ArticleInternational journal of computer assisted radiology and surgery2026
Modular instrument actuation unit for robotic-assisted systems in laparoscopic surgery.
Article in International journal of computer assisted radiology and surgery, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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
0 citing papers in PubMed.
No citing paper in PubMed yet.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
5 authors.
Funding
Abstract
purposeMinimally invasive surgery involves repetitive and physically demanding manipulation tasks that contribute to surgeon fatigue and limit ergonomic efficiency. Semi-autonomous robotic assistance offers the potential to alleviate this workload, particularly for non-destructive supporting actions, such as tissue traction and presentation. This work presents a modular robotic toolhead designed to actuate standard laparoscopic instruments on robotic platforms, providing a research platform for autonomous assistance.
methodsThe developed system integrates grasping actuation with a novel capstan linear drive, axial instrument rotation, extensible electrical interfaces, and a ROS2-based software framework into a compact end-effector without requiring instrument modification. The toolhead prototype undergoes functional testing and setup evaluation in a clinical simulation.
resultsFunctional verification included successful grasping and axial rotation of different laparoscopic grasper types, insertion and removal of an instrument via a dedicated interface, exchange of the complete instrument adapter and toolhead, and decoupling under excessive grasping force. The software framework enabled coordinated actuation control, system monitoring, and data acquisition for future evaluation. The integration of the system into a laparoscopic phantom setup representative of cholecystectomy and sigmoid resection procedures showed workspace compatibility and workflow integration.
conclusionsThe results demonstrate the feasibility of the proposed modular architecture as a flexible research platform for robotic laparoscopic assistance and future investigation of force-controlled grasping and semi-autonomous manipulation strategies.
Indexed as
Identifiers
42322478What 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.