{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T04:58:45Z","timestamp":1780635525139,"version":"3.54.1"},"reference-count":42,"publisher":"SAGE Publications","issue":"13","license":[{"start":{"date-parts":[[2015,7,28]],"date-time":"2015-07-28T00:00:00Z","timestamp":1438041600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2015,11]]},"abstract":"<jats:p>Natural orifice endoscopic surgery can enable incisionless approaches, but a major challenge is the lack of small and dexterous instrumentation. Surgical robots have the potential to meet this need yet often disrupt the clinical workflow. Hand-held robots that combine thin manipulators and endoscopes have the potential to address this by integrating seamlessly into the clinical workflow and enhancing dexterity. As a case study illustrating the potential of this approach, we describe a hand-held robotic system that passes two concentric tube manipulators through a 5\u2009mm port in a rigid endoscope for transurethral laser prostate surgery. This system is intended to catalyze the use of a clinically superior, yet rarely attempted, procedure for benign prostatic hyperplasia. This paper describes system design and experiments to evaluate the surgeon\u2019s functional workspace and accuracy using the robot. Phantom and cadaver experiments demonstrate successful completion of the target procedure via prostate lobe resection.<\/jats:p>","DOI":"10.1177\/0278364915585397","type":"journal-article","created":{"date-parts":[[2015,7,28]],"date-time":"2015-07-28T22:00:05Z","timestamp":1438120805000},"page":"1559-1572","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":84,"title":["Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study"],"prefix":"10.1177","volume":"34","author":[{"given":"Richard J.","family":"Hendrick","sequence":"first","affiliation":[{"name":"Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christopher R.","family":"Mitchell","sequence":"additional","affiliation":[{"name":"Vanderbilt Department of Urologic Surgery, Vanderbilt University, Nashville, TN, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S. Duke","family":"Herrell","sequence":"additional","affiliation":[{"name":"Vanderbilt Department of Urologic Surgery, Vanderbilt University, Nashville, TN, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"suffix":"III","given":"Robert J.","family":"Webster","sequence":"additional","affiliation":[{"name":"Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2015,7,28]]},"reference":[{"key":"bibr1-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399536"},{"key":"bibr2-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2007.04.053"},{"key":"bibr3-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979960"},{"key":"bibr4-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630723"},{"key":"bibr5-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2265804"},{"key":"bibr6-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386022"},{"key":"bibr7-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1016\/j.amjsurg.2004.08.025"},{"key":"bibr8-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/70.585902"},{"key":"bibr9-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(06)69929-7"},{"key":"bibr10-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1991_205_259_02"},{"key":"bibr11-0278364915585397","first-page":"1.247","volume":"55","author":"De Badajoz ES","year":"1998","journal-title":"Archivos Espanoles de Urologia"},{"key":"bibr12-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2209671"},{"key":"bibr13-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2035740"},{"key":"bibr14-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363052"},{"key":"bibr15-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2226031"},{"key":"bibr16-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1390032"},{"key":"bibr17-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907268"},{"key":"bibr18-0278364915585397","volume-title":"14th international symposium on experimental robotics","author":"Hendrick RJ","year":"2014"},{"key":"bibr19-0278364915585397","volume-title":"The Hamlyn symposium on medical robotics","author":"Hendrick RJ","year":"2014"},{"key":"bibr20-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1117\/1.1353797"},{"key":"bibr21-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijrobp.2007.07.1491"},{"key":"bibr22-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-010-1143-6"},{"key":"bibr23-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1016\/j.juro.2011.08.020"},{"key":"bibr24-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1007\/s11934-010-0153-1"},{"key":"bibr25-0278364915585397","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"Murray RM","year":"1994"},{"key":"bibr26-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2005.848300"},{"key":"bibr27-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.179"},{"issue":"6","key":"bibr28-0278364915585397","first-page":"871","volume":"15","author":"Piccigallo M","year":"2010","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"bibr29-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990427"},{"key":"bibr30-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2062570"},{"key":"bibr31-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282072"},{"key":"bibr32-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980261"},{"key":"bibr33-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385567"},{"key":"bibr34-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1016\/j.giec.2008.01.015"},{"key":"bibr35-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817058"},{"key":"bibr36-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1007\/s11934-012-0279-4"},{"key":"bibr37-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289285"},{"key":"bibr38-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"bibr39-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282073"},{"key":"bibr40-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006865"},{"key":"bibr41-0278364915585397","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2012.6346078"},{"key":"bibr42-0278364915585397","first-page":"121","volume":"3217","author":"Yamashita H","year":"2004","journal-title":"Medical Image Computing and Computer-Assisted Intervention"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364915585397","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364915585397","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364915585397","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:41Z","timestamp":1777457921000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364915585397"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,7,28]]},"references-count":42,"journal-issue":{"issue":"13","published-print":{"date-parts":[[2015,11]]}},"alternative-id":["10.1177\/0278364915585397"],"URL":"https:\/\/doi.org\/10.1177\/0278364915585397","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,7,28]]}}}