{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T05:17:54Z","timestamp":1787807874041,"version":"build-2784847793"},"reference-count":16,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T00:00:00Z","timestamp":1783641600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"},{"start":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T00:00:00Z","timestamp":1783641600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"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>Conventional laparoscopic instruments provide limited dexterity in confined anatomical environments, whereas existing articulated designs rely on complex rigid joints or motorised actuation, increasing mechanical complexity and limiting miniaturisation.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>A hybrid compliant\u2013tendon laparoscopic instrument was developed to integrate articulated distal motion and active grasping within a 5\u00a0mm form factor. The compliant segment was fabricated from super\u2010elastic Nitinol, and grasping was achieved using a tendon\u2013pulley mechanism. The system was evaluated using nonlinear finite element analysis and experimental testing, including digital image correlation and benchtop force measurements.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The mechanism achieved up to 75\u00b0 articulation with mean model errors below 8%. The grasper produced a maximum force of 13.2\u00a0\u00b1\u00a00.47\u00a0N and maintained performance across articulation angles. Pull\u2010out tests confirmed stable interaction with soft\u2010tissue analogues.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The proposed design demonstrates a compact, low\u2010complexity approach for combining compliant articulation and tendon\u2010driven grasping within a 5\u00a0mm surgical instrument.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70206","type":"journal-article","created":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T19:05:58Z","timestamp":1783710358000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Hybrid Compliant\u2013Tendon Laparoscopic Instrument for\u00a0Distal Articulation and Grasping: Design and\u00a0Experimental Validation"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1725-6737","authenticated-orcid":false,"given":"Prabhat","family":"Kumar","sequence":"first","affiliation":[{"name":"Department of Neurological Surgery University of California  San Francisco California USA"},{"name":"Mechanical Engineering Department Indian Institute of\u00a0Technology  Bombay India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bhallamudi","family":"Ravi","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department Indian Institute of\u00a0Technology  Bombay India"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,7,10]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3352593.3352608"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439\u2010022\u201003086\u2010w"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1468"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464\u2010019\u201006849\u20100"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/JTEHM.2023.3291925"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.103622"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2084"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4046838"},{"key":"e_1_2_10_10_1","volume-title":"Robot\u2010Like Dexterity Without Computers and Motors: A Review of Hand\u2010Held Laparoscopic Instruments With Wrist\u2010Like Tip Articulation","author":"Anderson P. L.","year":"2016"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10397\u2010011\u20100708\u20102"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.nexres.2025.100668"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.heliyon.2022.e12561"},{"key":"e_1_2_10_14_1","first-page":"619","volume-title":"Smart Innovation, Systems and Technologies","author":"Chavan M.","year":"2021"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1179\/026708301101511202"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464\u2010003\u20109153\u20102"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11665\u2010011\u20109864\u20109"}],"container-title":["The International Journal of Medical Robotics and Computer Assisted Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rcs.70206","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/rcs.70206","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rcs.70206","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T04:26:05Z","timestamp":1787804765000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rcs.70206"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7,10]]},"references-count":16,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2026,8]]}},"alternative-id":["10.1002\/rcs.70206"],"URL":"https:\/\/doi.org\/10.1002\/rcs.70206","archive":["Portico"],"relation":{},"ISSN":["1478-5951","1478-596X"],"issn-type":[{"value":"1478-5951","type":"print"},{"value":"1478-596X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7,10]]},"assertion":[{"value":"2026-04-13","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-07-01","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-07-10","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e70206"}}