{"id":"https://openalex.org/W7150772084","doi":"https://doi.org/10.1109/lra.2026.3681114","title":"A Kind of Flexible Forceps With High Clamping Force and Large Opening Angle for Endoscopic Surgery","display_name":"A Kind of Flexible Forceps With High Clamping Force and Large Opening Angle for Endoscopic Surgery","publication_year":2026,"publication_date":"2026-04-06","ids":{"openalex":"https://openalex.org/W7150772084","doi":"https://doi.org/10.1109/lra.2026.3681114"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3681114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3681114","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","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/A5133063992","display_name":"Yuan Xing","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Xing","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-3207-0233","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133033793","display_name":"Fengchuan Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengchuan Liang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0004-8074-6925","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mengjie Chen","orcid":"https://orcid.org/0000-0002-0268-400X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengjie Chen","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0268-400X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086284919","display_name":"Kang Kong","orcid":"https://orcid.org/0000-0001-5646-8807"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Kong","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5646-8807","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017478529","display_name":"Tao Liang","orcid":"https://orcid.org/0000-0002-1152-4833"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-1152-4833","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43256619,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6424","last_page":"6431"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.5827000141143799,"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"}},"topics":[{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.5827000141143799,"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/T12744","display_name":"Medical Device Sterilization and Disinfection","score":0.05770000070333481,"subfield":{"id":"https://openalex.org/subfields/2404","display_name":"Microbiology"},"field":{"id":"https://openalex.org/fields/24","display_name":"Immunology and Microbiology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11658","display_name":"Esophageal and GI Pathology","score":0.04270000010728836,"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/forceps","display_name":"Forceps","score":0.5774000287055969},{"id":"https://openalex.org/keywords/clamping","display_name":"Clamping","score":0.5546000003814697},{"id":"https://openalex.org/keywords/endoscopic-surgery","display_name":"Endoscopic surgery","score":0.532800018787384},{"id":"https://openalex.org/keywords/endoscopy","display_name":"Endoscopy","score":0.36579999327659607},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.3626999855041504}],"concepts":[{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.5875999927520752},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.5777000188827515},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.5774000287055969},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.5546000003814697},{"id":"https://openalex.org/C2988501903","wikidata":"https://www.wikidata.org/wiki/Q212809","display_name":"Endoscopic surgery","level":3,"score":0.532800018787384},{"id":"https://openalex.org/C2778451229","wikidata":"https://www.wikidata.org/wiki/Q212809","display_name":"Endoscopy","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.3626999855041504},{"id":"https://openalex.org/C2910203904","wikidata":"https://www.wikidata.org/wiki/Q675754","display_name":"Laparoscopes","level":3,"score":0.28049999475479126},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.24959999322891235}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3681114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3681114","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1601507524","https://openalex.org/W1934600457","https://openalex.org/W2413704286","https://openalex.org/W2593917848","https://openalex.org/W2726635411","https://openalex.org/W2807882833","https://openalex.org/W2912290257","https://openalex.org/W2967139906","https://openalex.org/W2998789543","https://openalex.org/W3089687026","https://openalex.org/W3115786292","https://openalex.org/W3138146008","https://openalex.org/W4206618369","https://openalex.org/W4289653908","https://openalex.org/W4387406331","https://openalex.org/W4388797635","https://openalex.org/W4388983923","https://openalex.org/W4393935425","https://openalex.org/W4401748240","https://openalex.org/W4402441856"],"related_works":[],"abstract_inverted_index":{"In":[0,31],"endoscopic":[1,4,20,153,165],"submucosal":[2,154],"dissection,":[3,155],"forceps":[5,21,86],"is":[6],"subject":[7],"to":[8,143,159],"stringent":[9],"requirements":[10],"regarding":[11],"flexibility,":[12],"miniaturization,":[13],"and":[14,27,46,52,68,148,162],"mechanical":[15],"performance.":[16],"However,":[17],"most":[18],"existing":[19],"suffer":[22],"from":[23],"insufficient":[24],"clamping":[25,44,63],"force":[26,45,64],"limited":[28],"opening":[29,47,71],"angle.":[30],"this":[32],"letter,":[33],"we":[34],"analyze":[35],"the":[36,39,43,85,102],"influence":[37],"of":[38,49,65,73,81,101,119],"jaw":[40,57],"configuration":[41,58],"on":[42,106,135],"angle":[48,72],"flexible":[50,93],"forceps,":[51,103],"develop":[53],"an":[54],"innovative":[55],"composite-groove":[56],"that":[59,112],"achieves":[60],"a":[61,69,77,110,114,117,136],"high":[62],"2.57":[66],"N":[67],"large":[70],"105\u00b0,":[74],"while":[75],"maintaining":[76],"compact":[78],"outer":[79],"diameter":[80],"2.8":[82],"mm.":[83,121],"Additionally,":[84],"provides":[87],"360\u00b0":[88],"independent":[89],"distal":[90],"rotation,":[91],"allowing":[92],"orientation":[94],"under":[95],"bent":[96],"configurations.":[97],"The":[98,131],"kinematic":[99],"model":[100],"established":[104],"based":[105],"screw":[107],"theory,":[108],"defines":[109],"workspace":[111],"approximates":[113],"hemisphere":[115],"with":[116],"radius":[118],"15":[120],"Its":[122],"modular":[123],"design":[124],"facilitates":[125],"rapid":[126],"instrument":[127],"replacement":[128],"during":[129,152],"surgery.":[130,166],"ex":[132],"vivo":[133],"experiment":[134],"fresh":[137],"porcine":[138],"stomach":[139],"confirms":[140],"its":[141,157],"ability":[142],"realize":[144],"effective":[145],"tissue":[146],"traction":[147],"surgical":[149],"field":[150],"exposure":[151],"demonstrating":[156],"potential":[158],"improve":[160],"efficiency":[161],"safety":[163],"in":[164]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-04-07T00:00:00"}
