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Adv."],"published-print":{"date-parts":[[2026,10,9]]},"abstract":"<jats:p>\n                    Lateral force blind spots frequently trigger airway injuries during robotic bronchoscopy. Traditional sensing approaches lack fine spatial resolution, and single-segment robots suffer poor posture adjustment flexibility, worsening unmonitored tissue contact. We integrate a snake-scale-inspired 64-channel gradient piezoelectric film with a dual-segment manipulator to resolve lateral blind spots for secure bronchial navigation. The conformally wrapped sensor delivers fast (&lt;10 ms), precise force detection (\n                    <jats:italic toggle=\"yes\">\n                      R\n                      <jats:sup>2<\/jats:sup>\n                    <\/jats:italic>\n                    \u00a0&gt;\u00a00.98,\n                    <jats:italic toggle=\"yes\">RMSE<\/jats:italic>\n                    \u00a0&lt;\u00a00.145 N,\n                    <jats:italic toggle=\"yes\">CV<\/jats:italic>\n                    \u00a0&lt;\u00a02%) and filters bending pseudo-forces. The dual-segment design enables coordinated proximal-distal motion to avoid overcontact in tortuous lumens. Phantom and ex vivo porcine lung tests confirm real-time force localization, 5.0 N safety alarms, and autonomous tuning to keep contact forces below 3.0 N. This synergistic robot-sensor design supplies a translatable safety control strategy for flexible surgical manipulators.\n                  <\/jats:p>","DOI":"10.1126\/sciadv.aeh9503","type":"journal-article","created":{"date-parts":[[2026,10,7]],"date-time":"2026-10-07T17:58:33Z","timestamp":1791395913000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":0,"title":["Mitigating lateral sensing blind spots: A dual-segment bronchoscopic robot with a bioinspired skin"],"prefix":"10.1126","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-2639-2624","authenticated-orcid":true,"given":"Qiqi","family":"Pan","sequence":"first","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai &amp; 200433, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenke","family":"Duan","sequence":"additional","affiliation":[{"name":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen &amp; 518055, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3222-1276","authenticated-orcid":true,"given":"Jingjing","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Electronic Information, Central South University, Changsha &amp; 410083, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7033-9806","authenticated-orcid":true,"given":"Lei","family":"Wang","sequence":"additional","affiliation":[{"name":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen &amp; 518055, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1335-2852","authenticated-orcid":true,"given":"Shijie","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai &amp; 200433, China."},{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin &amp; 300400, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0509-2130","authenticated-orcid":true,"given":"Yongfei","family":"Feng","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo &amp; 315211, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0205-6441","authenticated-orcid":true,"given":"Hongbo","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai &amp; 200433, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200326"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.21037\/jtd-24-456"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202513239"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.pccm.2023.01.001"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.21037\/atm-22-3078"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2024.3457926"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202302812"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2024.115702"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1002\/adsr.202300033"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2025.3625759"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2739681"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.34133\/cbsystems.0417"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abd7795"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2022.3222930"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2844194"},{"key":"e_1_3_2_17_2","first-page":"4004111","article-title":"Design of a modular 3-D force sensor with fiber Bragg gratings for continuum surgical robot","volume":"72","author":"Wang H.","year":"2023","unstructured":"H. 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