{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,5]],"date-time":"2026-10-05T15:42:37Z","timestamp":1791214957105,"version":"4.1.0"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T00:00:00Z","timestamp":1778025600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T00:00:00Z","timestamp":1778025600000},"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":["52175028"],"award-info":[{"award-number":["52175028"]}],"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":["52525504"],"award-info":[{"award-number":["52525504"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100006606","name":"Natural Science Foundation of Tianjin","doi-asserted-by":"crossref","award":["24JCJQJC00090"],"award-info":[{"award-number":["24JCJQJC00090"]}],"id":[{"id":"10.13039\/501100006606","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Emerging Frontiers Cultivation Program of Tianjin University Interdisciplinary Center"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Surg Endosc"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1007\/s00464-026-12887-2","type":"journal-article","created":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T20:15:41Z","timestamp":1778098541000},"page":"5293-5305","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Design and evaluation of an intuitive distal-flexible endoscope for constrained surgical environments"],"prefix":"10.1007","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-6361-6266","authenticated-orcid":false,"given":"Zhikang","family":"Ma","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tong","family":"Ren","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"He","family":"Su","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinan","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lizhi","family":"Pan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kailun","family":"Dong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6497-8185","authenticated-orcid":false,"given":"Jinhua","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianchang","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,5,6]]},"reference":[{"issue":"4","key":"12887_CR1","doi-asserted-by":"publisher","first-page":"358","DOI":"10.1055\/s-2001-13689","volume":"33","author":"M Rosen","year":"2001","unstructured":"Rosen M, Ponsky J (2001) Minimally invasive surgery. Endoscopy 33(4):358\u2013366","journal-title":"Endoscopy"},{"key":"12887_CR2","doi-asserted-by":"publisher","first-page":"223","DOI":"10.1146\/annurev.med.55.091902.105248","volume":"55","author":"A Darzi","year":"2004","unstructured":"Darzi A, Munz Y (2004) The impact of minimally invasive surgical techniques. Annu Rev Med 55:223\u2013237","journal-title":"Annu Rev Med"},{"issue":"1","key":"12887_CR3","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1016\/S1470-2045(08)70310-3","volume":"10","author":"Colon Cancer Laparoscopic or Open Resection Study Group","year":"2009","unstructured":"Colon Cancer Laparoscopic or Open Resection Study Group (2009) Laparoscopic surgery versus open surgery for colon cancer. Lancet Oncol 10(1):44\u201352","journal-title":"Lancet Oncol"},{"key":"12887_CR4","first-page":"754","volume":"330","author":"M Buunen","year":"2005","unstructured":"Buunen M, Veldkamp R, Hop WCJ, Kuhry E, Jeekel J, Haglind E, Pahlman L, Cuesta MA, Msika M, Morino M, Lacy A, Bonjer HJ (2005) Laparoscopic colectomy was associated with earlier recovery of bowel function and shorter hospital stay compared with open colectomy. BMJ 330:754","journal-title":"BMJ"},{"key":"12887_CR5","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1161\/CIRCULATIONAHA.108.840041","volume":"120","author":"JJT McGinn","year":"2009","unstructured":"McGinn JJT, Usman S, Lapierre H, Pothula VR, Mesana TG, Ruel M (2009) Minimally invasive coronary artery bypass grafting: dual-center experience in 450 consecutive patients. Circulation 120:78\u201384","journal-title":"Circulation"},{"issue":"15","key":"12887_CR6","doi-asserted-by":"publisher","first-page":"1841","DOI":"10.1001\/jama.291.15.1841","volume":"291","author":"JD Puskas","year":"2004","unstructured":"Puskas JD, Williams WH, Mahoney EM, Huber PR, Block PC, Duke PG, Staples JR, Glas KE, Marshall JJ, Leimbach ME et al (2004) Off-pump vs conventional coronary artery bypass grafting: early and 1-year graft patency, cost, and quality-of-life outcomes: a