{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T05:17:43Z","timestamp":1787807863303,"version":"build-2784847793"},"reference-count":25,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T00:00:00Z","timestamp":1783555200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T00:00:00Z","timestamp":1783555200000},"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":["91948302"],"award-info":[{"award-number":["91948302"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["T2388101"],"award-info":[{"award-number":["T2388101"]}],"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":[[2026,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Minimally invasive breast surgery often suffers from incomplete lesion removal due to poor ultrasound visualisation.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>Given the difference in hardness between lesions and adipose tissue, this study proposes a method to assess tissue boundaries by measuring cutting force. Based on the Intact Lesion Excision System, a breast biopsy tool capable of tissue grasping and cutting, a cutting force detection algorithm was developed. This algorithm establishes a mechanical relationship among DILES deformation, actuation tension, and actual cutting force, and estimates tissue type by measuring cutting resistance.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>\n                      Experimental results show that the tool can detect cutting forces lower than 0.05\u00a0N. Force prediction achieved an RMSE of 0.0116\u00a0N and an\n                      <jats:italic>R<\/jats:italic>\n                      <jats:sup>2<\/jats:sup>\n                      of 0.892. In simulated lesion excision, force\u2010sensing guidance improved the complete resection rate from 40% (visual alone) to 90% (visual plus force feedback).\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>This force\u2010sensing approach enhances lesion resection completeness and shows strong potential for clinical application.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70202","type":"journal-article","created":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T10:53:22Z","timestamp":1783594402000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Force\u2010Sensing\u2010Integrated Flexible Tool for Precise Lesion Resection in Minimally Invasive Breast Surgery"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-6127-557X","authenticated-orcid":false,"given":"Peng","family":"Wang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li","family":"Jiang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yangjunjian","family":"Zhou","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ke","family":"Shi","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 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