{"id":"https://openalex.org/W2763080578","doi":"https://doi.org/10.1109/tro.2017.2750692","title":"Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery","display_name":"Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery","publication_year":2017,"publication_date":"2017-10-12","ids":{"openalex":"https://openalex.org/W2763080578","doi":"https://doi.org/10.1109/tro.2017.2750692","mag":"2763080578","pmid":"https://pubmed.ncbi.nlm.nih.gov/29434530"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2750692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2750692","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/5806630","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":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 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 30332, USA","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 30332, USA","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":"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 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 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":2.6753,"has_fulltext":false,"cited_by_count":110,"citation_normalized_percentile":{"value":0.90108942,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"34","issue":"1","first_page":"18","last_page":"28"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9930999875068665,"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/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6670252084732056},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6112138032913208},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.590768575668335},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.5341395735740662},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43996116518974304},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39982035756111145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3859397768974304},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32870617508888245},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3222457766532898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30935513973236084},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3012070655822754}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6670252084732056},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6112138032913208},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.590768575668335},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.5341395735740662},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43996116518974304},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39982035756111145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3859397768974304},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32870617508888245},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3222457766532898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30935513973236084},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3012070655822754},{"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.2017.2750692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2750692","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:29434530","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29434530","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:5334040","is_oa":false,"landing_page_url":"http://europepmc.org/pmc/articles/PMC5806630","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:5806630","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5806630","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:5806630","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5806630","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","score":0.7200000286102295,"display_name":"Clean water and sanitation"}],"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"},{"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":41,"referenced_works":["https://openalex.org/W1485950053","https://openalex.org/W1502266430","https://openalex.org/W1538512411","https://openalex.org/W1881254413","https://openalex.org/W1936407254","https://openalex.org/W1971122160","https://openalex.org/W1976456258","https://openalex.org/W1990115643","https://openalex.org/W1996023871","https://openalex.org/W2032973306","https://openalex.org/W2045804775","https://openalex.org/W2052805468","https://openalex.org/W2056191762","https://openalex.org/W2059944434","https://openalex.org/W2089548322","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2100949194","https://openalex.org/W2103689571","https://openalex.org/W2104821212","https://openalex.org/W2113281285","https://openalex.org/W2124992704","https://openalex.org/W2129918473","https://openalex.org/W2136533272","https://openalex.org/W2137224424","https://openalex.org/W2138299709","https://openalex.org/W2142828858","https://openalex.org/W2146587048","https://openalex.org/W2156021550","https://openalex.org/W2156199850","https://openalex.org/W2157570937","https://openalex.org/W2169100281","https://openalex.org/W2218460536","https://openalex.org/W2278147799","https://openalex.org/W2477120746","https://openalex.org/W2510909453","https://openalex.org/W2527408187","https://openalex.org/W2737415218","https://openalex.org/W6675180886","https://openalex.org/W6676774003","https://openalex.org/W6683193892"],"related_works":["https://openalex.org/W2689884327","https://openalex.org/W2722621396","https://openalex.org/W2909273876","https://openalex.org/W3214589171","https://openalex.org/W1979722432","https://openalex.org/W4389232553","https://openalex.org/W1978777029","https://openalex.org/W4391306322","https://openalex.org/W2162100555","https://openalex.org/W2040908729"],"abstract_inverted_index":{"Deep":[0],"intracranial":[1],"tumor":[2],"removal":[3],"can":[4],"be":[5],"achieved":[6],"if":[7],"the":[8,87,125,130,133,137,141,144,151,159,163,166,170,180],"neurosurgical":[9],"robot":[10,52,138,183],"has":[11],"sufficient":[12],"flexibility":[13,68],"and":[14,39,73,103,128,140,162,169],"stability.":[15],"Towards":[16],"achieving":[17],"this":[18,114],"goal,":[19],"we":[20,116],"have":[21],"developed":[22],"a":[23,28,45,55,91,104,119,188],"spring-based":[24],"continuum":[25],"robot,":[26],"namely":[27],"Minimally":[29],"Invasive":[30],"Neurosurgical":[31],"Intracranial":[32],"Robot":[33],"(MINIR-II)":[34],"with":[35,69,86,197],"novel":[36],"tendon":[37,105,167],"routing":[38,106],"tunable":[40],"stiffness":[41,101,122,156],"for":[42],"use":[43],"in":[44,59,143],"magnetic":[46],"resonance":[47],"imaging":[48],"(MRI)":[49],"environment.":[50],"The":[51],"consists":[53,192],"of":[54,57,124,153,158,179,193],"pair":[56],"springs":[58],"parallel,":[60],"i.e.,":[61],"an":[62,74],"inner":[63],"inter-connected":[64],"spring":[65,76,96,195],"that":[66,77,98,108,191],"promotes":[67],"decoupled":[70],"segment":[71,111],"motion":[72],"outer":[75],"maintains":[78],"its":[79,84],"smooth":[80],"curved":[81],"shape":[82,92],"during":[83],"interaction":[85],"tissue.":[88],"We":[89,146,173],"propose":[90],"memory":[93],"alloy":[94],"(SMA)":[95],"backbone":[97,127,161],"provides":[99],"local":[100,121,155],"control":[102],"configuration":[107],"enables":[109],"independent":[110],"locking.":[112],"In":[113],"work,":[115],"also":[117,147,174],"present":[118],"detailed":[120],"analysis":[123],"SMA":[126,160,194],"model":[129,157],"relationship":[131],"between":[132,165],"resistive":[134,171],"force":[135],"at":[136],"tip":[139],"tension":[142,168],"tendon.":[145],"demonstrate":[148],"through":[149],"experiments,":[150],"validity":[152],"our":[154],"correlation":[164],"force.":[172],"performed":[175],"MRI":[176],"compatibility":[177],"studies":[178],"3-segment":[181],"MINIR-II":[182],"by":[184],"attaching":[185],"it":[186],"to":[187],"robotic":[189],"platform":[190],"actuators":[196],"integrated":[198],"water":[199],"cooling":[200],"modules.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}