{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,16]],"date-time":"2025-04-16T06:01:33Z","timestamp":1744783293707,"version":"3.37.3"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"11","license":[{"start":{"date-parts":[[2023,8,22]],"date-time":"2023-08-22T00:00:00Z","timestamp":1692662400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,8,22]],"date-time":"2023-08-22T00:00:00Z","timestamp":1692662400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["Grant 62133010"],"award-info":[{"award-number":["Grant 62133010"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key R&D Program of China","doi-asserted-by":"crossref","award":["Grant 2019YFB1311501"],"award-info":[{"award-number":["Grant 2019YFB1311501"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2023,11]]},"DOI":"10.1007\/s11517-023-02911-1","type":"journal-article","created":{"date-parts":[[2023,8,22]],"date-time":"2023-08-22T19:03:49Z","timestamp":1692731029000},"page":"2815-2828","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Flexible endoscopic instrument for diagnosis and treatment of early gastric cancer"],"prefix":"10.1007","volume":"61","author":[{"given":"Chi","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weihao","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xingfeng","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4257-7978","authenticated-orcid":false,"given":"Siyang","family":"Zuo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,8,22]]},"reference":[{"issue":"3","key":"2911_CR1","first-page":"209","volume":"71","author":"H Sung","year":"2021","unstructured":"Sung H et al (2021) 2020 Global cancer statistics GLOBOCAN estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: A Cancer J Clin 71(3):209\u2013249","journal-title":"CA: A Cancer J Clin"},{"issue":"6","key":"2911_CR2","doi-asserted-by":"publisher","first-page":"895","DOI":"10.1016\/j.bpg.2015.09.013","volume":"29","author":"K Sugano","year":"2015","unstructured":"Sugano K (2015) Screening of gastric cancer in Asia. Best Pract Res Clin Gastroenterol 29(6):895\u2013905","journal-title":"Best Pract Res Clin Gastroenterol"},{"issue":"2","key":"2911_CR3","doi-asserted-by":"publisher","first-page":"225","DOI":"10.1136\/gut.48.2.225","volume":"48","author":"H Ono","year":"2001","unstructured":"Ono H et al (2001) Endoscopic mucosal resection for treatment of early gastric cancer. Gut 48(2):225\u2013229","journal-title":"Gut"},{"key":"2911_CR4","doi-asserted-by":"publisher","first-page":"857","DOI":"10.1007\/s11548-014-0981-4","volume":"9","author":"S Zuo","year":"2014","unstructured":"Zuo S, Iijima K, Tokumiya T, Masamune K (2014) Variable stiffness outer sheath with \u201cDragon skin\u201d structure and negative pneumatic shape-locking mechanism. Int J Comput Assist Radiol Surg 9:857\u2013865","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"2911_CR5","doi-asserted-by":"crossref","unstructured":"Schmitz A, Shen T, Berthet-Rayne P, Yang GZ (n.d.) A rolling-tip flexible instrument for minimally invasive surgery. Int Conf Robot Autom 2019:379\u2013385","DOI":"10.1109\/ICRA.2019.8793480"},{"key":"2911_CR6","first-page":"1654","volume":"2014","author":"X Yuan","year":"2014","unstructured":"Yuan X, Da L, Gong M (2014) Design and research on a shape memory alloy-Actuated single-port laparoscopic surgical robot. IEEE Int Confer Mechatron Auto 2014:1654\u20131658","journal-title":"IEEE Int Confer Mechatron Auto"},{"key":"2911_CR7","doi-asserted-by":"crossref","unstructured":"Ping Z, Zhang T, Zhang C, Liu J, Zuo S (2021) Design of contact-aided compliant flexure hinge mechanism using superelastic nitinol. J Mech Design 143(11):114501","DOI":"10.1115\/1.4050750"},{"issue":"56","key":"2911_CR8","doi-asserted-by":"publisher","first-page":"1078","DOI":"10.1016\/j.matdes.2013.11.084","volume":"1980\u20132015","author":"JM Jani","year":"2014","unstructured":"Jani JM, Leary M, Subic A, Gibson MA (2014) A review of shape memory alloy research, applications and opportunities. Mater Des 1980\u20132015(56):1078\u20131113","journal-title":"Mater Des"},{"key":"2911_CR9","doi-asserted-by":"publisher","first-page":"780","DOI":"10.1016\/S0921-5093(99)00415-3","volume":"273","author":"H Fischer","year":"1999","unstructured":"Fischer H, Vogel B, Pfleging W (1999) Flexible distal tip made of nitinol (NiTi) for a steerable endoscopic camera system. Mater Sci Eng A 273:780\u2013783","journal-title":"Mater Sci Eng