{"id":"https://openalex.org/W2052439008","doi":"https://doi.org/10.1109/iecon.2013.6699741","title":"Tele-operation control system for non-homothetic master/slave kinematics for minimally-invasive surgery","display_name":"Tele-operation control system for non-homothetic master/slave kinematics for minimally-invasive surgery","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2052439008","doi":"https://doi.org/10.1109/iecon.2013.6699741","mag":"2052439008"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2013.6699741","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5024841024","display_name":"Houssem Saafi","orcid":"https://orcid.org/0000-0001-8381-4234"},"institutions":[{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Houssem Saafi","raw_affiliation_strings":["Dept. GMSC, Univ. of Poitiers, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Dept. GMSC, Univ. of Poitiers, Poitiers, France","institution_ids":["https://openalex.org/I32881790"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040555464","display_name":"Med Amine Laribi","orcid":"https://orcid.org/0000-0003-0797-7669"},"institutions":[{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Med Amine Laribi","raw_affiliation_strings":["Dept. GMSC, Univ. of Poitiers, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Dept. GMSC, Univ. of Poitiers, Poitiers, France","institution_ids":["https://openalex.org/I32881790"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103214796","display_name":"S. Zeghloul","orcid":"https://orcid.org/0000-0003-3590-9532"},"institutions":[{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Said Zeghloul","raw_affiliation_strings":["Dept. GMSC, Univ. of Poitiers, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Dept. GMSC, Univ. of Poitiers, Poitiers, France","institution_ids":["https://openalex.org/I32881790"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091316717","display_name":"M. Yousef Ibrahim","orcid":"https://orcid.org/0000-0002-9859-6505"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"M. Yousef Ibrahim","raw_affiliation_strings":["Monash Univ., Churchill, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Monash Univ., Churchill, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.08,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":9,"citation_normalized_percentile":{"value":0.910992,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":null,"issue":null,"first_page":"3800","last_page":"3805"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9996,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9996,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9989,"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/T10888","display_name":"Augmented Reality Applications","score":0.9799,"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/master/slave","display_name":"Master/slave","score":0.8120319},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7999533},{"id":"https://openalex.org/keywords/homothetic-transformation","display_name":"Homothetic transformation","score":0.5600861},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.41851473}],"concepts":[{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.8120319},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7999533},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6827867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.660367},{"id":"https://openalex.org/C91709909","wikidata":"https://www.wikidata.org/wiki/Q583960","display_name":"Homothetic transformation","level":2,"score":0.5600861},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5168086},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5076331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.50717926},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.505543},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49597678},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45351592},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44986793},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44675282},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4186375},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.41851473},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40794942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38856184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33419698},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1672832},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.092404336},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2013.6699741","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.76,"display_name":"Peace, justice, and strong institutions"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":16,"referenced_works":["https://openalex.org/W1964047266","https://openalex.org/W1980640890","https://openalex.org/W1993148129","https://openalex.org/W1993464689","https://openalex.org/W2000798171","https://openalex.org/W2030539036","https://openalex.org/W2054264984","https://openalex.org/W2057244098","https://openalex.org/W2103065656","https://openalex.org/W2103304361","https://openalex.org/W2113015971","https://openalex.org/W2121567593","https://openalex.org/W2132005662","https://openalex.org/W2139874176","https://openalex.org/W2152037134","https://openalex.org/W47746847"],"related_works":["https://openalex.org/W817518365","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W2101849315","https://openalex.org/W2097059456","https://openalex.org/W2046710269","https://openalex.org/W2013463538","https://openalex.org/W157833000"],"abstract_inverted_index":{"The":[0,35,75,95,105],"current":[1],"objective":[2],"of":[3,40,72,77,83,129],"this":[4,33,78,103],"robotics":[5],"research":[6],"study":[7],"is":[8,30,38,60,80,100,133],"mainly":[9],"to":[10,64,110],"develop":[11],"a":[12,66,92],"cheap":[13],"and":[14,43,52,86,118],"not":[15,122],"cumbersome":[16],"systems":[17],"for":[18,25,46],"special":[19],"applications.":[20],"A":[21,55],"PROMIS":[22],"(Pprime":[23],"RObot":[24],"Minimally":[26],"Invasive":[27],"Surgery)":[28],"system":[29,37,45,98,114],"designed":[31,109],"with":[32,69,88],"philosophy.":[34],"developed":[36,96,131],"composed":[39],"master,":[41],"slave":[42,87,119],"control":[44,97,106,111,132],"collaborative":[47],"operation":[48],"between":[49],"the":[50,53,81,112,116,127,130,136],"surgeon":[51],"robot.":[54],"parallel":[56],"robot":[57,68],"haptic":[58],"device":[59],"used":[61],"as":[62],"master":[63,85,117],"teleoperate":[65],"serial":[67],"three":[70],"degrees":[71],"freedom":[73],"(dof).":[74],"advantage":[76],"method":[79],"possibility":[82],"coupling":[84],"non-matching":[89],"kinematics":[90],"through":[91],"kinematic":[93],"transformation.":[94],"architecture":[99,107],"presented":[101],"in":[102],"paper.":[104],"was":[108],"teleoperation":[113],"where":[115],"robots":[120],"do":[121],"have":[123],"homothetic":[124],"kinematics.":[125],"Finally,":[126],"viability":[128],"demonstrated":[134],"by":[135],"experimental":[137],"results.":[138]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2052439008","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-01-15T22:04:07.000805","created_date":"2016-06-24"}