{"id":"https://openalex.org/W3192809381","doi":"https://doi.org/10.1109/ur52253.2021.9494645","title":"A Hand-held Non-Robotic Controller of a Manipulator with Cable Guide for Minimally Invasive Surgery","display_name":"A Hand-held Non-Robotic Controller of a Manipulator with Cable Guide for Minimally Invasive Surgery","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3192809381","doi":"https://doi.org/10.1109/ur52253.2021.9494645","mag":"3192809381"},"language":"en","primary_location":{"id":"doi:10.1109/ur52253.2021.9494645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5084082782","display_name":"Yonghyeok Kim","orcid":null},"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"]},{"id":"https://openalex.org/I158743462","display_name":"Seoul National University of Education","ror":"https://ror.org/01xts9v65","country_code":"KR","type":"education","lineage":["https://openalex.org/I158743462"]},{"id":"https://openalex.org/I2802457231","display_name":"New Generation University College","ror":"https://ror.org/015aem925","country_code":"ET","type":"education","lineage":["https://openalex.org/I2802457231"]}],"countries":["ET","KR"],"is_corresponding":true,"raw_author_name":"Yonghyeok Kim","raw_affiliation_strings":["Seoul National University,Mechanical Engineering,Seoul,Korea","Mechanical Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Mechanical Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I139264467","https://openalex.org/I158743462","https://openalex.org/I2802457231"]},{"raw_affiliation_string":"Mechanical Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063261321","display_name":"Jeongryul Kim","orcid":"https://orcid.org/0000-0003-1893-7451"},"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":"Jeongryul Kim","raw_affiliation_strings":["Korea Institute of Science and Technology,Center for Healthcare Robotics,Seoul,Korea","Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology,Center for Healthcare Robotics,Seoul,Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047356982","display_name":"Yonghwan Moon","orcid":"https://orcid.org/0000-0001-7751-3179"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]},{"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":"Yonghwan Moon","raw_affiliation_strings":["Korea Institute of Science and Technology,Center for Healthcare Robotics,Seoul,Korea","Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Korea","School of Mechanical Engineering, Korea University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology,Center for Healthcare Robotics,Seoul,Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078154309","display_name":"Keri Kim","orcid":"https://orcid.org/0000-0003-1395-675X"},"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"]},{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]},{"id":"https://openalex.org/I4210145660","display_name":"Bio-Medical Science (South Korea)","ror":"https://ror.org/046p12h21","country_code":"KR","type":"company","lineage":["https://openalex.org/I4210145660"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Keri Kim","raw_affiliation_strings":["Korea Institute of Science and Technology,Center for Healthcare Robotics,Seoul,Korea","Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Korea","Division of Bio-Medical Science and Technology, University of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology,Center for Healthcare Robotics,Seoul,Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Division of Bio-Medical Science and Technology, University of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I88761825","https://openalex.org/I4210145660"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084082782"],"corresponding_institution_ids":["https://openalex.org/I139264467","https://openalex.org/I158743462","https://openalex.org/I2802457231"],"apc_list":null,"apc_paid":null,"fwci":0.0836,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.37665487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"19","issue":null,"first_page":"657","last_page":"660"},"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9961000084877014,"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/T10888","display_name":"Augmented Reality Applications","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.7618052959442139},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5575070381164551},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5386433601379395},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4791683256626129},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.46489208936691284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43036943674087524},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42023056745529175},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4201648235321045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4159185588359833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3846757709980011},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3592993915081024},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3207947015762329},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.2649821639060974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15314269065856934},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13294675946235657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08810079097747803},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07381695508956909}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7618052959442139},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5575070381164551},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5386433601379395},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4791683256626129},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.46489208936691284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43036943674087524},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42023056745529175},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4201648235321045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4159185588359833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3846757709980011},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3592993915081024},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3207947015762329},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2649821639060974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15314269065856934},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13294675946235657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08810079097747803},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07381695508956909},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur52253.2021.9494645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1934410567","https://openalex.org/W1968112263","https://openalex.org/W1992828838","https://openalex.org/W2002938320","https://openalex.org/W2083016933","https://openalex.org/W2117212572","https://openalex.org/W2146031911","https://openalex.org/W3000491984","https://openalex.org/W3010808022","https://openalex.org/W3129280183","https://openalex.org/W3155763985","https://openalex.org/W6677763916","https://openalex.org/W6790232582"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W3140937611","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083"],"abstract_inverted_index":{"Hyper-redundant":[0],"manipulators":[1,27],"driven":[2],"by":[3,83,151],"cables":[4],"are":[5],"widely":[6],"used":[7],"in":[8,19,111,135],"minimally":[9],"invasive":[10],"surgery":[11],"due":[12],"to":[13,114,164,177],"their":[14],"small":[15],"diameter":[16],"and":[17,105,130,157,182],"bending":[18,84],"various":[20],"directions.":[21],"On":[22],"the":[23,35,39,43,47,51,62,71,78,85,88,94,98,102,107,112,121,127,131,136,145,148,152,155,158,166,169,173,179,184,187],"other":[24],"hand,":[25],"these":[26],"risk":[28],"generating":[29],"a":[30,57,67,116],"cable":[31,48,79,117,123,137,180],"slack,":[32,181],"which":[33,65],"reduces":[34],"manipulator's":[36],"precision.":[37],"Thus,":[38],"master":[40,58,95,128,149,170],"device":[41,59,129,150,171],"for":[42,60,70,100],"manipulator":[44,52,89],"should":[45],"minimize":[46,115,178],"slack":[49],"when":[50],"moves.":[53],"This":[54,160],"paper":[55],"proposed":[56],"driving":[61,101],"slot":[63,103,108,175],"manipulator,":[64,104],"has":[66,162],"slotted":[68],"guide":[69,176],"actuating":[72],"cable.":[73],"First,":[74],"we":[75],"calculated":[76],"how":[77],"length":[80,124,138],"is":[81,139],"changed":[82,122],"motion":[86],"of":[87,125,147,154,168],"using":[90,186],"optimization.":[91],"We":[92,119,143],"designed":[93],"device,":[96],"including":[97],"disk":[99,113],"optimized":[106,174],"guide's":[109],"shape":[110],"slack.":[118],"simulated":[120],"both":[126],"manipulator.":[132],"The":[133],"difference":[134],"only":[140],"0.07":[141],"mm.":[142],"verified":[144],"feasibility":[146,185],"fabrication":[153],"prototype":[156],"experiment.":[159],"study":[161],"contributions":[163],"present":[165],"design":[167],"included":[172],"validate":[183],"prototype.":[188]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