A"},{"key":"2911_CR10","volume-title":"Handbook of biomaterials evaluation: scientific, technical and clinical testing of implant materials","author":"AF von Recum","year":"1998","unstructured":"von Recum AF (1998) Handbook of biomaterials evaluation: scientific, technical and clinical testing of implant materials. CRC Press"},{"issue":"99","key":"2911_CR11","first-page":"1","volume":"PP","author":"YC Chitalia","year":"2020","unstructured":"Chitalia YC, Jeong S, Deaton N, Chern JJ, Desai JP (2020) Design and kinematics analysis of a robotic pediatric neuroendoscope tool body. IEEE\/ASME Trans Mechatronics PP(99):1\u20131","journal-title":"IEEE\/ASME Trans Mechatronics"},{"key":"2911_CR12","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1016\/j.arcontrol.2017.09.006","volume":"44","author":"KY Pettersen","year":"2017","unstructured":"Pettersen KY (2017) Snake robots. Annu Rev Control 44:19\u201344","journal-title":"Annu Rev Control"},{"key":"2911_CR13","first-page":"5503","volume":"2017","author":"JD Greer","year":"2017","unstructured":"Greer JD, Morimoto TK, Okamura AM, Hawkes EW (2017) Series pneumatic artificial muscles (sPAMs) and application to a soft continuum robot. IEEE Int Conf Robot Autom 2017:5503\u20135510","journal-title":"IEEE Int Conf Robot Autom"},{"issue":"6","key":"2911_CR14","doi-asserted-by":"publisher","first-page":"1261","DOI":"10.1109\/TRO.2015.2489500","volume":"31","author":"J Burgner-Kahrs","year":"2015","unstructured":"Burgner-Kahrs J, Rucker DC, Choset H (2015) Continuum robots for medical applications: a survey. IEEE Trans Rob 31(6):1261\u20131280","journal-title":"IEEE Trans Rob"},{"issue":"5","key":"2911_CR15","doi-asserted-by":"publisher","first-page":"2252","DOI":"10.1109\/TMECH.2014.2372635","volume":"20","author":"T Kato","year":"2014","unstructured":"Kato T, Okumura I, Song S-E, Golby AJ, Hata N (2014) Tendon-driven continuum robot for endoscopic surgery: preclinical development and validation of a tension propagation model. IEEE\/ASME Trans Mechatron 20(5):2252\u20132263","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"4","key":"2911_CR16","first-page":"041017","volume":"7","author":"Z Du","year":"2015","unstructured":"Du Z, Yang W, Dong W (2015) Kinematics modeling of a notched continuum manipulator. Robot 7(4):041017","journal-title":"Robot"},{"key":"2911_CR17","first-page":"1776","volume":"2015","author":"PA York","year":"2015","unstructured":"York PA, Swaney PJ, Gilbert HB, Webster RJ (2015) A wrist for needle-sized surgical robots. IEEE Int Conf Robot Autom 2015:1776\u20131781","journal-title":"IEEE Int Conf Robot Autom"},{"issue":"1","key":"2911_CR18","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/TMRB.2019.2895780","volume":"1","author":"F Alambeigi","year":"2019","unstructured":"Alambeigi F et al (2019) On the use of a continuum manipulator and a bendable medical screw for minimally invasive interventions in orthopedic surgery. IEEE Trans Med Robot Bionics 1(1):14\u201321","journal-title":"IEEE Trans Med Robot Bionics"},{"issue":"8","key":"2911_CR19","doi-asserted-by":"publisher","first-page":"821","DOI":"10.1097\/00042737-200608000-00004","volume":"18","author":"YK Tan","year":"2006","unstructured":"Tan YK, Fielding JW (2006) Early diagnosis of early gastric cancer. Eur J Gastroenterol Hepatol 18(8):821\u2013829","journal-title":"Eur J Gastroenterol Hepatol"},{"issue":"5","key":"2911_CR20","doi-asserted-by":"publisher","first-page":"1509","DOI":"10.1053\/j.gastro.2009.03.034","volume":"136","author":"MB Wallace","year":"2009","unstructured":"Wallace MB, Fockens P (2009) Probe-based confocal laser endomicroscopy. Gastroenterology 136(5):1509\u20131513","journal-title":"Gastroenterology"},{"issue":"12","key":"2911_CR21","doi-asserted-by":"publisher","first-page":"1648","DOI":"10.1136\/gut.2008.157461","volume":"57","author":"H Pohl","year":"2008","unstructured":"Pohl H et al (2008) Miniprobe confocal laser microscopy for the detection of invisible neoplasia in patients with Barrett\u2019s oesophagus. Gut 57(12):1648\u20131653","journal-title":"Gut"},{"issue":"1","key":"2911_CR22","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1016\/j.rmed.2011.09.009","volume":"106","author":"RC Newton","year":"2012","unstructured":"Newton RC, Kemp SV, Yang G-Z, Elson DS, Darzi A, Shah PL (2012) Imaging parenchymal lung diseases with confocal endomicroscopy. Respir Med 106(1):127\u2013137","journal-title":"Respir