{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T04:48:59Z","timestamp":1782449339097,"version":"3.54.5"},"reference-count":23,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T00:00:00Z","timestamp":1780531200000},"content-version":"vor","delay-in-days":3,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51975409"],"award-info":[{"award-number":["51975409"]}],"id":[{"id":"10.13039\/501100001809","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>In recent years, laparoscopic surgical robots have rapidly developed. However, research on master manipulators remains relatively limited. Existing designs are often characterised by structural complexity and inadequate force feedback capabilities.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>A semi\u2010direct\u2010drive serial 8\u2010degree of freedom force\u2010feedback master manipulator was developed. A global fluctuation performance index based on mean absolute deviation and a minimum gravity torque index were proposed, and structural optimisation was performed using a multi\u2010objective genetic algorithm. A spring\u2010cable gravity compensation mechanism was also designed.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The optimised manipulator satisfied laparoscopic surgical requirements, improved the comprehensive performance index by 93.63%, reduced motor output torque by about 70%, and decreased the maximum end\u2010effector force and torque from 15.420\u00a0N to 0.123\u00a0Nm to 1.402\u00a0N and 0.034\u00a0Nm, respectively.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>The proposed master manipulator demonstrates potential application value in the field of laparoscopic surgical robots.<\/jats:p>\n                  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