{"id":"https://openalex.org/W2077937377","doi":"https://doi.org/10.1117/12.2076741","title":"Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks","display_name":"Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks","publication_year":2015,"publication_date":"2015-03-18","ids":{"openalex":"https://openalex.org/W2077937377","doi":"https://doi.org/10.1117/12.2076741","mag":"2077937377"},"language":"en","primary_location":{"id":"doi:10.1117/12.2076741","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2076741","pdf_url":null,"source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},"type":"conference-paper","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/A5019383928","display_name":"Carolin Fellmann","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Carolin Fellmann","raw_affiliation_strings":["[Leibniz University Hannover, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[Leibniz University Hannover, Germany]","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041430899","display_name":"Daryoush Kashi","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daryoush Kashi","raw_affiliation_strings":["[Leibniz University Hannover, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[Leibniz University Hannover, Germany]","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087473881","display_name":"Jessica Burgner-Kahrs","orcid":"https://orcid.org/0000-0001-9185-3970"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jessica Burgner-Kahrs","raw_affiliation_strings":["[Leibniz University Hannover, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[Leibniz University Hannover, Germany]","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":2.3968,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87769632,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9415","issue":null,"first_page":"94151O","last_page":"94151O"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9907000064849854,"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/teleoperation","display_name":"Teleoperation","score":0.8930130004882812},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.7593144178390503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7431470155715942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7100026607513428},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.519982635974884},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4390123188495636},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3211555480957031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2972623109817505},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20763885974884033},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09359025955200195},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.056997716426849365}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8930130004882812},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.7593144178390503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7431470155715942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7100026607513428},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.519982635974884},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4390123188495636},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3211555480957031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2972623109817505},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20763885974884033},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09359025955200195},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.056997716426849365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.2076741","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2076741","pdf_url":null,"source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1522214628","https://openalex.org/W2014100751","https://openalex.org/W2038638896","https://openalex.org/W2050268494","https://openalex.org/W2058334894","https://openalex.org/W2059582997","https://openalex.org/W2081531540","https://openalex.org/W2127143922","https://openalex.org/W2131150943","https://openalex.org/W2138564331","https://openalex.org/W2462654948","https://openalex.org/W6653887845","https://openalex.org/W6679014188","https://openalex.org/W6719065306"],"related_works":["https://openalex.org/W3031640004","https://openalex.org/W2791292784","https://openalex.org/W1997137227","https://openalex.org/W2070844871","https://openalex.org/W2032412711","https://openalex.org/W2806940962","https://openalex.org/W2521432822","https://openalex.org/W4281381717","https://openalex.org/W2051441824","https://openalex.org/W2318732447"],"abstract_inverted_index":{"For":[0],"those":[1],"minimally":[2],"invasive":[3],"surgery":[4],"where":[5],"conventional":[6],"surgical":[7,12,106,132],"instruments":[8],"cannot":[9],"reach":[10,49],"the":[11,59,61,131,155,160,166,169,177,181],"site":[13,133],"due":[14],"to":[15,35,48,127,165],"their":[16,31],"straight":[17],"structure":[18],"and":[19,38,92,121,129,150],"rigidity,":[20],"concentric":[21,83],"tube":[22,84],"continuum":[23,85],"robots":[24],"are":[25,77,108],"a":[26,36,82,87,90,93,135,147],"promising":[27],"technology":[28],"because":[29],"of":[30,81,96,157,176],"small":[32],"size":[33],"(comparable":[34],"needle)":[37],"maneuverability.":[39],"These":[40],"flexible,":[41],"compliant":[42],"manipulators":[43],"can":[44],"easily":[45],"access":[46],"hard":[47],"anatomical":[50],"structures,":[51],"e.g.":[52],"by":[53,110,180],"turning":[54],"around":[55],"corners.":[56],"By":[57],"teleoperating":[58],"robot":[60],"surgeon":[62],"stays":[63],"in":[64],"direct":[65],"control":[66],"at":[67],"any":[68],"time.":[69],"In":[70],"this":[71,184],"paper,":[72],"three":[73],"off-the-shelf":[74],"input":[75,99,115,171],"devices":[76],"considered":[78],"for":[79],"teleoperation":[80],"robot:":[86],"3D":[88,161,178],"mouse,":[89],"gamepad,":[91],"3":[94],"degrees":[95],"freedom":[97],"haptic":[98],"device.":[100],"Three":[101],"tasks":[102],"which":[103],"mimic":[104],"relevant":[105],"maneuvers":[107],"performed":[109],"12":[111],"subjects":[112,158,182],"using":[113,159,168],"each":[114],"device:":[116],"reaching":[117],"specific":[118],"locations,":[119],"picking":[120],"placing":[122],"objects":[123],"from":[124],"one":[125],"location":[126],"another,":[128],"approaching":[130],"through":[134],"restricted":[136],"pathway.":[137],"We":[138],"present":[139],"quantitative":[140],"results":[141,152],"(task":[142],"completion":[143],"time,":[144],"accuracy,":[145],"etc.),":[146],"statistical":[148],"analysis,":[149],"empirical":[151],"(questionnaires).":[153],"Overall,":[154],"performance":[156,167],"mouse":[162,179],"was":[163],"superior":[164],"other":[170],"devices.":[172],"The":[173],"subjective":[174],"ranking":[175],"confirms":[183],"result.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
