{"id":"https://openalex.org/W7130652516","doi":"https://doi.org/10.1002/aisy.202501249","title":"OriGrasp: A Multifunctional Origami\u2010Inspired Instrument for Delicate Manipulation in Abdominal Surgery","display_name":"OriGrasp: A Multifunctional Origami\u2010Inspired Instrument for Delicate Manipulation in Abdominal Surgery","publication_year":2026,"publication_date":"2026-02-20","ids":{"openalex":"https://openalex.org/W7130652516","doi":"https://doi.org/10.1002/aisy.202501249"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202501249","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202501249","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1002/aisy.202501249","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092005472","display_name":"Lorenzo Mocellin","orcid":"https://orcid.org/0000-0002-4750-8376"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Lorenzo Mocellin","raw_affiliation_strings":["The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy"],"raw_orcid":"https://orcid.org/0000-0002-4750-8376","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068967208","display_name":"Niccol\u00f2 Pagliarani","orcid":"https://orcid.org/0000-0003-3871-0940"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Niccol\u00f2 Pagliarani","raw_affiliation_strings":["The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103261743","display_name":"Giulia Gamberini","orcid":"https://orcid.org/0009-0005-9311-2910"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Gamberini","raw_affiliation_strings":["The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036187436","display_name":"Gastone Ciuti","orcid":"https://orcid.org/0000-0002-0855-7976"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gastone Ciuti","raw_affiliation_strings":["The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126476358","display_name":"Arianna Menciassi","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arianna Menciassi","raw_affiliation_strings":["The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy"],"raw_orcid":"https://orcid.org/0000-0001-6348-1081","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute Sant\u2019Anna School of Advanced Studies  Pisa PI Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5092005472"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":{"value":3970,"currency":"USD","value_usd":3970},"apc_paid":{"value":3970,"currency":"USD","value_usd":3970},"fwci":2.5608,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8547735,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"8","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.907800018787384,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.907800018787384,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.06499999761581421,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.004399999976158142,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.5891000032424927},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5055999755859375},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4587000012397766},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.45809999108314514},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.33809998631477356},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.3314000070095062},{"id":"https://openalex.org/keywords/abdominal-wall","display_name":"Abdominal wall","score":0.2935999929904938},{"id":"https://openalex.org/keywords/biofabrication","display_name":"Biofabrication","score":0.2919999957084656}],"concepts":[{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.5891000032424927},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5055999755859375},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.45809999108314514},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4032000005245209},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33329999446868896},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3237000107765198},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.32030001282691956},{"id":"https://openalex.org/C2778754067","wikidata":"https://www.wikidata.org/wiki/Q354111","display_name":"Abdominal wall","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C2780609957","wikidata":"https://www.wikidata.org/wiki/Q108887885","display_name":"Biofabrication","level":3,"score":0.2919999957084656},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2913999855518341},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.2903999984264374},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C1318750","wikidata":"https://www.wikidata.org/wiki/Q865663","display_name":"Biocompatible material","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2630000114440918},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.250900000333786},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202501249","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202501249","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/586835","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/586835","pdf_url":"https://www.iris.sssup.it/bitstream/11382/586835/1/Advanced%20Intelligent%20Systems%20-%202026%20-%20Mocellin%20-%20OriGrasp%20%20A%20Multifunctional%20Origami%e2%80%90Inspired%20Instrument%20for%20Delicate.