{"id":"https://openalex.org/G1323691728","display_name":null,"funder_award_id":"R01EB015870","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"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":32,"referenced_works":["https://openalex.org/W174765383","https://openalex.org/W1855078625","https://openalex.org/W1881254413","https://openalex.org/W1936407254","https://openalex.org/W1938785289","https://openalex.org/W1975240160","https://openalex.org/W1976456258","https://openalex.org/W1990115643","https://openalex.org/W2001386927","https://openalex.org/W2027887952","https://openalex.org/W2060754879","https://openalex.org/W2062021165","https://openalex.org/W2084432779","https://openalex.org/W2089548322","https://openalex.org/W2091394337","https://openalex.org/W2096645690","https://openalex.org/W2100890205","https://openalex.org/W2101797976","https://openalex.org/W2113019860","https://openalex.org/W2116144804","https://openalex.org/W2116318246","https://openalex.org/W2122628132","https://openalex.org/W2129123150","https://openalex.org/W2129503982","https://openalex.org/W2142828858","https://openalex.org/W2156199850","https://openalex.org/W2164587356","https://openalex.org/W2219576406","https://openalex.org/W2300225845","https://openalex.org/W2580346199","https://openalex.org/W3116349506","https://openalex.org/W6688841473"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Brain":[0],"tumor,":[1],"be":[2,79,152],"it":[3],"primary":[4],"or":[5],"metastatic,":[6],"is":[7,21,43,53,116,128],"usually":[8],"life":[9],"threatening":[10],"for":[11,45,59],"a":[12,106],"person":[13],"of":[14,23,28,57,64,88,105,118,167,184,195],"any":[15],"age.":[16],"Primary":[17],"surgical":[18],"resection":[19],"which":[20,150],"one":[22],"the":[24,39,54,80,86,99,157,168,171,192,196],"most":[25],"effective":[26],"ways":[27],"treating":[29],"brain":[30,60,89],"tumors":[31],"can":[32,151],"have":[33],"tremendously":[34],"increased":[35],"success":[36],"rate":[37],"if":[38],"appropriate":[40],"imaging":[41,51,55,62],"modality":[42,56],"used":[44],"complete":[46],"tumor":[47,61],"resection.":[48],"Magnetic":[49],"resonance":[50],"(MRI)":[52],"choice":[58],"because":[63],"its":[65,199],"excellent":[66],"soft-tissue":[67],"contrast.":[68],"MRI":[69,193],"combined":[70],"with":[71],"continuum":[72],"soft":[73],"robotics":[74],"has":[75,144],"immense":[76],"potential":[77],"to":[78,130,156],"next":[81],"major":[82],"technological":[83],"breakthrough":[84],"in":[85,202],"field":[87],"cancer":[90],"diagnosis":[91],"and":[92,102,123,127,164,170,198],"therapy.":[93],"In":[94],"this":[95],"work,":[96],"we":[97],"present":[98],"design,":[100],"kinematic,":[101],"force":[103,165],"analysis":[104,166],"flexible":[107],"spring-based":[108],"minimally":[109],"invasive":[110],"neurosurgical":[111],"intracranial":[112],"robot":[113,143,169,197],"(MINIR-II).":[114],"It":[115],"comprised":[117],"an":[119,124],"inter-connected":[120],"inner":[121],"spring":[122,126,136],"outer":[125],"connected":[129,147],"actively":[131],"cooled":[132],"shape":[133],"memory":[134],"alloy":[135],"actuators":[137],"via":[138],"tendon":[139,159],"driven":[140],"mechanism.":[141],"Our":[142],"three":[145],"serially":[146],"2-DoF":[148],"segments":[149],"independently":[153],"controlled":[154],"due":[155],"central":[158],"routing":[160],"configuration.":[161],"The":[162],"kinematic":[163],"independent":[172],"segment":[173],"control":[174],"were":[175],"verified":[176],"by":[177],"experiments.":[178],"Robot":[179],"motion":[180,200],"under":[181],"forced":[182],"cooling":[183],"SMA":[185],"springs":[186],"was":[187],"evaluated":[188],"as":[189,191],"well":[190],"compatibility":[194],"capability":[201],"brainlike":[203],"gelatin":[204],"environment.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
