{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,11]],"date-time":"2026-10-11T13:35:53Z","timestamp":1791725753153,"version":"4.3.4"},"reference-count":31,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T00:00:00Z","timestamp":1765497600000},"content-version":"vor","delay-in-days":11,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2018YFB1307700"],"award-info":[{"award-number":["2018YFB1307700"]}],"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>Digestive tract cancers are among the most common malignancies worldwide, and early diagnosis greatly improves patient prognosis. For instance, colorectal cancer has a 90% 5\u2010year survival rate at early stages. Endoscopic Submucosal Dissection (ESD) is the standard treatment, but traditional flexible endoscopes pose operational and visual challenges.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>This paper proposes a dual\u2010continuum robotic surgical system based on a cascaded vertebrae design. Kinematic and frictional modelling analyses were conducted to ensure stable operation of the surgical robotic system on a commercial endoscope. In addition, a teleoperation system was developed to enable bimanual ESD procedures.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Experimental validation confirmed the system's workspace, stiffness, hysteresis optimisation, and teleoperation accuracy. In an ex vivo ESD procedure performed on a porcine stomach, the system successfully resected a lesion with a diameter of 20\u00a0mm.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>This continuum robotic system demonstrates strong clinical potential to enhance ESD performance and reduce procedural difficulty.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70127","type":"journal-article","created":{"date-parts":[[2025,12,13]],"date-time":"2025-12-13T03:55:45Z","timestamp":1765598145000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Design of a Continuum Surgical Robotic System for Bimanual Endoscopic Submucosal Dissection"],"prefix":"10.1002","volume":"21","author":[{"given":"Haiyan","family":"Hu","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering Soochow University  Suzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-9165-9208","authenticated-orcid":false,"given":"Heng","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering Soochow University  Suzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhenhao","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering Soochow University  Suzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haojie","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering Soochow University  Suzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shumei","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering Soochow University  Suzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Agricultural Engineering Jiangsu University  Zhenjiang China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2025,12,12]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"publisher","DOI":"10.3322\/caac.21834"},{"key":"e_1_2_12_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2022.05.019"},{"key":"e_1_2_12_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2014.12.010"},{"key":"e_1_2_12_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464\u2010011\u20101627\u2010z"},{"key":"e_1_2_12_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2012.06.014"},{"key":"e_1_2_12_7_1","doi-asserted-by":"publisher","DOI":"10.34133\/2020\/9724807"},{"key":"e_1_2_12_8_1","doi-asserted-by":"publisher","DOI":"10.1097\/sla.0b013e3181e6239e"},{"key":"e_1_2_12_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/bjs.5325"},{"key":"e_1_2_12_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2013.04.192"},{"key":"e_1_2_12_11_1","doi-asserted-by":"publisher","DOI":"10.5009\/gnl19047"},{"key":"e_1_2_12_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cgh.2019.06.008"},{"key":"e_1_2_12_13_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev\u2010control\u2010060117\u2010104956"},{"key":"e_1_2_12_14_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649231209338"},{"key":"e_1_2_12_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2014.2364625"},{"key":"e_1_2_12_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1600"},{"key":"e_1_2_12_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2016.2576960"},{"key":"e_1_2_12_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1838"},{"key":"e_1_2_12_19_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548\u2010021\u201002442\u2010w"},{"key":"e_1_2_12_20_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-89092-6_16"},{"issue":"1","key":"e_1_2_12_21_1","first-page":"38","article-title":"A 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