{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T17:12:30Z","timestamp":1761844350064},"reference-count":45,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2014,4,29]],"date-time":"2014-04-29T00:00:00Z","timestamp":1398729600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Many recent developments of surgical robots focus on less invasive paradigms, such as laparoscopic SPA (Single Port Access) surgery, NOTES (Natural Orifice Translumenal Endoscopic Surgery), laryngoscopic MIS (Minimally Invasive Surgery), etc. A configuration similarity shared by these surgical robots is that two or more manipulators are inserted through one access port (a laparoscope, an endoscope, or a laryngoscope) for surgical interventions. However, upon designing such a surgical robot, the structure of the inserted manipulators has not been thoroughly explored based on evaluation of their performances. This paper presents a comparison for kinematic performances among three different continuum manipulators. They all could be applied in the aforementioned surgical robots. The structural parameters of these continuum manipulators are firstly optimized to assure a more fair and consistent comparison. This study is conducted in a dimensionless manner and provides scalable results for a wide spectrum of continuum manipulator designs as long as their segments have a constant curvature. The results could serve as a design reference for future developments of surgical robots which use one access port and continuum mechanisms.<\/jats:p>","DOI":"10.1017\/s0263574714000976","type":"journal-article","created":{"date-parts":[[2014,4,29]],"date-time":"2014-04-29T13:29:36Z","timestamp":1398778176000},"page":"2025-2044","source":"Crossref","is-referenced-by-count":36,"title":["Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port"],"prefix":"10.1017","volume":"33","author":[{"given":"Kai","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiangran","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xidian","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,4,29]]},"reference":[{"key":"S0263574714000976_ref9","first-page":"5546","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Xu","year":"2009"},{"key":"S0263574714000976_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2012.12.004"},{"key":"S0263574714000976_ref39","first-page":"2797","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Zanganeh","year":"1995"},{"key":"S0263574714000976_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817071"},{"key":"S0263574714000976_ref33","first-page":"829","article-title":"An Optimum Design Procedure for Both Serial and Parallel Manipulators","volume":"221","author":"Carbone","year":"2007","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"key":"S0263574714000976_ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908104278"},{"key":"S0263574714000976_ref13","first-page":"120","volume-title":"Proceedings of the IEEE \/ RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB)","author":"Sekiguchi","year":"2010"},{"key":"S0263574714000976_ref10","first-page":"1053","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Ding","year":"2010"},{"key":"S0263574714000976_ref21","first-page":"63","volume-title":"Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","author":"Zhao","year":"2013"},{"key":"S0263574714000976_ref12","first-page":"871","article-title":"Design of a novel bimanual robotic system for single-port laparoscopy","volume":"15","author":"Piccigallo","year":"2010","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"S0263574714000976_ref17","first-page":"410","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Abbott","year":"2007"},{"key":"S0263574714000976_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2198830"},{"key":"S0263574714000976_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861458"},{"key":"S0263574714000976_ref20","first-page":"961","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Xu","year":"2011"},{"key":"S0263574714000976_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-008-0195-3"},{"key":"S0263574714000976_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2022426"},{"key":"S0263574714000976_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2209671"},{"key":"S0263574714000976_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.880669"},{"key":"S0263574714000976_ref8","doi-asserted-by":"publisher","DOI":"10.1097\/00005537-199711000-00011"},{"key":"S0263574714000976_ref26","first-page":"1519","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Gravagne","year":"2002"},{"key":"S0263574714000976_ref1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.bioeng.1.1.211"},{"key":"S0263574714000976_ref6","doi-asserted-by":"publisher","DOI":"10.1002\/bjs.1800840536"},{"key":"S0263574714000976_ref19","first-page":"2699","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Harada","year":"2009"},{"key":"S0263574714000976_ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"S0263574714000976_ref7","doi-asserted-by":"publisher","DOI":"10.1080\/13645700601038010"},{"key":"S0263574714000976_ref24","doi-asserted-by":"crossref","first-page":"555","DOI":"10.1109\/TRO.2010.2046924","article-title":"Intrinsic wrench estimation and its performance index of multi-segment continuum robots","volume":"26","author":"Xu","year":"2010","journal-title":"IEEE Trans. Robot."},{"key":"S0263574714000976_ref40","doi-asserted-by":"publisher","DOI":"10.1115\/1.4000519"},{"key":"S0263574714000976_ref31","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100605"},{"key":"S0263574714000976_ref25","volume-title":"Biologically Inspired Robots, Snake-Like Locomotors and Manipulators","author":"Hirose","year":"1993"},{"key":"S0263574714000976_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-012-9590-x"},{"key":"S0263574714000976_ref29","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574714000976_ref30","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"S0263574714000976_ref44","doi-asserted-by":"publisher","DOI":"10.1007\/s004640000329"},{"key":"S0263574714000976_ref32","doi-asserted-by":"publisher","DOI":"10.1007\/BF01254849"},{"key":"S0263574714000976_ref4","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711001299"},{"key":"S0263574714000976_ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2196311"},{"key":"S0263574714000976_ref37","doi-asserted-by":"publisher","DOI":"10.1109\/70.294209"},{"key":"S0263574714000976_ref38","doi-asserted-by":"publisher","DOI":"10.1109\/70.478427"},{"key":"S0263574714000976_ref41","first-page":"1504","volume-title":"American Control Conference","author":"Chitrakaran","year":"2004"},{"key":"S0263574714000976_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2098970"},{"key":"S0263574714000976_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924266"},{"key":"S0263574714000976_ref23","first-page":"3367","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Xu","year":"2012"},{"key":"S0263574714000976_ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160469"},{"key":"S0263574714000976_ref16","first-page":"4167","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Degani","year":"2006"},{"key":"S0263574714000976_ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000976","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,20]],"date-time":"2019-04-20T01:38:20Z","timestamp":1555724300000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000976\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,29]]},"references-count":45,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2015,12]]}},"alternative-id":["S0263574714000976"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000976","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,4,29]]}}}