{"id":"https://openalex.org/W2969990912","doi":"https://doi.org/10.1109/tro.2019.2931480","title":"Continuously Variable Stiffness Mechanism Using Nonuniform Patterns on Coaxial Tubes for Continuum Microsurgical Robot","display_name":"Continuously Variable Stiffness Mechanism Using Nonuniform Patterns on Coaxial Tubes for Continuum Microsurgical Robot","publication_year":2019,"publication_date":"2019-08-22","ids":{"openalex":"https://openalex.org/W2969990912","doi":"https://doi.org/10.1109/tro.2019.2931480","mag":"2969990912"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2931480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2931480","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/A5100639732","display_name":"Jongwoo Kim","orcid":"https://orcid.org/0000-0002-6961-0689"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwoo Kim","raw_affiliation_strings":["Biorobotics Laboratory/Soft Robotics Research Center/Institute of Advanced Machines and Design, Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6961-0689","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory/Soft Robotics Research Center/Institute of Advanced Machines and Design, Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101781673","display_name":"Woo-Young Choi","orcid":"https://orcid.org/0000-0003-0987-6028"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woo-Young Choi","raw_affiliation_strings":["Biorobotics Laboratory/Soft Robotics Research Center/Institute of Advanced Machines and Design, Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory/Soft Robotics Research Center/Institute of Advanced Machines and Design, Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090053037","display_name":"Sungchul Kang","orcid":"https://orcid.org/0000-0001-5645-2020"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungchul Kang","raw_affiliation_strings":["Robot Center, Samsung Research, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5645-2020","affiliations":[{"raw_affiliation_string":"Robot Center, Samsung Research, Seoul, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077591125","display_name":"Chunwoo Kim","orcid":"https://orcid.org/0000-0002-3167-9648"},"institutions":[{"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":"Chunwoo Kim","raw_affiliation_strings":["Center for Medical Robotics, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-3167-9648","affiliations":[{"raw_affiliation_string":"Center for Medical Robotics, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyu-Jin Cho","raw_affiliation_strings":["Biorobotics Laboratory/Soft Robotics Research Center/Institute of Advanced Machines and Design, Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2555-5048","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory/Soft Robotics Research Center/Institute of Advanced Machines and Design, Mechanical and Aerospace Engineering Department, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1294,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.8680712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"35","issue":"6","first_page":"1475","last_page":"1487"},"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":0.9950000047683716,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8559026718139648},{"id":"https://openalex.org/keywords/flexural-rigidity","display_name":"Flexural rigidity","score":0.8202711343765259},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6142464280128479},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6111408472061157},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.49885010719299316},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.49199196696281433},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4469536542892456},{"id":"https://openalex.org/keywords/direct-stiffness-method","display_name":"Direct stiffness method","score":0.44020625948905945},{"id":"https://openalex.org/keywords/coaxial","display_name":"Coaxial","score":0.4333533048629761},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.421700656414032},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.4169139564037323},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.38254210352897644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37933146953582764},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34447553753852844},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32161688804626465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29651957750320435},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2787559926509857},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20190998911857605},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.18375390768051147},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.12158617377281189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11689507961273193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09576815366744995}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8559026718139648},{"id":"https://openalex.org/C73099012","wikidata":"https://www.wikidata.org/wiki/Q5459050","display_name":"Flexural rigidity","level":2,"score":0.8202711343765259},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6142464280128479},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6111408472061157},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.49885010719299316},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.49199196696281433},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4469536542892456},{"id":"https://openalex.org/C6213913","wikidata":"https://www.wikidata.org/wiki/Q2280635","display_name":"Direct