{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T15:19:42Z","timestamp":1784906382028,"version":"3.55.0"},"reference-count":23,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2026,5,10]],"date-time":"2026-05-10T00:00:00Z","timestamp":1778371200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"},{"start":{"date-parts":[[2026,5,10]],"date-time":"2026-05-10T00:00:00Z","timestamp":1778371200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100013129","name":"Ministry of SMEs and Startups","doi-asserted-by":"publisher","award":["RS\u20102023\u201000321839"],"award-info":[{"award-number":["RS\u20102023\u201000321839"]}],"id":[{"id":"10.13039\/501100013129","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>Background<\/jats:title>\n                    <jats:p>Endoscopic Submucosal Dissection (ESD) requires high expertise as conventional endoscopes cannot provide simultaneous traction and dissection, resulting in unstable visualisation and inconsistent cutting depth.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>A coaxial over\u2010the\u2010scope bimanual robotic system was developed to enable lesion\u2010aligned traction and dissection while maintaining compatibility with commercial endoscopes. Engineering performance was evaluated, followed by a pre\u2010clinical comparison between robot\u2010assisted ESD (R\u2010ESD) and conventional ESD (C\u2010ESD) using synthetic tissue.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>\n                      The forceps arm generated sufficient traction (0.581\u00a0N), and the coaxial mechanism provided hemispherical manipulation. In pre\u2010clinical trials (\n                      <jats:italic>n<\/jats:italic>\n                      \u00a0=\u00a030), R\u2010ESD significantly reduced total procedure time (9.20 vs. 11.80\u00a0min) and dissection time (2.99 vs. 8.35\u00a0min). Depth safety improved with shallower mean depth (2.48 vs. 4.06\u00a0mm) and a substantial reduction in muscle\u2010invasion\u2010risk regions (0.15 vs. 29.38%).\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The proposed coaxial bimanual robotic system improves procedural efficiency and depth safety through lesion\u2010aligned manipulation. Its compatibility with existing endoscopes suggests clinical applicability without procedural complexity.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70179","type":"journal-article","created":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T05:45:12Z","timestamp":1778478312000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Development of a Coaxial Over\u2010the\u2010Scope Bimanual Robot Enabling Lesion\u2010Aligned Manipulation for ESD"],"prefix":"10.1002","volume":"22","author":[{"given":"Chanwoo","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sang Hyun","family":"Kim","sequence":"additional","affiliation":[{"name":"Division of Gastroenterology and Hepatology Department of Internal Medicine Korea University College of Medicine  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"JaeYoun","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Woocheol","family":"Shin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"SeongHyeon","family":"Won","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junho","family":"Hong","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hyuk Soon","family":"Choi","sequence":"additional","affiliation":[{"name":"Division of Gastroenterology and Hepatology Department of Internal Medicine Korea University College of Medicine  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Seongil","family":"Kwon","sequence":"additional","affiliation":[{"name":"Advanced Research Team Leader ENDOROBOTICS Co. 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