{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,9]],"date-time":"2025-12-09T15:49:12Z","timestamp":1765295352091,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,11,25]],"date-time":"2022-11-25T00:00:00Z","timestamp":1669334400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Research and Development Program, The Ministry of Science and Technology (MOST) of China","award":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"],"award-info":[{"award-number":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"]}]},{"name":"Hong Kong Research Grants Council (RGC) Collaborative Research Fund","award":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"],"award-info":[{"award-number":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"]}]},{"name":"Shun Hing Institute of Advanced Engineering at the Chinese University of Hong Kong (CUHK)","award":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"],"award-info":[{"award-number":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"]}]},{"name":"National Natural Science Foundation of China","award":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"],"award-info":[{"award-number":["2018YFB1307700","CRF C4026-21GF","2300075(GRS)3110167","BME-p1-21","8115064","62003045"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>As one of the minimally invasive surgeries (MIS), transoral robotic surgery (TORS) contributes to excellent oncological and functional outcomes. This paper introduces a compliant and flexible robotic system for transoral surgery, consisting of an execution part with flexible parallel mechanisms and a positioning part with a continuum structure. A pilot cadaveric study that mimics the procedure of the TORS using an intact cadaveric human head was conducted to evaluate the feasibility and efficiency of this robotic system. Both the initial setup time and the time cost by the robot to safely access the deep surgical area in the upper aerodigestive tract are shortened due to the enlarged workspace, compact structure, and increased flexibility. The proposed surgical robotic system is preliminarily demonstrated to be feasible for TORS, especially for the in-depth surgical sites in the upper aerodigestive tract.<\/jats:p>","DOI":"10.3390\/robotics11060135","type":"journal-article","created":{"date-parts":[[2022,11,28]],"date-time":"2022-11-28T01:58:46Z","timestamp":1669600726000},"page":"135","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Compliant and Flexible Robotic System with Parallel Continuum Mechanism for Transoral Surgery: A Pilot Cadaveric Study"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2469-4222","authenticated-orcid":false,"given":"Changsheng","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 129793, Singapore"}]},{"given":"Xiaoyi","family":"Gu","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 129793, Singapore"},{"name":"Suzhou Actors Medtech Co., Ltd., Suzhou 215123, China"}]},{"given":"Xiao","family":"Xiao","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 129793, Singapore"},{"name":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9528-4365","authenticated-orcid":false,"given":"Chwee Ming","family":"Lim","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology-Head and Neck Surgery, Singapore General Hospital, Singapore 169608, Singapore"},{"name":"Duke-NUS Graduate Medical School, Singapore 169857, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6488-1551","authenticated-orcid":false,"given":"Hongliang","family":"Ren","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 129793, Singapore"},{"name":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China"},{"name":"Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"8378025","DOI":"10.34133\/2020\/8378025","article-title":"Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study","volume":"2020","author":"Nakadate","year":"2020","journal-title":"Cyborg Bionic Syst."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"9724807","DOI":"10.34133\/2020\/9724807","article-title":"Robotic Surgery in Gastrointestinal Surgery","volume":"2020","author":"Ohuchida","year":"2020","journal-title":"Cyborg Bionic Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"500","DOI":"10.1109\/TMECH.2013.2245143","article-title":"Design of a Novel 4-DOF Wrist-Type Surgical Instrument with Enhanced Rigidity and Dexterity","volume":"19","author":"Hong","year":"2014","journal-title":"IEEE\/ASME Trans. 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