{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,19]],"date-time":"2026-08-19T17:15:24Z","timestamp":1787159724433,"version":"3.56.0"},"reference-count":32,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,7,11]],"date-time":"2022-07-11T00:00:00Z","timestamp":1657497600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,7,11]],"date-time":"2022-07-11T00:00:00Z","timestamp":1657497600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,7,11]]},"DOI":"10.1109\/embc48229.2022.9871310","type":"proceedings-article","created":{"date-parts":[[2022,9,8]],"date-time":"2022-09-08T16:02:05Z","timestamp":1662652925000},"page":"4853-4859","source":"Crossref","is-referenced-by-count":14,"title":["Stiffness Adaptation of a Hybrid Soft Surgical Robot for Improved Safety in Interventional Surgery"],"prefix":"10.1109","author":[{"given":"Majid","family":"Roshanfar","sequence":"first","affiliation":[{"name":"Concordia University,Mechanical Eng. Dept.,Montreal,Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amir","family":"Sayadi","sequence":"additional","affiliation":[{"name":"McGill University,Department of Surgery,Montreal,Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Javad","family":"Dargahi","sequence":"additional","affiliation":[{"name":"Concordia University,Mechanical Eng. Dept.,Montreal,Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amir","family":"Hooshiar","sequence":"additional","affiliation":[{"name":"McGill University,Department of Surgery,Montreal,Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3077186"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1201\/9781315136370"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-010-0442-1"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2019.2907458"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-013-0946-8"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0022-y"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0136"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1016\/j.ijsolstr.2020.09.015","article-title":"An euler-bernoulli beam model for soft robot arms bent through self-stress and external loads","volume":"207","author":"gina","year":"2020","journal-title":"International Journal of Solids and Structures"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2016.02.007"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2015.2389615"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794301"},{"key":"ref18","first-page":"154","article-title":"Model-based force estimation for intracardiac catheters","volume":"21","author":"hasanzadeh","year":"2015","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2019.8722799"},{"key":"ref28","first-page":"1599","article-title":"Biomechanical modeling of the small intestine as required for the de-sign and operation of a robotic endoscope","volume":"2","author":"hoeg","year":"0","journal-title":"Proceedings 2000 ICRA Millennium Conference IEEE International Conference on Robotics and Automation Symposia Proceedings (Cat No 00CH37065)"},{"key":"ref4","first-page":"5248","article-title":"Sensor-free force control of tendon-driven ablation catheters through position control and contact mod-eling","author":"jolaei","year":"0","journal-title":"2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)"},{"key":"ref27","article-title":"ASTM D412","year":"2006","journal-title":"Standard Test Methods for Vulcanized Rubber and Thermoplastic Elastomers - Tension"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2016.06.010"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"1178","DOI":"10.1016\/j.jmapro.2020.03.059","article-title":"Additive manufacturing of multi-material soft robot for on-demand drug delivery applications","volume":"56","author":"baynojir","year":"2020","journal-title":"Journal of Manufacturing Processes"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0016"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-016-5340-9"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0006"},{"key":"ref7","article-title":"A review on flexible robotic systems for minimally invasive surgery","author":"omisore","year":"2020","journal-title":"IEEE Transactions on Systems Man and Cybernetics Systems"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2014.00003"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICAS49788.2021.9551120"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0135"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354199"},{"key":"ref21","first-page":"513","article-title":"Problems in nonlinear elasticity","author":"antman","year":"2005","journal-title":"Nonlinear Problems of Elasticity"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919842269"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/BIA50171.2020.9244512"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0115"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924923"}],"event":{"name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","location":"Glasgow, Scotland, United Kingdom","start":{"date-parts":[[2022,7,11]]},"end":{"date-parts":[[2022,7,15]]}},"container-title":["2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9870821\/9870822\/09871310.pdf?arnumber=9871310","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,26]],"date-time":"2022-09-26T16:58:50Z","timestamp":1664211530000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9871310\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,11]]},"references-count":32,"URL":"https:\/\/doi.org\/10.1109\/embc48229.2022.9871310","relation":{},"subject":[],"published":{"date-parts":[[2022,7,11]]}}}