{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T20:02:03Z","timestamp":1771704123201,"version":"3.50.1"},"reference-count":25,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,11,21]],"date-time":"2023-11-21T00:00:00Z","timestamp":1700524800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Indian Council of Medical Research","award":["5\/3\/8\/46\/ITR-F\/2022"],"award-info":[{"award-number":["5\/3\/8\/46\/ITR-F\/2022"]}]},{"name":"Indian Council of Medical Research","award":["760072\/23.05.2023"],"award-info":[{"award-number":["760072\/23.05.2023"]}]},{"name":"Indian Council of Medical Research","award":["CF 16\/15.11.2022"],"award-info":[{"award-number":["CF 16\/15.11.2022"]}]},{"name":"National Recovery and Resilience Plan for Romania","award":["5\/3\/8\/46\/ITR-F\/2022"],"award-info":[{"award-number":["5\/3\/8\/46\/ITR-F\/2022"]}]},{"name":"National Recovery and Resilience Plan for Romania","award":["760072\/23.05.2023"],"award-info":[{"award-number":["760072\/23.05.2023"]}]},{"name":"National Recovery and Resilience Plan for Romania","award":["CF 16\/15.11.2022"],"award-info":[{"award-number":["CF 16\/15.11.2022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This article describes the development of a flexible surgical stapler mechanism, which serves as a fundamental tool for laparoscopic rectal cancer surgery, addressing the challenges posed by difficult types of accessibility using conventional instruments. The design of this mechanism involves the incorporation of a stacked tensegrity structure, in which a flexible beam serves as the central spine. To assess the stapler\u2019s range of operation, an analysis of the workspace was conducted by examining collaborative Computed Tomography (CT) scan data obtained from different perspectives (Axial, Coronal, and Sagittal planes) at various intervals. By synthesizing kinematic equations, Hooke\u2019s law was employed, taking into account rotational springs and bending moments. This allowed for precise control of the mechanism\u2019s movements during surgical procedures in the rectal region. Additionally, the study examined the singularities and simulations of the tensegrity mechanism, considering the influential eyelet friction parameter. Notably, the research revealed that this friction parameter can alter the mechanism\u2019s curvature, underscoring the importance of accurate analysis. To establish a correlation between the virtual and physical models, a preliminary design was presented, facilitating the identification of the friction parameter.<\/jats:p>","DOI":"10.3390\/robotics12060156","type":"journal-article","created":{"date-parts":[[2023,11,21]],"date-time":"2023-11-21T10:24:13Z","timestamp":1700562253000},"page":"156","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Surgical Staplers in Laparoscopic Colectomy: A New Innovative Flexible Design Perspective"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4207-1221","authenticated-orcid":false,"given":"Dhruva","family":"Khanzode","sequence":"first","affiliation":[{"name":"CSIR-Central Scientific Instruments Organisation, Chandigarh 160030, India"},{"name":"Academy of Scientific and Innovative Research (AcSIR), Ghaziabad 201002, India"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4741-0475","authenticated-orcid":false,"given":"Ranjan","family":"Jha","sequence":"additional","affiliation":[{"name":"CSIR-Central Scientific Instruments Organisation, Chandigarh 160030, India"},{"name":"Academy of Scientific and Innovative Research (AcSIR), Ghaziabad 201002, India"}]},{"given":"Alexandra","family":"Thomieres","sequence":"additional","affiliation":[{"name":"Centre Hospitalier Universitaire, F-44000 Nantes, France"}]},{"given":"Emilie","family":"Duchalais","sequence":"additional","affiliation":[{"name":"Centre Hospitalier Universitaire, F-44000 Nantes, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7847-6162","authenticated-orcid":false,"given":"Damien","family":"Chablat","sequence":"additional","affiliation":[{"name":"\u00c9cole Centrale Nantes, Nantes Universit\u00e9, CNRS, LS2N, UMR 6004, F-44000 Nantes, France"},{"name":"Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"}]}],"member":"1968","published-online":{"date-parts":[[2023,11,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"563","DOI":"10.1177\/000313481908500617","article-title":"The History of Surgical Staplers: A Combination of Hungarian, Russian, and American Innovation","volume":"85","author":"Gaidry","year":"2019","journal-title":"Am. 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