{"id":"https://openalex.org/W3145661845","doi":"https://doi.org/10.1142/s2424905x21400018","title":"Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit","display_name":"Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit","publication_year":2021,"publication_date":"2021-03-01","ids":{"openalex":"https://openalex.org/W3145661845","doi":"https://doi.org/10.1142/s2424905x21400018","mag":"3145661845","pmid":"https://pubmed.ncbi.nlm.nih.gov/34722945"},"language":"en","primary_location":{"id":"doi:10.1142/s2424905x21400018","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x21400018","pdf_url":null,"source":{"id":"https://openalex.org/S4210232911","display_name":"Journal of Medical Robotics Research","issn_l":"2424-905X","issn":["2424-905X","2424-9068"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Medical Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8553217","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073043746","display_name":"Makoto Jinno","orcid":"https://orcid.org/0000-0002-1320-5326"},"institutions":[{"id":"https://openalex.org/I13451752","display_name":"Kokushikan University","ror":"https://ror.org/04r69jb93","country_code":"JP","type":"education","lineage":["https://openalex.org/I13451752"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makoto Jinno","raw_affiliation_strings":["School of Science and Engineering, Kokushikan University, Tokyo 154-8515, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1320-5326","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, Kokushikan University, Tokyo 154-8515, Japan","institution_ids":["https://openalex.org/I13451752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063913520","display_name":"Iulian Iordachita","orcid":"https://orcid.org/0000-0002-2510-9008"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iulian Iordachita","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4837,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.62444444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"06","issue":"01n02","first_page":"2140001","last_page":"2140001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T11377","display_name":"Retinal and Macular Surgery","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7826069593429565},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7345240116119385},{"id":"https://openalex.org/keywords/sclera","display_name":"Sclera","score":0.543216347694397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.466727614402771},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.43774980306625366},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36292973160743713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35169517993927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32957062125205994},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3235466480255127},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2960914373397827},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19853463768959045},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.18453335762023926},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09074798226356506}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7826069593429565},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7345240116119385},{"id":"https://openalex.org/C2777100477","wikidata":"https://www.wikidata.org/wiki/Q193107","display_name":"Sclera","level":2,"score":0.543216347694397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.466727614402771},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.43774980306625366},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36292973160743713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35169517993927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32957062125205994},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3235466480255127},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2960914373397827},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19853463768959045},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.18453335762023926},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09074798226356506},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1142/s2424905x21400018","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x21400018","pdf_url":null,"source":{"id":"https://openalex.org/S4210232911","display_name":"Journal of Medical Robotics Research","issn_l":"2424-905X","issn":["2424-905X","2424-9068"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Medical Robotics Research","raw_type":"journal-article"},{"id":"pmid:34722945","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34722945","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of medical robotics research","raw_type":null},{"id":"pmh:oai:europepmc.org:7440636","is_oa":false,"landing_page_url":"http://europepmc.org/pmc/articles/PMC8553217","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8553217","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8553217","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"J