{"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":1787807863250,"version":"build-2784847793"},"reference-count":40,"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":["52275015"],"award-info":[{"award-number":["52275015"]}],"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>Compared with the conventional bevel\u2010tip flexible needles, the cannula flexible needle has a superiority in terms of agility. To improve the insertion accuracy of the cannula flexible needle in the soft tissue, the variable\u2010curvature bending characteristics were explored and a kinematic model was developed.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>This paper identified the parameters that influence the needle bending using a combination of the dimensional analysis theory and the equivalent stiffness method. Based on this, a kinematic model was established considering the deviation and rebound of the needle shaft. Verification experiments with the different stylet extension lengths for the flexible needle were conducted. Moreover, the single\u2010arc and the double\u2010arc insertion experiments were performed.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The results showed that all errors were within 2\u00a0mm, which met the accuracy requirements of general clinical surgery.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The rationality and accuracy of the proposed variable\u2010curvature bending characteristic model and the kinematic model are validated by experiments.<\/jats:p>\n                  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