ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2026
Development of a Coaxial Over-the-Scope Bimanual Robot Enabling Lesion-Aligned Manipulation for ESD.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2026. 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
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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
2 citing papers in PubMed.
- Visualizing the development of robot-assisted endoscopic submucosal dissection: a comprehensive bibliometric study.Journal of robotic surgery · 2026Article
- Development of a Coaxial Over-the-Scope Bimanual Robot Enabling Lesion-Aligned Manipulation for ESD.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
Corrections and comments
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Authors and funding
9 authors.
Funding
Abstract
backgroundEndoscopic Submucosal Dissection (ESD) requires high expertise as conventional endoscopes cannot provide simultaneous traction and dissection, resulting in unstable visualisation and inconsistent cutting depth.
methodsA coaxial over-the-scope bimanual robotic system was developed to enable lesion-aligned traction and dissection while maintaining compatibility with commercial endoscopes. Engineering performance was evaluated, followed by a pre-clinical comparison between robot-assisted ESD (R-ESD) and conventional ESD (C-ESD) using synthetic tissue.
resultsThe forceps arm generated sufficient traction (0.581 N), and the coaxial mechanism provided hemispherical manipulation. In pre-clinical trials (n = 30), R-ESD significantly reduced total procedure time (9.20 vs. 11.80 min) and dissection time (2.99 vs. 8.35 min). Depth safety improved with shallower mean depth (2.48 vs. 4.06 mm) and a substantial reduction in muscle-invasion-risk regions (0.15 vs. 29.38%).
conclusionsThe proposed coaxial bimanual robotic system improves procedural efficiency and depth safety through lesion-aligned manipulation. Its compatibility with existing endoscopes suggests clinical applicability without procedural complexity.
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Registered trials
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