ReviewCyborg and bionic systems (Washington, D.C.)2023
A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation.
Review in Cyborg and bionic systems (Washington, D.C.), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers, 1 of them a synthesis that pooled it.
What it found
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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.
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Who cites it
19 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Prevalence of vascular complications in Ehlers-Danlos syndrome: a systematic review and meta-analysis.Orphanet journal of rare diseases · 2025Pooled it
- Triangular Wave tACS Improves Working Memory Performance by Enhancing Brain Activity in the Early Stage of Encoding.Neuroscience bulletin · 2025Trial
- Distal mechanisms in robotic surgical instruments: a structured review of surgical access, miniaturisation constraints and procedure-specific performance trade-offs.Journal of robotic surgery · 2026Review
- Cooperative integrated surgical robots for high-performance targeted therapies.Innovation (Cambridge (Mass.)) · 2026Review
- Magnetically controlled microrobotic system for programmable stiffness tuning and active steering of microcatheters.Nature communications · 2025Article
- Distinct mechanisms of cell in breast cancer and their clinical implication.Cell biology and toxicology · 2025Review
- Robotic-like maneuverability in endoscopic endonasal surgery: clinical experience with manually operated steerable forceps.Journal of robotic surgery · 2025Article
- Review
- Targeting p53-p21 signaling to enhance mesenchymal stem cell regenerative potential.Regenerative therapy · 2025Review
- A Real-Time, Semi-Autonomous Navigation Platform for Soft Robotic Bronchoscopy.IEEE robotics and automation letters · 2025Article
- Amplitude of Intracranial Induced Electric Fields Does Not Linearly Decrease with Age: A Computational Study of Anatomical Effects in Adults.Biosensors · 2025Article
- Design and optimal tuning of fractional order PID controller for paper machine headbox using jellyfish search optimizer algorithm.Scientific reports · 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
- Stiffness evaluation of continuum robots based on the energy method and castigliano's second theorem.Frontiers in robotics and AI · 2025Article
- Design and validation a minimally invasive robotic surgical instrument with decoupled pose and multi-DOF.Journal of robotic surgery · 2024Article
- Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control.Biomimetics (Basel, Switzerland) · 2024Article
- An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control.Cyborg and bionic systems (Washington, D.C.) · 2024Article
- Article
- Dual-Hand Motion Capture by Using Biological Inspiration for Bionic Bimanual Robot Teleoperation.Cyborg and bionic systems (Washington, D.C.) · 2023Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
2 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Robot-assisted technologies are being investigated to overcome the limitations of the current solutions for transoral surgeries, which suffer from constrained insertion ports, lengthy and indirect passageways, and narrow anatomical structures. This paper reviews distal dexterity mechanisms, variable stiffness mechanisms, and triangulation mechanisms, which are closely related to the specific technical challenges of transoral robotic surgery (TORS). According to the structure features in moving and orienting end effectors, the distal dexterity designs can be classified into 4 categories: serial mechanism, continuum mechanism, parallel mechanism, and hybrid mechanism. To ensure adequate adaptability, conformability, and safety, surgical robots must have high flexibility, which can be achieved by varying the stiffness. Variable stiffness (VS) mechanisms based on their working principles in TORS include phase-transition-based VS mechanism, jamming-based VS mechanism, and structure-based VS mechanism. Triangulations aim to obtain enough workspace and create adequate traction and counter traction for various operations, including visualization, retraction, dissection, and suturing, with independently controllable manipulators. The merits and demerits of these designs are discussed to provide a reference for developing new surgical robotic systems (SRSs) capable of overcoming the limitations of existing systems and addressing challenges imposed by TORS procedures.
Identifiers
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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.