{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T21:52:19Z","timestamp":1783806739562,"version":"3.55.0"},"reference-count":36,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T00:00:00Z","timestamp":1772668800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T00:00:00Z","timestamp":1772668800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB4700801"],"award-info":[{"award-number":["2022YFB4700801"]}],"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":[[2026,4]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>The spherical scissor linkage remote\u2010centre\u2010of\u2010motion (SSL\u2010RCM) mechanism has multiple joints and a low stiffness, severely affecting its load\u2010bearing capacity and motion accuracy. Accurate stiffness modelling of the SSL\u2010RCM mechanism\u00a0is key to guide its design.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>This paper uses the virtual joint method to establish a stiffness model considering passive joints. Applying transfer learning, small sample finite element data is extended by fitting a large dataset of simulation models, yielding a high\u2010accuracy stiffness model for the SSL\u2010RCM mechanism. A multi\u2010objective genetic algorithm considering stiffness factors is used for structural optimisation of the SSL\u2010RCM mechanism.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Comparative results show that the stiffness model achieves a 12.2% higher fitting accuracy than the baseline model, and an SSL\u2010RCM mechanism with improved overall performance is obtained.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The stiffness model establishes an analytical relationship between the geometric dimensions and corrected stiffness of the SSL\u2010RCM, which can be used for structural optimisation and design guidance.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70143","type":"journal-article","created":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T19:07:13Z","timestamp":1772996833000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Transfer Learning\u2010Based Stiffness Modelling of Spherical Scissor Linkage Remote\u2010Centre\u2010of\u2010Motion Mechanism for Structural Optimisation"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-5255-8303","authenticated-orcid":false,"given":"Baoyue","family":"Lu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sihan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuxin","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chengcheng","family":"Cai","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiatong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7217-6935","authenticated-orcid":false,"given":"Lizhi","family":"Pan","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,3,5]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23042361"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.18100\/ijamec.84097"},{"key":"e_1_2_11_4_1","first-page":"1203","volume-title":"Minimally Invasive Urological Surgery","author":"Stoianovici D.","year":"2005"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/tra.2003.817058"},{"issue":"397","key":"e_1_2_11_6_1","article-title":"Remote Center\u2010of\u2010Motion Robot for Surgery","volume":"5","author":"Taylor R. 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