{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T05:17:52Z","timestamp":1787807872988,"version":"build-2784847793"},"reference-count":23,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2026,8,4]],"date-time":"2026-08-04T00:00:00Z","timestamp":1785801600000},"content-version":"vor","delay-in-days":3,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100013129","name":"Ministry of SMEs and Startups","doi-asserted-by":"publisher","award":["RS\u20102023\u201000321839"],"award-info":[{"award-number":["RS\u20102023\u201000321839"]}],"id":[{"id":"10.13039\/501100013129","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>Endoscopic retrograde cholangiopancreatography (ERCP) cannulation requires precise manipulation under fluoroscopic guidance. This study proposes a teleoperated robotic system for ERCP cannulation and evaluates its simulator\u2010based performance.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>A teleoperated robotic system incorporating a Chebyshev\u2010based mechanism and a ring\u2010type master interface was developed. Manipulation performance was assessed using Fitts' law\u2010based insertion experiments, catheter\u2010tip trajectory analysis, and a simulator\u2010based cannulation task.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Robotic manipulation showed a Fitts' law relationship comparable to conventional manual operation. Trajectory analysis showed higher path efficiency and lower jerk in the robotic condition, indicating improved trajectory\u2010related motion quality. In the simulator\u2010based cannulation task, the robotic condition showed slightly longer initial task completion times, whereas both robotic and conventional conditions showed comparable changes in task completion time across repeated trials.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>This study demonstrates the feasibility of a teleoperated robotic system for simulator\u2010based ERCP cannulation tasks. Further validation with expert endoscopists and more realistic ERCP environments is required.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70218","type":"journal-article","created":{"date-parts":[[2026,8,4]],"date-time":"2026-08-04T11:13:19Z","timestamp":1785841999000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Design and Evaluation of a Teleoperated Robotic System for ERCP Cannulation"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4380-5610","authenticated-orcid":false,"given":"SeongHyeon","family":"Won","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chanwoo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jaeyoun","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Woocheol","family":"Shin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junho","family":"Hong","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daehie","family":"Hong","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Korea University  Seoul Republic of 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