{"id":"https://openalex.org/W2105414076","doi":"https://doi.org/10.1109/icra.2011.5980320","title":"Towards a MR image-guided SMA-actuated neurosurgical robot","display_name":"Towards a MR image-guided SMA-actuated neurosurgical robot","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2105414076","doi":"https://doi.org/10.1109/icra.2011.5980320","mag":"2105414076"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980320","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5073565124","display_name":"Mingyen Ho","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mingyen Ho","raw_affiliation_strings":["Robotics, Automation and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for Systems Research, 1University of Maryland, College Park, USA"],"affiliations":[{"raw_affiliation_string":"Robotics, Automation and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for Systems Research, 1University of Maryland, College Park, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012616702","display_name":"Michael T. Koltz","orcid":"https://orcid.org/0000-0002-0404-0339"},"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":"Michael Koltz","raw_affiliation_strings":["University of Maryland, School of Medicine, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland, School of Medicine, Baltimore, 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, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland, School of Medicine, Baltimore, USA","institution_ids":["https://openalex.org/I126744593"]}]},{"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 Gullapalli","raw_affiliation_strings":["University of Maryland, School of Medicine, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland, School of Medicine, Baltimore, 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/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Robotics, Automation and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for Systems Research, 1University of Maryland, College Park, USA"],"affiliations":[{"raw_affiliation_string":"Robotics, Automation and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for Systems Research, 1University of Maryland, College Park, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073565124"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":1.0905,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.7673675,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1153","last_page":"1158"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9998999834060669,"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":0.9998999834060669,"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/T11442","display_name":"Titanium Alloys Microstructure and Properties","score":0.9742000102996826,"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/T10107","display_name":"Ferroelectric and Piezoelectric Materials","score":0.9611999988555908,"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":0.6942564845085144},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.652899980545044},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.6492708921432495},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.614939272403717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6136318445205688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5950709581375122},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5725493431091309},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4982335567474365},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.46526363492012024},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.4288037121295929},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23554736375808716}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6942564845085144},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.652899980545044},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.6492708921432495},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.614939272403717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6136318445205688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5950709581375122},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5725493431091309},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4982335567474365},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.46526363492012024},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.4288037121295929},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23554736375808716},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"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":1,"locations":[{"id":"doi:10.1109/icra.2011.5980320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980320","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1969717963","https://openalex.org/W2003785958","https://openalex.org/W2009266279","https://openalex.org/W2056883722","https://openalex.org/W2057081909","https://openalex.org/W2066198780","https://openalex.org/W2090672766","https://openalex.org/W2118877769","https://openalex.org/W2119358438","https://openalex.org/W2139509298","https://openalex.org/W2157570937","https://openalex.org/W2165889868","https://openalex.org/W2263086002","https://openalex.org/W2329126615","https://openalex.org/W6677548441","https://openalex.org/W6693285268"],"related_works":["https://openalex.org/W1979819035","https://openalex.org/W2139206564","https://openalex.org/W1854444597","https://openalex.org/W4242231179","https://openalex.org/W2818096018","https://openalex.org/W3204696515","https://openalex.org/W2112883795","https://openalex.org/W1532677580","https://openalex.org/W2076699263","https://openalex.org/W1527727992"],"abstract_inverted_index":{"We":[0,14,36,125,173],"present":[1],"our":[2,150],"work":[3],"towards":[4],"the":[5,26,41,48,64,68,91,95,102,113,122,162,181,186,198],"development":[6],"of":[7,44,67,94,115,153,178],"a":[8,56,110,128,132,154,170,176],"MR":[9,118,199],"image-guided":[10],"SMA-actuated":[11],"neurosurgical":[12],"robot.":[13,96],"used":[15,54,99],"two":[16],"antagonistic":[17],"SMA":[18,45,59],"wires":[19,46],"as":[20,55],"actuators":[21],"for":[22,58],"each":[23,30,79],"joint":[24,31,80,92,167],"in":[25,47,104,169,197],"robot,":[27,69],"so":[28],"that":[29,158,185],"can":[32,52,160],"be":[33,53],"actuated":[34],"independently.":[35],"also":[37,174],"modeled":[38],"and":[39,81,131,140,164,191],"tested":[40],"force":[42],"behaviour":[43],"bent":[49],"configuration,":[50],"which":[51],"guideline":[57],"actuator":[60],"selection.":[61],"Due":[62],"to":[63,73,89,100,120,135,183],"size":[65],"scale":[66],"it":[70],"is":[71,188],"impossible":[72],"have":[74],"individual":[75],"position":[76],"sensors":[77],"at":[78],"hence":[82,165],"we":[83,159],"rely":[84],"primarily":[85],"on":[86],"vision":[87],"feedback":[88],"control":[90,101,121,129,136],"motion":[93,168],"The":[97],"images":[98,119],"robot":[103,156,163,187],"this":[105],"paper":[106],"were":[107],"obtained":[108],"from":[109,149],"camera":[111],"with":[112],"goal":[114],"eventually":[116],"using":[117,142],"end-effector":[123],"motion.":[124],"then":[126],"developed":[127],"strategy":[130],"switching":[133],"circuit":[134],"multiple":[137],"links":[138],"simultaneously":[139],"independently":[141],"only":[143],"one":[144],"power":[145],"supply.":[146],"Experimental":[147],"results":[148],"current":[151],"prototype":[152],"3-DOF":[155],"showed":[157],"actuate":[161],"observe":[166],"gelatin":[171],"slab.":[172],"did":[175],"series":[177],"experiments":[179],"inside":[180],"MRI":[182],"show":[184],"fully":[189],"MRI-compatible":[190],"creates":[192],"no":[193],"significant":[194],"image":[195],"distortion":[196],"images.":[200]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}