Med"},{"issue":"2","key":"2911_CR23","doi-asserted-by":"publisher","first-page":"111","DOI":"10.1007\/s00408-011-9282-7","volume":"189","author":"RC Newton","year":"2011","unstructured":"Newton RC et al (2011) Progress toward optical biopsy: bringing the microscope to the patient. Lung 189(2):111\u2013119","journal-title":"Lung"},{"key":"2911_CR24","doi-asserted-by":"publisher","first-page":"543","DOI":"10.1007\/s10439-018-1978-x","volume":"46","author":"H Wang","year":"2018","unstructured":"Wang H, Wang S, Li J, Zuo S (2018) Robotic scanning device for intraoperative thyroid gland endomicroscopy. Ann Biomed Eng 46:543\u2013554","journal-title":"Ann Biomed Eng"},{"issue":"3","key":"2911_CR25","doi-asserted-by":"publisher","first-page":"590","DOI":"10.1109\/TRO.2007.896765","volume":"23","author":"PI Corke","year":"2007","unstructured":"Corke PI (2007) A simple and systematic approach to assigning Denavit-Hartenberg parameters. IEEE Trans Rob 23(3):590\u2013594","journal-title":"IEEE Trans Rob"},{"issue":"4","key":"2911_CR26","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01684-3","volume":"105","author":"S Saini","year":"2022","unstructured":"Saini S, Orlando MF, Pathak PM (2022) Intelligent control of master-slave based robotic surgical system. J Intell Rob Syst 105(4):1\u201320","journal-title":"J Intell Rob Syst"},{"issue":"1","key":"2911_CR27","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1007\/s10846-019-01012-2","volume":"97","author":"Y Yang","year":"2020","unstructured":"Yang Y et al (2020) Safety control method of robot-assisted cataract surgery with virtual fixture and virtual force feedback. J Intell Rob Syst 97(1):17\u201332","journal-title":"J Intell Rob Syst"},{"issue":"5","key":"2911_CR28","doi-asserted-by":"publisher","first-page":"2480","DOI":"10.3390\/app12052480","volume":"12","author":"K Osawa","year":"2022","unstructured":"Osawa K et al (2022) Stress dispersion design in continuum compliant structure toward multi-dof endoluminal forceps. Appl Sci 12(5):2480","journal-title":"Appl Sci"},{"issue":"11","key":"2911_CR29","doi-asserted-by":"publisher","first-page":"2966","DOI":"10.1007\/s12555-019-1007-3","volume":"18","author":"H Wang","year":"2020","unstructured":"Wang H, Wang X, Yang W, Du Z (2020) Design and kinematic modeling of a notch continuum manipulator for laryngeal surgery. Int J Control Autom Syst 18(11):2966\u20132973","journal-title":"Int J Control Autom Syst"},{"issue":"6","key":"2911_CR30","doi-asserted-by":"publisher","first-page":"064502","DOI":"10.1115\/1.4056502","volume":"15","author":"Z Wang","year":"2023","unstructured":"Wang Z, Bao S, Wang D, Qian S, Zhang J, Hai M (2023) Design of a novel flexible robotic laparoscope using a two degrees-of-freedom cable-driven continuum mechanism with major arc notches. J Mech Robot 15(6):064502","journal-title":"J Mech Robot"},{"issue":"6","key":"2911_CR31","doi-asserted-by":"publisher","first-page":"1505","DOI":"10.1007\/s10103-013-1267-8","volume":"28","author":"Y Mao","year":"2013","unstructured":"Mao Y et al (2013) Endoscopic holmium: YAG laser ablation of early gastrointestinal intramucosal cancer. Lasers Med Sci 28(6):1505\u20131509","journal-title":"Lasers Med Sci"}],"container-title":["Medical &amp; Biological Engineering &amp; Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-023-02911-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11517-023-02911-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-023-02911-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,18]],"date-time":"2023-10-18T01:09:55Z","timestamp":1697591395000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11517-023-02911-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,22]]},"references-count":31,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2023,11]]}},"alternative-id":["2911"],"URL":"https:\/\/doi.org\/10.1007\/s11517-023-02911-1","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"type":"print","value":"0140-0118"},{"type":"electronic","value":"1741-0444"}],"subject":[],"published":{"date-parts":[[2023,8,22]]},"assertion":[{"value":"15 November 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 August 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 August 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"For this type of study, formal consent is not required.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}},{"value":"The authors declare no competing interests.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}