randomized trial. JAMA 291(15):1841\u20131849","journal-title":"JAMA"},{"issue":"4","key":"12887_CR7","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1093\/ejcts\/ezaf112","volume":"67","author":"K Anastasiadis","year":"2025","unstructured":"Anastasiadis K, Antonitsis P, Voucharas C, Apostolidou-Kiouti F, Deliopoulos A, Haidich AB, Argiriadou H (2025) Minimal invasive extracorporeal circulation versus conventional cardiopulmonary bypass in cardiac surgery: a contemporary systematic review and meta-analysis. Eur J Cardiothorac Surg 67(4):112","journal-title":"Eur J Cardiothorac Surg"},{"issue":"4","key":"12887_CR8","doi-asserted-by":"publisher","first-page":"311","DOI":"10.21037\/acs-2023-rcabg-0191","volume":"13","author":"B Hwang","year":"2024","unstructured":"Hwang B, Ren J, Wang K, Williams ML, Yan TD (2024) Systematic review and meta-analysis of two decades of reported outcomes for robotic coronary artery bypass grafting. Ann Cardiothorac Surg 13(4):311","journal-title":"Ann Cardiothorac Surg"},{"key":"12887_CR9","doi-asserted-by":"crossref","unstructured":"Shang J, Noonan DP, Payne CJ, Clark J, Sodergren MH, Darzi A, Yang GZ (2011) An articulated universal joint\u2013based flexible access robot for minimally invasive surgery. In: IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp 1147\u20131152","DOI":"10.1109\/ICRA.2011.5980261"},{"issue":"10","key":"12887_CR10","doi-asserted-by":"publisher","first-page":"1340","DOI":"10.1089\/end.2012.0140","volume":"26","author":"ZG Goldsmith","year":"2012","unstructured":"Goldsmith ZG, Astroza GM, Wang AJ, Simmons WN, Iqbal MW, Lipkin ME, Preminger GM, Ferrandino MN (2012) Optical performance comparison of deflectable laparoscopes for laparoendoscopic single-site surgery. J Endourol 26(10):1340\u20131345","journal-title":"J Endourol"},{"issue":"8","key":"12887_CR11","doi-asserted-by":"publisher","first-page":"3152","DOI":"10.1007\/s00464-016-5340-9","volume":"31","author":"H Wang","year":"2017","unstructured":"Wang H, Zhang R, Chen W, Wang X, Pfeifer R (2017) A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals. Surg Endosc 31(8):3152\u20133158","journal-title":"Surg Endosc"},{"issue":"10","key":"12887_CR12","doi-asserted-by":"publisher","first-page":"1325","DOI":"10.1007\/s00464-004-8282-6","volume":"19","author":"JM Perrone","year":"2005","unstructured":"Perrone JM, Ames CD, Yan Y, Landman J (2005) Evaluation of surgical performance with standard rigid and flexible-tip laparoscopes. Surg Endosc 19(10):1325\u20131328","journal-title":"Surg Endosc"},{"issue":"9","key":"12887_CR13","doi-asserted-by":"publisher","first-page":"1134","DOI":"10.1177\/0278364908104278","volume":"28","author":"N Simaan","year":"2009","unstructured":"Simaan N, Taylor RH, Flint PW (2009) Design and integration of a telerobotic system for minimally invasive surgery of the upper airway. Int J Robot Res 28(9):1134\u20131153","journal-title":"Int J Robot Res"},{"issue":"11","key":"12887_CR14","doi-asserted-by":"publisher","first-page":"3349","DOI":"10.1007\/s00464-015-4088-y","volume":"29","author":"N Patel","year":"2015","unstructured":"Patel N, Seneci CA, Shang J, Leibrandt K, Yang GZ, Darzi A, Teare J (2015) Evaluation of a novel flexible snake robot for endoluminal surgery. Surg Endosc 29(11):3349\u20133355","journal-title":"Surg Endosc"},{"issue":"3","key":"12887_CR15","first-page":"408","volume":"2","author":"D Kim","year":"2020","unstructured":"Kim D, Kim W, Lee J, Park FC, Kim HJ (2020) Development of a multi-DOF steerable laparoscopic camera system with concentric articulation. IEEE Trans Med Robot Bionics 2(3):408\u2013416","journal-title":"IEEE Trans Med Robot Bionics"},{"key":"12887_CR16","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.768236","volume":"8","author":"G Decroly","year":"2021","unstructured":"Decroly G, Lambert P, Delchambre A (2021) A soft pneumatic two-degree-of-freedom actuator for endoscopy. Front Robot AI 8:768236","journal-title":"Front Robot AI"},{"issue":"2","key":"12887_CR17","doi-asserted-by":"publisher","first-page":"356","DOI":"10.1109\/TMRB.2022.3155254","volume":"4","author":"X Ma","year":"2022","unstructured":"Ma X, Song C, Qian L, Liu W, Chiu PW, Li Z (2022) Augmented-reality-assisted autonomous view adjustment of a 6-DOF robotic stereo flexible endoscope. IEEE Trans Med Robot Bionics 4(2):356\u2013367","journal-title":"IEEE Trans