Evidence map›Paper›PMID 42558656›Full record

ArticleCyborg and bionic systems (Washington, D.C.)2026

A Bionic Multichannel Whisker System for Assisting Endoluminal Intervention.

Zeyu Wang, Frank P-W Lo, Junhong Chen, Jianing Qiu, Qian Chen, Yongqi Zhang, Chen Lin, Kyle Lam, James Calo, Benny P L Lo and 2 more

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Cyborg and bionic systems (Washington, D.C.), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

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.

2 · The registry

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.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

12 authors.

Zeyu WangDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.ORCID https://orcid.org/0000-0003-2664-558X
Frank P-W LoDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
Junhong ChenDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
Jianing QiuDepartment of Personalized Medicine, Mohamed bin Zayed University of Artificial Intelligence, Building 1B, Masdar City, P.O. Box 7909, Abu Dhabi, United Arab Emirates.
Qian ChenDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
Yongqi ZhangDepartment of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK.
Chen LinDepartment of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK.
Kyle LamDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
James CaloDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
Benny P L LoDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
Alexander J ThompsonDepartment of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.
Eric M YeatmanDepartment of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

Endoluminal interventions are crucial for both the diagnosis and treatment of gastrointestinal diseases. However, conventional endoscopic systems are designed for visual inspection and diagnosis, limiting their capacity to assess critical tissue properties such as texture, stiffness, and structural integrity. These unobserved mechanical signatures may contribute to clinically relevant failure modes, including missed lesions, incomplete resection, and adverse events driven by excessive wall loading. Inspired by the tactile sensing mechanisms of rat whiskers, this study introduces a bionic multichannel whisker system, as an additional sensing modality for endoluminal interventions. The system integrates high-fidelity tactile sensing hardware, and advanced signal processing algorithms, enabling precise and reliable measurements of tissue properties, as well as providing real-time radial force feedback. Calibration via affine transformation ensures cross-channel consistency and compensates for manufacturing and installation variances. Validation across multiple experimental settings, including robotic and manual operation, demonstrates performance in texture discrimination, shape reconstruction, and radial force estimation. The presented whisker system is compact to support integration with endoscopic instruments, providing a practical basis for complementing endoluminal diagnostic workflows and for further development of tactile sensing in surgical robotics.

Identifiers

PMID42558656
PMCPMC13438030

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Registered trials

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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.