stiffness method","level":4,"score":0.44020625948905945},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.4333533048629761},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.421700656414032},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.4169139564037323},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.38254210352897644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37933146953582764},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34447553753852844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32161688804626465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29651957750320435},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2787559926509857},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20190998911857605},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.18375390768051147},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.12158617377281189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11689507961273193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09576815366744995},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2019.2931480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2931480","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":[],"awards":[{"id":"https://openalex.org/G2060914694","display_name":null,"funder_award_id":"NRF-2016R1A5A1938472","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G7380350680","display_name":null,"funder_award_id":"2E28230","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"},{"id":"https://openalex.org/G8704229858","display_name":null,"funder_award_id":"2V07080-19-P073","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1791338886","https://openalex.org/W1990370011","https://openalex.org/W1990562799","https://openalex.org/W1993685671","https://openalex.org/W2016997157","https://openalex.org/W2023893000","https://openalex.org/W2028692081","https://openalex.org/W2034030283","https://openalex.org/W2036723211","https://openalex.org/W2041186773","https://openalex.org/W2054985405","https://openalex.org/W2057271741","https://openalex.org/W2070294777","https://openalex.org/W2074535625","https://openalex.org/W2084461575","https://openalex.org/W2089792178","https://openalex.org/W2098118071","https://openalex.org/W2102491248","https://openalex.org/W2107550832","https://openalex.org/W2108322713","https://openalex.org/W2121939955","https://openalex.org/W2133231729","https://openalex.org/W2133420155","https://openalex.org/W2146031911","https://openalex.org/W2154598371","https://openalex.org/W2180065899","https://openalex.org/W2181520924","https://openalex.org/W2284390012","https://openalex.org/W2284910182","https://openalex.org/W2462719669","https://openalex.org/W2576531615","https://openalex.org/W2740763895","https://openalex.org/W2754376949","https://openalex.org/W2760839996","https://openalex.org/W2781761215","https://openalex.org/W2936891293"],"related_works":["https://openalex.org/W2030078349","https://openalex.org/W3047759046","https://openalex.org/W2143762681","https://openalex.org/W2114445636","https://openalex.org/W1583050884","https://openalex.org/W6759581","https://openalex.org/W2187944805","https://openalex.org/W2379820272","https://openalex.org/W2804757810","https://openalex.org/W3198760603"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,22,46,53,70,96,134,141],"enables":[2],"the":[3,9,25,55,65,77,91,106,114,122,133,136,140,143,150,156,159],"safe":[4],"and":[5,37,62,105,121],"effective":[6],"operation":[7],"of":[8,24,32,44,54,79,135,146,158],"minimally":[10],"invasive":[11],"surgical":[12],"instruments.":[13],"In":[14],"this":[15,129],"article,":[16],"we":[17],"propose":[18],"a":[19,117],"continuously":[20],"variable":[21],"mechanism":[23,30,56,115,130],"scalable":[26,119],"tubular":[27],"structure.":[28],"The":[29,52,95],"consists":[31],"multiple":[33],"coaxial":[34],"nitinol":[35],"tubes,":[36,66],"each":[38],"tube":[39],"has":[40,116],"an":[41],"anisotropic":[42],"distribution":[43],"flexural":[45,69,82],"created":[47],"by":[48,59,90],"nonuniform":[49],"through-hole":[50],"patterning.":[51],"is":[57,98,125],"varied":[58],"relative":[60],"rotation":[61],"translation":[63],"among":[64],"resulting":[67],"in":[68,76],"difference":[71],"up":[72],"to":[73,109,131,148],"7.2":[74],"times":[75],"direction":[78],"load.":[80],"Its":[81],"stiffnesses":[83],"along":[84],"principal":[85],"axes":[86],"are":[87],"independently":[88],"controlled":[89],"suggested":[92],"counterrotation":[93],"algorithm.":[94],"change":[97],"validated":[99],"through":[100],"analytical":[101],"modeling,":[102],"FEM":[103],"simulation,":[104],"experiments.":[107],"Thanks":[108],"its":[110],"physically":[111],"embodied":[112],"intelligence,":[113],"simple":[118],"structure":[120],"response":[123],"time":[124],"immediate.":[126],"We":[127],"applied":[128],"control":[132,149],"steerable":[137,160],"needle.":[138,161],"Varying":[139],"grants":[142],"additional":[144],"degree":[145],"freedom":[147],"needle's":[151],"trajectory,":[152],"which":[153],"can":[154],"expand":[155],"workspace":[157]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}