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:a8cb51f2a41842ac9ba8d22ab0ca3d17","is_oa":true,"landing_page_url":"https://doaj.org/article/a8cb51f2a41842ac9ba8d22ab0ca3d17","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 8, Iss 4, Pp n/a-n/a (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202501249","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202501249","pdf_url":null,"source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1115267702","display_name":null,"funder_award_id":"ECS00000017","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7477258482","display_name":null,"funder_award_id":"IR0000036","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320324216","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1601507524","https://openalex.org/W1972691418","https://openalex.org/W1996180058","https://openalex.org/W2012753778","https://openalex.org/W2066114225","https://openalex.org/W2072572771","https://openalex.org/W2075632614","https://openalex.org/W2077660556","https://openalex.org/W2078190517","https://openalex.org/W2080695162","https://openalex.org/W2084022418","https://openalex.org/W2086255300","https://openalex.org/W2111765218","https://openalex.org/W2130131888","https://openalex.org/W2158139030","https://openalex.org/W2338031188","https://openalex.org/W2738660989","https://openalex.org/W2752574553","https://openalex.org/W2770768818","https://openalex.org/W2783360048","https://openalex.org/W2787894761","https://openalex.org/W2801704144","https://openalex.org/W2953591426","https://openalex.org/W2961152474","https://openalex.org/W2963490373","https://openalex.org/W2980362220","https://openalex.org/W3002838030","https://openalex.org/W3027907157","https://openalex.org/W3043982061","https://openalex.org/W3094186510","https://openalex.org/W3155981689","https://openalex.org/W3163494870","https://openalex.org/W4224725446","https://openalex.org/W4240064534","https://openalex.org/W4246904535","https://openalex.org/W4364322483","https://openalex.org/W4367674968","https://openalex.org/W4376649086","https://openalex.org/W4382998647","https://openalex.org/W4385663588","https://openalex.org/W4393252785","https://openalex.org/W4403519555","https://openalex.org/W4403674766"],"related_works":[],"abstract_inverted_index":{"Conventional":[0],"instruments":[1,29,55,76],"for":[2,103,138,205,258],"minimally":[3],"invasive":[4],"surgery":[5],"(MIS)":[6],"face":[7],"challenges":[8],"in":[9,129,203,218,294],"terms":[10,219],"of":[11,33,53,74,78,123,178,208,220,255,269,279],"miniaturization":[12],"and":[13,42,59,89,110,175,195,223,232],"compliance":[14],"with":[15,93,155],"soft":[16,230],"tissues":[17],"due":[18],"to":[19,44,151,225,243],"their":[20],"tiny":[21,86],"yet":[22],"rigid":[23,28],"structure.":[24],"In":[25,143],"abdominal":[26],"surgery,":[27],"increase":[30],"the":[31,51,66,72,121,127,146,166,179,187,193,200,239,248,252,267,276,280],"risk":[32],"bowel":[34,209,259,273],"injury,":[35],"as":[36,135],"this":[37],"tissue":[38,139,210,249],"is":[39,149,168,189],"extremely":[40],"delicate":[41],"prone":[43],"peeling,":[45],"stretching,":[46],"or":[47,133,164],"tearing.":[48],"By":[49],"leveraging":[50],"principles":[52],"origami,":[54],"can":[56],"be":[57],"designed":[58,150],"fabricated":[60],"by":[61,107,186],"folding":[62],"2D":[63],"shapes,":[64],"simplifying":[65],"manufacturing":[67],"process.":[68],"The":[69,113,181,213],"foldability":[70],"enables":[71],"creation":[73],"reconfigurable":[75],"capable":[77],"performing":[79],"multiple":[80,117],"functions,":[81,119],"all":[82],"while":[83,192,261],"operating":[84],"through":[85],"access":[87],"ports":[88],"within":[90,199],"narrow":[91,162],"cavities":[92,163],"minimal":[94],"invasiveness.":[95],"This":[96,170],"paper":[97],"presents":[98],"a":[99,136,173,227,263,283],"deployable":[100],"origami\u2010inspired":[101],"instrument":[102,281],"robot\u2010assisted":[104],"MIS,":[105],"characterized":[106],"lightweight":[108],"construction":[109],"tunable":[111],"compliance.":[112],"foldable":[114],"design":[115],"supports":[116],"surgical":[118,295],"enabling":[120],"integration":[122,278],"additional":[124],"tools":[125],"at":[126],"tip":[128],"its":[130,291],"unfolded":[131],"configuration":[132],"functioning":[134],"grasper":[137,144,167,188],"manipulation":[140,207,268],"once":[141],"deployed.":[142],"mode,":[145],"flexible":[147],"structure":[148],"deform":[152],"upon":[153],"contact":[154],"surrounding":[156],"tissues,":[157],"either":[158],"during":[159,266],"insertion":[160],"into":[161,282],"when":[165],"actuated.":[169],"deformation":[171],"ensures":[172],"secure":[174],"safe":[176],"grasp":[177,265],"tissues.":[180],"maximum":[182],"pinch":[183],"force":[184],"achieved":[185],"4":[190],"N,":[191],"pulling":[194,234],"lifting":[196],"forces":[197],"are":[198],"range":[201],"reported":[202],"literature":[204],"atraumatic":[206],"(0.18\u20131.21":[211],"N).":[212],"grasper\u2018s":[214],"jaws":[215],"were":[216],"studied":[217],"material":[221],"selection":[222],"geometry":[224],"achieve":[226],"compromise":[228],"between":[229],"grasping":[231],"effective":[233],"force.":[235],"Experimental":[236],"tests":[237],"demonstrated":[238],"grasper's":[240],"capability":[241],"not":[242],"apply":[244],"excessive":[245],"pressure":[246],"on":[247],"(well":[250],"below":[251],"safety":[253],"threshold":[254],"329":[256],"kPa":[257],"tissue),":[260],"maintaining":[262],"firm":[264],"ex":[270],"vivo":[271],"porcine":[272],"tissue.":[274],"Finally,":[275],"successful":[277],"da":[284],"Vinci":[285],"Research":[286],"Kit":[287],"robotic":[288],"platform":[289],"highlights":[290],"potential":[292],"usability":[293],"scenarios.":[296]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-24T07:32:12.397491","created_date":"2026-02-20T00:00:00"}