Med Robot Res","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8553217","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8553217","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"J Med Robot Res","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8773540479","display_name":null,"funder_award_id":"1R01EB023943-01","funder_id":"https://openalex.org/F4320306080","funder_display_name":"Foundation for the National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320306080","display_name":"Foundation for the National Institutes of Health","ror":"https://ror.org/00k86s890"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W124560532","https://openalex.org/W406058028","https://openalex.org/W1490243558","https://openalex.org/W1529125942","https://openalex.org/W1542559534","https://openalex.org/W1604037492","https://openalex.org/W1966102857","https://openalex.org/W1966360513","https://openalex.org/W2000745129","https://openalex.org/W2026268546","https://openalex.org/W2064076878","https://openalex.org/W2066140684","https://openalex.org/W2088467752","https://openalex.org/W2094904022","https://openalex.org/W2096158247","https://openalex.org/W2113273294","https://openalex.org/W2118671769","https://openalex.org/W2146031911","https://openalex.org/W2164587356","https://openalex.org/W2167480813","https://openalex.org/W2168540344","https://openalex.org/W2294964503","https://openalex.org/W2313053449","https://openalex.org/W2605276958","https://openalex.org/W2738679366","https://openalex.org/W2804293235","https://openalex.org/W2808253872","https://openalex.org/W3002480759","https://openalex.org/W3081920524","https://openalex.org/W3120333955","https://openalex.org/W3128491487","https://openalex.org/W4249705650"],"related_works":["https://openalex.org/W144671092","https://openalex.org/W2353746516","https://openalex.org/W2722606392","https://openalex.org/W4388034745","https://openalex.org/W2081283125","https://openalex.org/W2389891446","https://openalex.org/W205794235","https://openalex.org/W2354642913","https://openalex.org/W2043642088","https://openalex.org/W2384143566"],"abstract_inverted_index":{"Retinal":[0],"surgery":[1,41],"can":[2,48],"be":[3,35],"performed":[4],"only":[5],"by":[6,119,146],"surgeons":[7],"possessing":[8],"advanced":[9],"surgical":[10,238],"skills":[11],"because":[12],"of":[13,24,87,97,103,111,126,143,150,186,219,236,241,251,261],"the":[14,20,25,30,50,95,98,104,127,138,144,165,176,182,187,194,198,217,220,227,242,248,252,262],"small,":[15],"confined":[16],"intraocular":[17,77],"space,":[18],"and":[19,56,68,100,141,203,207,211,234,244,247,264],"restricted":[21],"free":[22],"motion":[23],"instruments":[26],"in":[27,39,163],"contact":[28,116],"with":[29,114],"sclera.":[31],"Snake-like":[32],"robots":[33,47],"may":[34],"essential":[36],"for":[37,231],"use":[38],"retinal":[40,62],"to":[42,136,175,181,193,205],"overcome":[43],"this":[44],"problem.":[45],"Such":[46],"approach":[49],"target":[51],"site":[52],"from":[53,226],"suitable":[54],"directions":[55],"operate":[57],"on":[58,94,258],"delicate":[59],"tissues":[60],"during":[61],"vein":[63],"cannulation,":[64],"epiretinal":[65],"membrane":[66],"peeling,":[67],"so":[69],"on.":[70],"We":[71],"propose":[72],"an":[73],"improved":[74],"integrated":[75],"robotic":[76],"snake":[78],"(I":[79],"2":[80,222],"RIS),":[81],"which":[82,164],"is":[83,134,168,201,224],"a":[84,158,171],"new":[85,159],"version":[86],"our":[88],"previous":[89,195],"IRIS.":[90],"This":[91,108],"study":[92],"focused":[93],"analyses":[96],"kinematics":[99,243],"drive":[101,151,155,166,188,196,245],"mechanism":[102,156,162,189,200,246,254],"dexterous":[105,128],"distal":[106,129],"unit.":[107],"unit":[109,130,145,229],"consists":[110],"small":[112],"elements":[113],"reduced":[115],"stress":[117],"achieved":[118],"changing":[120],"wire-hole":[121],"positions.":[122],"The":[123,153],"kinematic":[124],"analysis":[125],"shows":[131,190],"that":[132,191],"it":[133],"possible":[135],"control":[137],"bending":[139],"angle":[140,173],"direction":[142,178],"using":[147],"two":[148],"pairs":[149],"wires.":[152],"proposed":[154,199,253],"includes":[157],"pull-and-release":[160],"wire":[161],"pulley":[167],"mounted":[169],"at":[170],"right":[172],"relative":[174,180],"actuation":[177],"(also,":[179],"conventional":[183],"direction).":[184],"Analysis":[185],"compared":[192],"mechanism,":[197],"simpler":[202],"easier":[204],"assemble":[206],"yields":[208],"higher":[209],"accuracy":[210],"resolution.":[212],"Furthermore,":[213],"considering":[214],"clinical":[215],"use,":[216],"instrument":[218,263],"I":[221],"RIS":[223],"detachable":[225],"motor":[228,265],"easily":[230],"cleaning,":[232],"sterilization,":[233],"attachment":[235],"various":[237],"tools.":[239],"Analyses":[240],"basic":[249],"functions":[250],"were":[255],"verified":[256],"experimentally":[257],"actual-size":[259],"prototypes":[260],"units.":[266]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