Med Robot Bionics"},{"issue":"1","key":"12887_CR18","first-page":"169","volume":"1","author":"HF Jelinek","year":"2015","unstructured":"Jelinek HF, Dragon D (2015) Classification and design of tendon-driven continuum robots: a review. IEEE Robot Autom Lett 1(1):169\u2013176","journal-title":"IEEE Robot Autom Lett"},{"key":"12887_CR19","doi-asserted-by":"crossref","unstructured":"Sanfilippo F, Smith J, Bertrand S, Svendsen THS (2022) Mixed-reality-enabled proprioception and teleoperation of a humanoid robot for paraplegic patients. In: International Conference on Information and Computer Technologies (ICICT), pp 153\u2013158. IEEE","DOI":"10.1109\/ICICT55905.2022.00034"},{"key":"12887_CR20","doi-asserted-by":"crossref","unstructured":"Spano LD (2021) Teleoperating humanoid robots using standard VR headsets: a systematic review. In: CHIRA, pp 308\u2013316","DOI":"10.5220\/0010723200003060"},{"issue":"2","key":"12887_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-025-02254-z","volume":"111","author":"AH Dugan","year":"2025","unstructured":"Dugan AH, Sadykov R, Roozbahani D, Alizadeh M, Handroos H (2025) Immersive telepresence via a humanoid robotic head using a VR headset with real-time stereoscopic vision and binaural audio. J Intell Robot Syst 111(2):1\u201330","journal-title":"J Intell Robot Syst"},{"key":"12887_CR22","doi-asserted-by":"crossref","unstructured":"Gaurav S, Al-Qurashi Z, Barapatre A, Maratos G, Sarma T, Ziebart BD (2019) Deep correspondence learning for effective robotic teleoperation using virtual reality. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp 477\u2013483. IEEE","DOI":"10.1109\/Humanoids43949.2019.9035031"},{"issue":"2","key":"12887_CR23","doi-asserted-by":"publisher","first-page":"349","DOI":"10.1007\/s10514-016-9583-z","volume":"41","author":"E Falotico","year":"2017","unstructured":"Falotico E, Cauli N, Kryczka P, Hashimoto K, Berthoz A, Takanishi A, Dario P, Laschi C (2017) Head stabilization in a humanoid robot: models and implementations. Auton Robot 41(2):349\u2013365","journal-title":"Auton Robot"},{"issue":"1","key":"12887_CR24","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2334","volume":"18","author":"Y Yang","year":"2022","unstructured":"Yang Y, Li J, Kong K, Wang S (2022) Design of a dexterous robotic surgical instrument with a novel bending mechanism. Int J Med Robot 18(1):e2334","journal-title":"Int J Med Robot"},{"issue":"2","key":"12887_CR25","first-page":"199","volume":"75","author":"CM Vaddi","year":"2022","unstructured":"Vaddi CM, Ramakrishna P, Ganesan S, Swamy S, Anandan H, Babu M (2022) Durability of current generation flexible ureteroscopes: the experience from a high-volume centre. Cent Eur J Urol 75(2):199","journal-title":"Cent Eur J Urol"},{"issue":"1","key":"12887_CR26","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1007\/s11668-025-02099-6","volume":"25","author":"Y Xing","year":"2025","unstructured":"Xing Y, Liu Z, Zheng R, Cai C, Altinzoy E, Ren X (2025) Fatigue wear analysis and life prediction of surgical instrument driving wires. J Fail Anal Prev 25(1):178\u2013194","journal-title":"J Fail Anal Prev"}],"container-title":["Surgical Endoscopy"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00464-026-12887-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00464-026-12887-2","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00464-026-12887-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T13:53:05Z","timestamp":1780926785000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00464-026-12887-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5,6]]},"references-count":26,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2026,6]]}},"alternative-id":["12887"],"URL":"https:\/\/doi.org\/10.1007\/s00464-026-12887-2","relation":{},"ISSN":["0930-2794","1432-2218"],"issn-type":[{"value":"0930-2794","type":"print"},{"value":"1432-2218","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,5,6]]},"assertion":[{"value":"21 November 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 April 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 May 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Zhikang Ma, Tong Ren, He Su, Xinan Sun, Lizhi Pan, Kailun Dong, Jinhua Li, and Jianchang Zhao declare that they have no conflict of interest to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Disclosures"}}]}}