{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T05:18:06Z","timestamp":1787807886299,"version":"build-2784847793"},"reference-count":33,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T00:00:00Z","timestamp":1782432000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T00:00:00Z","timestamp":1782432000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100012226","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":[[2026,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Teleoperated flexible bronchoscopy lacks distal haptic feedback, increasing the risk of unobservable iatrogenic tissue trauma during endoluminal exploration.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>This study proposes a robot\u2010assisted bronchoscopy system integrated with a dual\u2010modal safety framework. A visual module utilises image moments to provide predictive alerts for collision avoidance. Concurrently, a Transformer\u2010based network estimates distal interaction torques from proximal actuation, enabling real\u2010time haptic perception at the leader console.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Phantom validations across fragile tissue rupture, sidewall approximation, and luminal exploration tasks demonstrated the framework's efficacy. The visual warnings helped decrease excessive force contacts, while the learning\u2010based estimator delivered reliable distal force perception.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The proposed dual\u2010modal teleoperated safety architecture resolves the trade\u2010off between operational dexterity and safety in flexible bronchoscopy. By integrating predictive visual warnings and real\u2010time haptic feedback, the system improves the operator's situational awareness, decreasing the risk of iatrogenic trauma during the operation.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70198","type":"journal-article","created":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T16:30:27Z","timestamp":1782491427000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Dual\u2010Modal Safety Framework for Robotic\u2010Assisted Bronchoscopy via Endoscopic Vision and Haptic Feedback"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-1983-6193","authenticated-orcid":false,"given":"Bodong","family":"Fan","sequence":"first","affiliation":[{"name":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering Southeast University  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