{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T11:08:47Z","timestamp":1787828927341,"version":"build-2784847793"},"reference-count":29,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T00:00:00Z","timestamp":1779148800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"},{"start":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T00:00:00Z","timestamp":1779148800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100013077","name":"National Science and Technology Planning Project","doi-asserted-by":"publisher","award":["2012BAI14B03"],"award-info":[{"award-number":["2012BAI14B03"]}],"id":[{"id":"10.13039\/501100013077","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2018YFC010315"],"award-info":[{"award-number":["2018YFC010315"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2023YFB4705700"],"award-info":[{"award-number":["2023YFB4705700"]}],"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":[[2026,6]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Introduction<\/jats:title>\n                    <jats:p>Endoscopic retrograde cholangiopancreatography (ERCP) is technically challenging, with high operator radiation exposure, physical strain, and a steep learning curve, necessitating a robotic solution. This study evaluated robotic\u2010assisted ERCP feasibility and efficacy in an animal model.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>In this randomised controlled crossover study, three experienced endoscopists performed 24 ERCP procedures (12 robotic\u2010assisted vs. 12 manual) on four beagles using the YunSRobot system. Primary outcomes included papilla positioning maintenance, cannulation time, and success rate.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>\n                      Robotic\u2010assisted ERCP demonstrated superior papilla positioning (95.74% vs. 77.25%,\n                      <jats:italic>p<\/jats:italic>\n                      \u00a0&lt;\u00a00.01), indicating more endoscopic stability during cannulation. The successful cannulation rate was identical in both groups (83.3%). The robotic group required fewer attempts (2.0 vs. 3.5) and experienced no scope dislocations (0 vs. 5). No severe adverse events occurred in either group.\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>Robotic\u2010assisted ERCP is feasible, safe, and effective, offering significantly improved endoscopic stability with comparable cannulation success to manual techniques.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70174","type":"journal-article","created":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T08:51:08Z","timestamp":1779180668000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Robotic\u2010Assisted Bile Duct Cannulation During Endoscopic Retrograde Cholangiopancreatography: A Randomised Controlled Crossover Animal Study"],"prefix":"10.1002","volume":"22","author":[{"given":"Bin","family":"Yan","sequence":"first","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongming","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lihua","family":"Peng","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuhang","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhifeng","family":"Zhao","sequence":"additional","affiliation":[{"name":"China Medical University  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mengyuan","family":"Liu","sequence":"additional","affiliation":[{"name":"China Medical University  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiuli","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8594-557X","authenticated-orcid":false,"given":"Gang","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zikai","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fei","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peng","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yaning","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shenglin","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Miao","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Statistics and Epidemiology Graduate School of Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaomei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingshuang","family":"Yan","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8278-1263","authenticated-orcid":false,"given":"Hao","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunsheng","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology and Hepatology The First Medical Center Chinese PLA General Hospital  Beijing China"},{"name":"National Clinical Research Center for Geriatric Diseases Chinese PLA General Hospital  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,5,19]]},"reference":[{"key":"e_1_2_13_2_1","doi-asserted-by":"publisher","DOI":"10.1097\/00000658\u2010196805000\u201000013"},{"key":"e_1_2_13_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11894\u2010010\u20100089\u20100"},{"key":"e_1_2_13_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/14651858.CD009662.pub3"},{"key":"e_1_2_13_5_1","doi-asserted-by":"publisher","DOI":"10.1055\/a\u20101075\u20104080"},{"key":"e_1_2_13_6_1","doi-asserted-by":"publisher","DOI":"10.1055\/a\u20101994\u20107332"},{"key":"e_1_2_13_7_1","doi-asserted-by":"publisher","DOI":"10.18926\/amo\/64035"},{"key":"e_1_2_13_8_1","doi-asserted-by":"publisher","DOI":"10.7759\/cureus.18859"},{"key":"e_1_2_13_9_1","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/926876"},{"key":"e_1_2_13_10_1","doi-asserted-by":"publisher","DOI":"10.3904\/kjim.2022.093"},{"key":"e_1_2_13_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvir.2022.12.030"},{"key":"e_1_2_13_12_1","doi-asserted-by":"publisher","DOI":"10.3760\/cma.j.issn.0254\u20101432.2018.06.001"},{"key":"e_1_2_13_13_1","doi-asserted-by":"publisher","DOI":"10.3760\/cma.j.issn.0376\u20102491.2018.48.012"},{"key":"e_1_2_13_14_1","doi-asserted-by":"publisher","DOI":"10.3760\/cma.j.issn.0578\u20101426.2018.12.005"},{"key":"e_1_2_13_15_1","doi-asserted-by":"publisher","DOI":"10.1055\/s\u20100034\u20101393178"},{"key":"e_1_2_13_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/tbme.2017.2720739"},{"key":"e_1_2_13_17_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1819"},{"key":"e_1_2_13_18_1","article-title":"A Video of Remote Robotic Upper Gastrointestinal Endoscopy on Human Volunteers Based on 5G Network","author":"Yan B.","year":"2023","journal-title":"Asian Pacific Digestive Week 2023, Bangkok, Thailand, Nov. 18, 2023, Video Presentation"},{"key":"e_1_2_13_19_1","doi-asserted-by":"publisher","DOI":"10.1177\/0192623314560612"},{"key":"e_1_2_13_20_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1740\u20108261.2005.00020.x"},{"key":"e_1_2_13_21_1","doi-asserted-by":"publisher","DOI":"10.1055\/a\u20102161\u20101982"},{"key":"e_1_2_13_22_1","doi-asserted-by":"publisher","DOI":"10.4253\/wjge.v11.i1.5"},{"key":"e_1_2_13_23_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1471\u20100528.2008.02038.x"},{"key":"e_1_2_13_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464\u2010004\u20108213\u20106"},{"key":"e_1_2_13_25_1","doi-asserted-by":"publisher","DOI":"10.1055\/s\u20100031\u20101291791"},{"key":"e_1_2_13_26_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598\u2010023\u201034740\u20105"},{"key":"e_1_2_13_27_1","doi-asserted-by":"publisher","DOI":"10.1136\/pgmj.2004.031526"},{"key":"e_1_2_13_28_1","doi-asserted-by":"publisher","DOI":"10.1245\/s10434\u2010022\u201012548\u20103"},{"key":"e_1_2_13_29_1","doi-asserted-by":"publisher","DOI":"10.1089\/end.2011.0641"},{"key":"e_1_2_13_30_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464\u2010008\u20100184\u20106"}],"container-title":["The International Journal of Medical Robotics and Computer Assisted Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rcs.70174","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/rcs.70174","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rcs.70174","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T04:24:09Z","timestamp":1782447849000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rcs.70174"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5,19]]},"references-count":29,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2026,6]]}},"alternative-id":["10.1002\/rcs.70174"],"URL":"https:\/\/doi.org\/10.1002\/rcs.70174","archive":["Portico"],"relation":{},"ISSN":["1478-5951","1478-596X"],"issn-type":[{"value":"1478-5951","type":"print"},{"value":"1478-596X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,5,19]]},"assertion":[{"value":"2026-03-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-04-23","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-05-19","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e70174"}}