{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,29]],"date-time":"2025-12-29T01:12:23Z","timestamp":1766970743846,"version":"3.48.0"},"reference-count":33,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T00:00:00Z","timestamp":1762300800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52375020"],"award-info":[{"award-number":["52375020"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB4703000"],"award-info":[{"award-number":["2022YFB4703000"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2025,12]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>The concentric tube robots (CTRs) show great potential for minimally invasive surgery due to their size and flexibility. However, friction remains a key factor contributing to accuracy errors in CTR applications, and reducing friction effects to enhance CTRs' precision remains a critical challenge.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>This paper pioneers the application of a vibration friction reduction (VFR) method for CTRs, aiming to reduce inter\u2010tube friction and improve system accuracy. First, a CTR system with VFR was designed, incorporating a vibration generator consisting of four vibration motors and a 3D\u2010printed component. Then, to better test and analyse the effects of vibration on friction, a variable\u2010friction coefficient kinematic model for CTRs was established. Finally, experiments were conducted to validate the approach.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The results show that the VFR method can reduce the positional error of CTRs by approximately 36.5%.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>This paper provides a new approach to enhance CTRs' accuracy in surgical applications.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70119","type":"journal-article","created":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T07:31:14Z","timestamp":1762414274000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Optimising the Accuracy of Concentric Tube Robots: Using Vibration Friction Reduction"],"prefix":"10.1002","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6905-0612","authenticated-orcid":false,"given":"Yao","family":"Wang","sequence":"first","affiliation":[{"name":"Control Science Engineering Department Shandong University  Jinan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9781-9677","authenticated-orcid":false,"given":"Fuxin","family":"Du","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Shandong University  Jinan China"},{"name":"Engineering Research Center of Intelligent Unmanned System of MOE Shandong University  Jinan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9843-1818","authenticated-orcid":false,"given":"Gang","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Shandong University  Jinan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department Tsinghua University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianxiang","family":"Liu","sequence":"additional","affiliation":[{"name":"Control Science Engineering Department Shandong University  Jinan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yibin","family":"Li","sequence":"additional","affiliation":[{"name":"Control Science Engineering Department Shandong University  Jinan China"},{"name":"Engineering Research Center of Intelligent Unmanned System of MOE Shandong University  Jinan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Song","sequence":"additional","affiliation":[{"name":"Control Science Engineering Department Shandong University  Jinan China"},{"name":"Engineering Research Center of Intelligent Unmanned System of MOE Shandong University  Jinan China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,11,5]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2024.109342"},{"key":"e_1_2_12_3_1","doi-asserted-by":"publisher","DOI":"10.1177\/0142331216685607"},{"key":"e_1_2_12_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/access.2018.2881261"},{"key":"e_1_2_12_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2014.2364625"},{"key":"e_1_2_12_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/lcsys.2021.3133128"},{"key":"e_1_2_12_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578\u2010018\u20100004\u20100"},{"key":"e_1_2_12_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200308"},{"key":"e_1_2_12_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11517\u2010019\u201002093\u20109"},{"key":"e_1_2_12_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaw1977"},{"key":"e_1_2_12_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_15"},{"key":"e_1_2_12_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2013.2265804"},{"key":"e_1_2_12_13_1","unstructured":"M. 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