{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T19:08:45Z","timestamp":1773947325702,"version":"3.50.1"},"reference-count":44,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2009,5,27]],"date-time":"2009-05-27T00:00:00Z","timestamp":1243382400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,9]]},"abstract":"<jats:p> In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces. <\/jats:p>","DOI":"10.1177\/0278364908104278","type":"journal-article","created":{"date-parts":[[2009,5,28]],"date-time":"2009-05-28T01:11:40Z","timestamp":1243473100000},"page":"1134-1153","source":"Crossref","is-referenced-by-count":360,"title":["Design and Integration of a Telerobotic System for Minimally Invasive Surgery                 of the Throat"],"prefix":"10.1177","volume":"28","author":[{"given":"Nabil","family":"Simaan","sequence":"first","affiliation":[{"name":"Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory,                         Department of Mechanical Engineering, Columbia University, New York, NY                         10027, USA,"}]},{"family":"Kai Xu","sequence":"additional","affiliation":[{"name":"Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory,                         Department of Mechanical Engineering, Columbia University, New York, NY                         10027, USA,"}]},{"family":"Wei Wei","sequence":"additional","affiliation":[{"name":"Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory,                         Department of Mechanical Engineering, Columbia University, New York, NY                         10027, USA,"}]},{"given":"Ankur","family":"Kapoor","sequence":"additional","affiliation":[{"name":"Department of Computer Science, ERC-CISST, Johns Hopkins University,                         Baltimore, MD 21218, USA,"}]},{"given":"Peter","family":"Kazanzides","sequence":"additional","affiliation":[{"name":"Department of Computer Science, ERC-CISST, Johns Hopkins University,                         Baltimore, MD 21218, USA,"}]},{"given":"Russell","family":"Taylor","sequence":"additional","affiliation":[{"name":"Department of Computer Science, ERC-CISST, Johns Hopkins University,                         Baltimore, MD 21218, USA,"}]},{"given":"Paul","family":"Flint","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology, Head and Neck Surgery, Johns Hopkins School                         of Medicine, Baltimore, MD 21287, USA,"}]}],"member":"179","published-online":{"date-parts":[[2009,5,27]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817061"},{"key":"atypb2","volume-title":"MICCAI 2004 (7th International Conference on Medical Image Computing and Computer-Assisted Intervention)","author":"Asai, D."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817502"},{"key":"atypb4","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Cavusoglu, M."},{"key":"atypb5","volume-title":"Surgical tool having positively positionable tendon-actuated multi-disk wrist joint. US patent # 6,817,974 B2: 73","author":"Cooper, T.G.","year":"2004"},{"key":"atypb6","volume-title":"Optimized port placement for totally endoscopic coronary artery bypass grafting using the da Vinci robotic system. Experimental Robotics VII (Lecture Notes in Control and Information Sciences)","author":"Cost-Maniere, E.","year":"2001"},{"key":"atypb7","first-page":"1","volume":"4","author":"Dario, P.","year":"1999","journal-title":"Computer Aided Surgery"},{"key":"atypb8","volume-title":"IEEE International Conference on Robotics and Automation","author":"Dario, P."},{"key":"atypb9","volume-title":"Synthesis and Workspace Study of Endoscopic Extenders with Flexible Stem, 3","author":"Faraz, A.","year":"2003"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/000348940111000802"},{"key":"atypb11","volume-title":"IEEE International Conference on Robotics and Automation","author":"Guthart, G."},{"key":"atypb12","volume-title":"IEEE International Conference on Robotics and Automation","author":"Harada, K."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.bioeng.1.1.211"},{"key":"atypb14","volume-title":"IEEE International Conference on Robotics and Automation","author":"Ikuta, K."},{"key":"atypb15","volume-title":"Fundamentals of Machine Component Design","author":"Juvinall, R.","year":"2003"},{"key":"atypb16","volume-title":"International Conference on Advanced Robotics (ICAR\u20192005)","author":"Kapoor, A."},{"key":"atypb17","volume-title":"MICCAI 2006 Workshop on Medical Robotics","author":"Kapoor, A."},{"key":"atypb18","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Madhani, A.J."},{"key":"atypb19","volume-title":"IEEE International Conference on Robotics and Automation","author":"Merlet, J.-P."},{"key":"atypb20","volume-title":"IEEE International Conference on Robotics and Automation","author":"Minor, M."},{"key":"atypb21","doi-asserted-by":"crossref","unstructured":"Mitsuishi, M.                 ,                      Watanabe, H.                 ,                      Nakanishi, H.                 ,                      Kubota, H.                  and                      Iizuka, Y.                  ( 1997). Dexterity enhancement for a tele-microsurgery system                     with multiple macro-micro co-located operation point manipulators and                     understanding of the operator\u2019s intention. Lecture Notes in Computer                 Science,                      Troccaz, J.                 ,                      Grimson, E.                  and                      Mosges, R.                  (eds). Berlin,                 Springer, pp.             821-830.","DOI":"10.1007\/BFb0029309"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1097\/00005537-199907000-00030"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmat.2005.07.004"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2005.848300"},{"key":"atypb25","doi-asserted-by":"publisher","DOI":"10.1177\/000348940311200102"},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2002.1001976"},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(00)00319-8"},{"key":"atypb28","volume-title":"Design of an advanced tool guiding system for robotic surgery","author":"Piers, J.","year":"2003"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1097\/00005537-199711000-00011"},{"key":"atypb30","volume-title":"IEEE International Conference on Intelligent Robots and Systems","author":"Reboulet, C."},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(99)00191-0"},{"key":"atypb32","volume-title":"2nd Annual International Symposium on Medical Robotics and Computer Assisted Surgery (MRCAS)","author":"Schenker, P.S."},{"key":"atypb33","volume-title":"IEEE International Conference on Robotics and Automation","author":"Sears, P."},{"key":"atypb34","volume-title":"IEEE International Conference on Robotics and Automation","author":"Simaan, N."},{"key":"atypb35","volume-title":"IEEE International Conference on Robotics and Automation","author":"Simaan, N."},{"key":"atypb36","volume-title":"IEEE International Conference on Robotics and Automation","author":"Simaan, N."},{"key":"atypb37","volume-title":"MICCAI 2004 (7th International Conference on Medical Image Computing and Computer-Assisted Intervention)","author":"Simaan, N."},{"key":"atypb38","volume-title":"Surgical Robotics--History, Present and Future Applications","author":"Simaan, N."},{"key":"atypb39","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817058"},{"key":"atypb40","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065388"},{"key":"atypb41","doi-asserted-by":"publisher","DOI":"10.1016\/S0892-1997(05)80242-5"},{"key":"atypb42","volume-title":"IEEE International Conference on Robotics and Automation","author":"Xu, K."},{"key":"atypb43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924266"},{"key":"atypb44","volume-title":"IEEE International Conference on Intelligent Robots and Systems (IROS)","author":"Yamashita, H."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908104278","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908104278","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T09:26:57Z","timestamp":1740994017000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364908104278"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5,27]]},"references-count":44,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2009,9]]}},"alternative-id":["10.1177\/0278364908104278"],"URL":"https:\/\/doi.org\/10.1177\/0278364908104278","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5,27]]}}}