ArticleInternational journal of computer assisted radiology and surgery2021
Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery.
Article in International journal of computer assisted radiology and surgery, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers, 1 of them a synthesis that pooled it.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
5 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Do robotic needle systems improve precision and efficiency? Evidence from a systematic review and meta-analysis of clinical and preclinical studies.Journal of robotic surgery · 2026Pooled it
- Noncircular rolling contact joints enable programmed behavior in robotic linkages.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- A compact hand-held continuum manipulator for minimally invasive neurosurgery.Journal of robotic surgery · 2025Article
- A review of wrist mechanism design and the application in gastrointestinal minimally invasive surgery of multi-degree-of-freedom surgical laparoscopic instruments.Surgical endoscopy · 2025Review
- Optimization and demonstration of two types of spring-roll dielectric elastomer actuators for minimally invasive surgery.Frontiers in bioengineering and biotechnology · 2022Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposeCompliant mechanisms are commonly used in the design of manipulator and surgical robotic tools for minimally invasive surgery (MIS) thanks to their compactness, ability of miniaturization and lower part count. However, conventional compliant joint has higher internal stiffness, which limits the bending radius. To overcome this problem, a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint (CRCJ) is proposed.
methodsThe proposed rolling-contact mechanism is used to prevent cable slack during actuation, which occurs in conventional compliant joint design. By means of selective laser sintering (SLS) technique, the CRCJ can be fabricated in a monolithic structure, thus granting the CRCJ both the advantages of compliant joints and rolling-contact mechanism. Simulations with nonlinear finite element analysis (FEA) and experiments were conducted to evaluate and compare the mechanical properties of the proposed CRCJ with conventional leaf-type compliant joint including the bending and compliant motion.
resultsExperimental results showed that the CRCJ has lower bending stiffness, higher maximum bending angle (over [Formula: see text]) and a higher compliance compared to conventional compliant hinges, which allows a larger workspace and reduces the possibility of tissue injury. Agreement was also found between the nonlinear FEA and experiments regarding the relation between actuation force and bending angle. A primary prototype of a 3-DOF handheld laparoscopic manipulator with a diameter of 7 mm was further developed.
conclusionA dexterous tendon-driven monolithic manipulator structure based on CRCJ for MIS is proposed. A preliminary prototype of a handheld laparoscopic manipulator demonstrates the capability of the CRCJ for steerable medical devices. However, design improvements based on FEA and application-orientated prototypes considering anatomical requirements still show room for improvements.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.