ArticleNature communications2025
Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation.
Article in Nature communications, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
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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
5 citing papers in PubMed.
- Mitigating lateral sensing blind spots: A dual-segment bronchoscopic robot with a bioinspired skin.Science advances · 2026Article
- Force sensing and haptic feedback in robotic surgery: a bibliometric and knowledge-mapping analysis of technological evolution and translational trajectories.Journal of robotic surgery · 2026Review
- Cooperative integrated surgical robots for high-performance targeted therapies.Innovation (Cambridge (Mass.)) · 2026Review
- Programmable direct-patterning assembly enables high-density and surface-conformal integration of fiber Bragg grating sensor arrays.Nature communications · 2026Article
- Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions.Nature communications · 2026Article
Corrections and comments
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Authors and funding
11 authors.
Funding
Abstract
Delicate manual microsurgeries rely on sufficient hands-on experience for safe manipulations. Automated surgical devices can enhance the effectiveness, but developing high-resolution, multi-axis force-sensing devices for micro operations remains challenging. In this study, a 6-axis force-sensing pneumatic forceps with a serial-parallel robotic platform for cochlear implantation is developed. The forceps features a curved body shape embedded with parallel and inclined fiber Bragg grating sensors for 6-axis force sensing, and a pneumatic gripper with decoupled actuation is located at its end for actively grasping and releasing the electrode array. The robotic platform comprises a customized spherical parallel mechanism and a robotic arm, which can provide independent 3-DOF rotations and 3-DOF translations. The feasibility of the developed robotic forceps is validated through cadaveric studies on a temporal bone and a human cadaveric head. In summary, the robotic forceps provides a decoupled mechanism for pneumatic actuation and force sensing, further demonstrating its potential for force interaction and stable operation during robotic microsurgery.
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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.