{"id":"https://openalex.org/W2117926783","doi":"https://doi.org/10.1177/0278364904042204","title":"Modeling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon","display_name":"Modeling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon","publication_year":2004,"publication_date":"2004-04-01","ids":{"openalex":"https://openalex.org/W2117926783","doi":"https://doi.org/10.1177/0278364904042204","mag":"2117926783"},"language":"en","primary_location":{"id":"doi:10.1177/0278364904042204","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904042204","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy","[Scuola Superiore Sant Anna, CRIM, Pisa, Italy]"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[Scuola Superiore Sant Anna, CRIM, Pisa, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008852163","display_name":"Pasquale Ciarletta","orcid":"https://orcid.org/0000-0002-1011-5587"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pasquale Ciarletta","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy","[Scuola Superiore Sant Anna, CRIM, Pisa, Italy]"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[Scuola Superiore Sant Anna, CRIM, Pisa, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arianna Menciassi","raw_affiliation_strings":["Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy","[Scuola Superiore Sant Anna, CRIM, Pisa, Italy]"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[Scuola Superiore Sant Anna, CRIM, Pisa, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049516631","display_name":"Byungkyu Kim","orcid":"https://orcid.org/0000-0002-2659-6952"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Byungkyu Kim","raw_affiliation_strings":["Microsystem Center Korean Institute of Science and Technology Seoul, Korea","Microsystem Center, Korean Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Microsystem Center Korean Institute of Science and Technology Seoul, Korea","institution_ids":[]},{"raw_affiliation_string":"Microsystem Center, Korean Institute of Science and Technology, Seoul, Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076392384"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":4.1322,"has_fulltext":false,"cited_by_count":118,"citation_normalized_percentile":{"value":0.93881521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"4-5","first_page":"549","last_page":"556"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7132441997528076},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6210620403289795},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5458902716636658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48516708612442017},{"id":"https://openalex.org/keywords/mesenteries","display_name":"Mesenteries","score":0.467768132686615},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4260062873363495},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4233423173427582},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3913534879684448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3790110945701599},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17574810981750488},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16098424792289734},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10211226344108582}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7132441997528076},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6210620403289795},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5458902716636658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48516708612442017},{"id":"https://openalex.org/C2910118531","wikidata":"https://www.wikidata.org/wiki/Q25339394","display_name":"Mesenteries","level":2,"score":0.467768132686615},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4260062873363495},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4233423173427582},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3913534879684448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3790110945701599},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17574810981750488},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16098424792289734},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10211226344108582},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364904042204","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904042204","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1000913","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1000913","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W599478437","https://openalex.org/W1563113390","https://openalex.org/W1768612796","https://openalex.org/W1928597712","https://openalex.org/W1992780242","https://openalex.org/W2007924064","https://openalex.org/W2096541901","https://openalex.org/W2101044015","https://openalex.org/W2136672355","https://openalex.org/W2141218119","https://openalex.org/W2169154962","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2015330617","https://openalex.org/W2474478423","https://openalex.org/W2088475005","https://openalex.org/W2045509808","https://openalex.org/W2045674104","https://openalex.org/W2503979065","https://openalex.org/W1505779155","https://openalex.org/W2024945659","https://openalex.org/W2619277220","https://openalex.org/W4243606901"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,22,83,110],"biomechanical":[6,58],"study":[7,50,76],"to":[8,40,64,69,81],"evaluate":[9],"the":[10,13,19,42,54,66,79,105,113,116],"efficiency":[11,52,103],"of":[12,15,45,51,53,104,115,122,127],"motion":[14,55,71],"endoscopic":[16],"robots":[17],"in":[18,38,92,107,125],"colon,":[20],"with":[21],"special":[23],"focus":[24],"on":[25],"\u201cinchworm\u201d":[26],"locomotion.":[27],"A":[28,49],"quasi-linear":[29],"viscoelastic":[30],"model":[31],"for":[32,88],"soft":[33],"tissues":[34],"has":[35,77,119],"been":[36,96],"introduced":[37],"order":[39],"find":[41],"mechanical":[43],"behavior":[44],"colon":[46,129],"and":[47,59,91,99],"mesenteries.":[48],"phases,":[56],"through":[57],"geometrical":[60],"factors,":[61],"allowed":[62],"us":[63],"calculate":[65],"\u201ccritical":[67],"stroke\u201d":[68],"perform":[70],"inside":[72,109],"intestinal":[73],"walls.":[74],"This":[75],"provided":[78],"guidelines":[80],"design":[82],"high-stroke":[84],"pneumatic":[85],"robotic":[86],"prototype":[87],"colonoscopy.":[89],"Phantom":[90],"vivo":[93],"tests":[94],"have":[95,100],"extensively":[97],"performed":[98],"shown":[101],"high":[102],"robot":[106,118],"navigating":[108],"pig\u2019s":[111],"intestine;":[112],"performance":[114],"semi-autonomous":[117],"achieved":[120],"that":[121],"traditional":[123],"colonoscopes":[124],"terms":[126],"traveled":[128],"length.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
