{"id":"https://openalex.org/W4413979375","doi":"https://doi.org/10.1109/rcar65431.2025.11139501","title":"Design and Performance Study of Variable Stiffness in Flexible Endoscopes Based on Shape Memory Polymers","display_name":"Design and Performance Study of Variable Stiffness in Flexible Endoscopes Based on Shape Memory Polymers","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4413979375","doi":"https://doi.org/10.1109/rcar65431.2025.11139501"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5024260035","display_name":"Ao Hu","orcid":"https://orcid.org/0009-0009-8040-6791"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Hu","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiewen Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiewen Hao","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084549153","display_name":"Gaosheng Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaosheng Xie","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059713741","display_name":"Zeyang Xia","orcid":"https://orcid.org/0000-0002-0075-7949"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyang Xia","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100567751","display_name":"Jing Xiong","orcid":"https://orcid.org/0009-0000-2263-124X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Xiong","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19047378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"419","last_page":"424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9282000064849854,"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":0.9282000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/shape-memory-polymer","display_name":"Shape-memory polymer","score":0.6949987411499023},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6259502172470093},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5736620426177979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5300043821334839},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3559921979904175},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.26711925864219666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20499762892723083},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1878415048122406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13065043091773987}],"concepts":[{"id":"https://openalex.org/C185698529","wikidata":"https://www.wikidata.org/wiki/Q906777","display_name":"Shape-memory polymer","level":3,"score":0.6949987411499023},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6259502172470093},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5736620426177979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5300043821334839},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3559921979904175},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.26711925864219666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20499762892723083},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1878415048122406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13065043091773987},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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"},{"id":"https://openalex.org/F4320337572","display_name":"Engineering Laboratory","ror":"https://ror.org/03v61g875"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1919781749","https://openalex.org/W2062333922","https://openalex.org/W2074535625","https://openalex.org/W2084165297","https://openalex.org/W2134178143","https://openalex.org/W2146031911","https://openalex.org/W2284390012","https://openalex.org/W2520982900","https://openalex.org/W2763080578","https://openalex.org/W2775290884","https://openalex.org/W2908872833","https://openalex.org/W2999697312","https://openalex.org/W3015665751","https://openalex.org/W3150588129","https://openalex.org/W3182103660","https://openalex.org/W3211763588","https://openalex.org/W4287509591","https://openalex.org/W4375843859"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4404995717","https://openalex.org/W2016187641","https://openalex.org/W4404725684","https://openalex.org/W4413159334","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W4409278740"],"abstract_inverted_index":{"Flexible":[0],"endoscopes":[1,150],"are":[2],"operated":[3],"through":[4],"natural":[5],"cavities":[6],"in":[7,112,148,160],"minimally":[8,63],"invasive":[9,64],"surgery;":[10],"however,":[11],"they":[12],"encounter":[13],"significant":[14],"challenges,":[15],"including":[16],"narrow":[17],"and":[18,31,68,72,98,146,158],"tortuous":[19],"cavities,":[20],"limited":[21],"operating":[22],"space,":[23],"restricted":[24],"instrument":[25],"maneuverability,":[26],"low":[27],"rigid":[28],"support":[29],"capacity,":[30],"high":[32],"integration":[33],"requirements.":[34],"To":[35],"address":[36],"these":[37],"problems,":[38],"this":[39],"paper":[40],"developed":[41],"a":[42,88,118,124],"flexible":[43,94,149],"continuum":[44,164],"surgical":[45,152,165],"manipulator":[46],"with":[47,123],"variable":[48,83,134],"stiffness":[49,84,99,110,126,135,145],"characteristics,":[50],"enabling":[51],"rigid-flexible":[52],"transformation.":[53],"This":[54,132],"innovation":[55],"ensures":[56],"the":[57,104,141,161],"safety":[58],"of":[59,128,143,163],"human-machine":[60],"interaction":[61],"during":[62,151],"procedures,":[65,153],"enhances":[66],"stability,":[67],"optimizes":[69],"operational":[70],"accuracy":[71],"force":[73],"output.":[74],"We":[75],"utilized":[76],"commercial":[77],"shape":[78],"memory":[79],"polymer":[80],"(SMP)":[81],"as":[82],"materials":[85],"to":[86,114],"develop":[87],"outer":[89,105,136],"sheath":[90,106,137],"structure":[91,107,138],"suitable":[92],"for":[93],"endoscopes.":[95],"Mechanical":[96],"analysis":[97],"performance":[100],"testing":[101],"demonstrated":[102],"that":[103],"can":[108],"achieve":[109],"transformation":[111],"response":[113],"temperature":[115],"changes":[116],"within":[117],"relatively":[119],"short":[120],"time":[121],"frame,":[122],"maximum":[125],"variation":[127],"approximately":[129],"140":[130],"times.":[131],"straightforward":[133],"effectively":[139],"addresses":[140],"issues":[142],"inadequate":[144],"stability":[147],"indicating":[154],"promising":[155],"application":[156],"potential":[157],"value":[159],"field":[162],"robotics.":[166]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
