{"id":"https://openalex.org/W4416749825","doi":"https://doi.org/10.1109/iros60139.2025.11247275","title":"Development of a Novel Miniaturized Dexterous Manipulator with Variable Stiffness for NOTES","display_name":"Development of a Novel Miniaturized Dexterous Manipulator with Variable Stiffness for NOTES","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749825","doi":"https://doi.org/10.1109/iros60139.2025.11247275"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106457520","display_name":"Rong Cong","orcid":"https://orcid.org/0000-0002-2535-0926"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Cong","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057043839","display_name":"Xiaoqiang Wu","orcid":"https://orcid.org/0000-0001-8642-969X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xipeng Wu","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639583","display_name":"Chao Qian","orcid":"https://orcid.org/0000-0003-4797-6716"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Chao","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083751915","display_name":"Kaijie Zhang","orcid":"https://orcid.org/0000-0003-3674-0740"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaijie Zhang","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101840925","display_name":"Xingguang Duan","orcid":"https://orcid.org/0000-0002-2800-5255"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingguang Duan","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100330879","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0002-1397-6729"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"373","last_page":"379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8727999925613403,"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":0.8727999925613403,"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/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.10580000281333923,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.010400000028312206,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7250000238418579},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6784999966621399},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6420999765396118},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5659000277519226},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5087000131607056},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4771000146865845},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3926999866962433},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.38929998874664307}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7250000238418579},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6784999966621399},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6420999765396118},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5659000277519226},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5087000131607056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4794999957084656},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4771000146865845},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4578999876976013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40369999408721924},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3926999866962433},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.38929998874664307},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37439998984336853},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3743000030517578},{"id":"https://openalex.org/C2776542497","wikidata":"https://www.wikidata.org/wiki/Q5266672","display_name":"Development (topology)","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3662000000476837},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.3587000072002411},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.33340001106262207},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32519999146461487},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.31690001487731934},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.3005000054836273},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.29980000853538513},{"id":"https://openalex.org/C194242075","wikidata":"https://www.wikidata.org/wiki/Q546776","display_name":"Body orifice","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2567000091075897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1978129878","https://openalex.org/W2016116897","https://openalex.org/W2036776798","https://openalex.org/W2074535625","https://openalex.org/W2094194068","https://openalex.org/W2109461937","https://openalex.org/W2146031911","https://openalex.org/W2184993170","https://openalex.org/W2316938623","https://openalex.org/W2790485773","https://openalex.org/W2807882833","https://openalex.org/W2884324731","https://openalex.org/W2921728736","https://openalex.org/W2925266131","https://openalex.org/W2978410619","https://openalex.org/W3013929861","https://openalex.org/W3094186510","https://openalex.org/W3138146008","https://openalex.org/W4293150125","https://openalex.org/W4324116464","https://openalex.org/W4379409249","https://openalex.org/W4382657698","https://openalex.org/W4399727582","https://openalex.org/W4402891791"],"related_works":[],"abstract_inverted_index":{"Natural":[0],"Orifice":[1],"Transluminal":[2],"Endoscopic":[3],"Surgery":[4],"(NOTES)":[5],"holds":[6],"great":[7],"promise":[8],"due":[9],"to":[10,13],"its":[11,108,130],"ability":[12],"eliminate":[14],"external":[15],"incisions,":[16],"reduce":[17],"trauma,":[18],"and":[19,46,64,88,98,104,111,117],"accelerate":[20],"recovery.":[21],"However,":[22],"the":[23,30,39,115,120,144],"adoption":[24],"of":[25,33,67,119,146],"NOTES":[26,147],"is":[27,102],"hindered":[28],"by":[29],"limited":[31],"capabilities":[32],"existing":[34],"instruments,":[35],"particularly":[36],"in":[37],"achieving":[38,85],"required":[40],"balance":[41],"between":[42],"compact":[43],"size,":[44],"dexterity,":[45],"load":[47],"capacity.":[48],"This":[49,136],"paper":[50],"introduces":[51],"a":[52,60,81,93,126,139],"novel":[53],"robotic":[54,121],"manipulator":[55,71],"designed":[56],"for":[57,132,142],"NOTES,":[58],"featuring":[59],"5":[61],"mm":[62],"diameter":[63],"7":[65],"degrees":[66],"freedom":[68],"(DoF).":[69],"The":[70],"incorporates":[72],"an":[73],"innovative":[74],"3-PRS":[75],"flexible":[76],"parallel":[77,83],"mechanism":[78],"combined":[79],"with":[80],"continuum":[82],"structure,":[84],"enhanced":[86],"dexterity":[87],"variable":[89,99],"stiffness":[90,100,112],"functionality":[91],"within":[92],"miniaturized":[94],"design.":[95],"A":[96],"kinematic":[97],"analysis":[101],"performed,":[103],"experimental":[105],"validation":[106],"demonstrates":[107],"bending":[109],"performance":[110,145],"modulation.":[113],"Additionally,":[114],"feasibility":[116],"practicality":[118],"system":[122],"are":[123],"confirmed":[124],"through":[125],"peg-transfer":[127],"experiment,":[128],"proving":[129],"potential":[131],"real-world":[133],"surgical":[134],"applications.":[135],"research":[137],"offers":[138],"viable":[140],"solution":[141],"enhancing":[143],"instruments.":[148]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
