ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2025
Novel Design of a Surgical Tool Insertion Robot Using a Chebyshev Lambda Mechanism.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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
2 citing papers in PubMed.
- Design and Evaluation of a Teleoperated Robotic System for ERCP Cannulation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
- Novel Design of a Surgical Tool Insertion Robot Using a Chebyshev Lambda Mechanism.The international journal of medical robotics + computer assisted surgery : MRCAS · 2025Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
backgroundEndoscopic Retrograde Cholangiopancreatography (ERCP) and Percutaneous Coronary Intervention (PCI) are minimally invasive procedures that treat diseases with minimal scarring and rapid recovery. However, catheterisation under fluoroscopy exposes medical staff to radiation, and navigating flexible guidewires through complex anatomical pathways requires precise control.
methodsTo address these challenges, we propose a novel insertion robot based on a Chebyshev lambda mechanism that makes a linear grasp path and an arc-shaped quick return path using a single motor. An integrated roll module enables continuous insertion and rotation, yielding a robot with two degrees of freedom.
resultsExperiments show robots can make sufficient insertion force for real procedures, with robot's maximum mean translational and rotational errors of 0.11 mm and 1.47°, respectively. Phantom model tests show its applicability to human anatomy.
conclusionsThe proposed robotic system demonstrated sufficient precision and force for real surgical applications, indicating its potential for clinical use in minimally invasive procedures.
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.