{"id":"https://openalex.org/W2303878226","doi":"https://doi.org/10.1117/12.2217718","title":"Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature","display_name":"Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature","publication_year":2016,"publication_date":"2016-03-18","ids":{"openalex":"https://openalex.org/W2303878226","doi":"https://doi.org/10.1117/12.2217718","mag":"2303878226"},"language":"en","primary_location":{"id":"doi:10.1117/12.2217718","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2217718","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":"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/A5009624218","display_name":"Andria A. Remirez","orcid":"https://orcid.org/0000-0001-8284-4765"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andria A. Remirez","raw_affiliation_strings":["Vanderbilt Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Vanderbilt Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5009624218"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":0.1709,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54192521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"9786","issue":null,"first_page":"97860R","last_page":"97860R"},"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":0.9878000020980835,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9763000011444092,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.774633526802063},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7592253684997559},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.7529023885726929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6343207955360413},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5972996354103088},{"id":"https://openalex.org/keywords/biasing","display_name":"Biasing","score":0.561981201171875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5593304634094238},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5492954254150391},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.475053071975708},{"id":"https://openalex.org/keywords/strips","display_name":"STRIPS","score":0.461561381816864},{"id":"https://openalex.org/keywords/bent-molecular-geometry","display_name":"Bent molecular geometry","score":0.4173971712589264},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.38525426387786865},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25717347860336304},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.22914686799049377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18762144446372986},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1789579689502716},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13929560780525208},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12194406986236572},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10676607489585876},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09584292769432068},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08902513980865479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06733378767967224}],"concepts":[{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.774633526802063},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7592253684997559},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7529023885726929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6343207955360413},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5972996354103088},{"id":"https://openalex.org/C20254490","wikidata":"https://www.wikidata.org/wiki/Q719550","display_name":"Biasing","level":3,"score":0.561981201171875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5593304634094238},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5492954254150391},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.475053071975708},{"id":"https://openalex.org/C200925200","wikidata":"https://www.wikidata.org/wiki/Q7624170","display_name":"STRIPS","level":2,"score":0.461561381816864},{"id":"https://openalex.org/C138211643","wikidata":"https://www.wikidata.org/wiki/Q675211","display_name":"Bent molecular geometry","level":2,"score":0.4173971712589264},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38525426387786865},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25717347860336304},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.22914686799049377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18762144446372986},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1789579689502716},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13929560780525208},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12194406986236572},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10676607489585876},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09584292769432068},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08902513980865479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06733378767967224},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.2217718","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2217718","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W120824950","https://openalex.org/W1604037492","https://openalex.org/W1891615552","https://openalex.org/W1970083153","https://openalex.org/W1984767063","https://openalex.org/W2014151423","https://openalex.org/W2053614949","https://openalex.org/W2055466277","https://openalex.org/W2061265443","https://openalex.org/W2101667962","https://openalex.org/W2111866551","https://openalex.org/W2126182407","https://openalex.org/W2131150943","https://openalex.org/W2133997127","https://openalex.org/W2138564331","https://openalex.org/W2147492425","https://openalex.org/W2162769743","https://openalex.org/W2167480813","https://openalex.org/W2168393068","https://openalex.org/W2184993170","https://openalex.org/W2240671935","https://openalex.org/W4297804367","https://openalex.org/W6604921328","https://openalex.org/W6636236122","https://openalex.org/W6639760230","https://openalex.org/W6664274544","https://openalex.org/W6673609794","https://openalex.org/W6680019370","https://openalex.org/W6684169673","https://openalex.org/W6684367308","https://openalex.org/W6684422753"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"Many":[0],"applications":[1],"in":[2,62],"medicine":[3],"require":[4],"flexible":[5,111],"surgical":[6],"manipulators":[7],"and":[8,118,136],"endoscopes":[9],"capable":[10],"of":[11,53,59,74],"reaching":[12],"tight":[13],"curvatures.":[14],"The":[15],"maximum":[16,33],"curvature":[17,132],"these":[18],"devices":[19,108],"can":[20,40,90,115],"achieve":[21],"is":[22],"often":[23],"restricted":[24],"either":[25],"by":[26,31],"a":[27,32,85,125],"strain":[28],"limit,":[29],"or":[30],"actuation":[34,134],"force":[35],"that":[36,114,128],"the":[37,51,57,60,72,75,130],"device's":[38,76],"components":[39],"tolerate":[41],"without":[42,88],"risking":[43],"mechanical":[44],"failure.":[45],"In":[46],"this":[47,101],"paper":[48],"we":[49,103],"propose":[50],"use":[52,110],"precurvature":[54],"to":[55,80,96,120,133],"\"bias\"":[56],"workspace":[58],"device":[61,87],"one":[63],"direction.":[64],"Combined":[65],"with":[66],"axial":[67],"shaft":[68],"rotation,":[69],"biasing":[70,89],"increases":[71],"size":[73],"workspace,":[77],"enabling":[78],"it":[79,138],"reach":[81],"tighter":[82],"curvatures":[83],"than":[84],"comparable":[86],"achieve,":[91],"while":[92],"still":[93],"being":[94],"able":[95],"fully":[97],"straighten.":[98],"To":[99],"illustrate":[100],"effect,":[102],"describe":[104],"several":[105],"example":[106],"prototype":[107],"which":[109],"nitinol":[112],"strips":[113],"be":[116],"pushed":[117],"pulled":[119],"generate":[121],"bending.":[122],"We":[123],"provide":[124],"statics":[126],"model":[127],"relates":[129],"manipulator":[131],"force,":[135],"validate":[137],"experimentally.":[139]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}