{"id":"https://openalex.org/W7127723131","doi":"https://doi.org/10.48550/arxiv.2602.03147","title":"Multi-function Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation","display_name":"Multi-function Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation","publication_year":2026,"publication_date":"2026-02-03","ids":{"openalex":"https://openalex.org/W7127723131","doi":"https://doi.org/10.48550/arxiv.2602.03147"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.03147","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125081679","display_name":"Runfeng Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Runfeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035563486","display_name":"Zhong Xin","orcid":"https://orcid.org/0000-0002-5501-2397"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029595418","display_name":"Qingxiang Zhao","orcid":"https://orcid.org/0000-0001-7524-5342"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Qingxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125005908","display_name":"Jing Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Jing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062932289","display_name":"Wu Zhong","orcid":"https://orcid.org/0000-0002-7746-4589"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Zhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5124979916","display_name":"Kang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Kang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":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":0.9441999793052673,"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":0.9441999793052673,"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/T11486","display_name":"Micro and Nano Robotics","score":0.005499999970197678,"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"}},{"id":"https://openalex.org/T11055","display_name":"Cardiac and Coronary Surgery Techniques","score":0.004399999976158142,"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/pulmonary-thromboendarterectomy","display_name":"Pulmonary thromboendarterectomy","score":0.5034999847412109},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49050000309944153},{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.47850000858306885},{"id":"https://openalex.org/keywords/lumen","display_name":"Lumen (anatomy)","score":0.40299999713897705},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.3953999876976013},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.37229999899864197},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.35429999232292175},{"id":"https://openalex.org/keywords/natural-orifice-transluminal-endoscopic-surgery","display_name":"Natural orifice transluminal endoscopic surgery","score":0.3312000036239624}],"concepts":[{"id":"https://openalex.org/C2779916996","wikidata":"https://www.wikidata.org/wiki/Q56324884","display_name":"Pulmonary thromboendarterectomy","level":4,"score":0.5034999847412109},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49050000309944153},{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.47850000858306885},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.423799991607666},{"id":"https://openalex.org/C131631996","wikidata":"https://www.wikidata.org/wiki/Q1141325","display_name":"Lumen (anatomy)","level":2,"score":0.40299999713897705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39899998903274536},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3840000033378601},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.37229999899864197},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.35429999232292175},{"id":"https://openalex.org/C2780201146","wikidata":"https://www.wikidata.org/wiki/Q1961340","display_name":"Natural orifice transluminal endoscopic surgery","level":3,"score":0.3312000036239624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3073999881744385},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.3034999966621399},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.2987000048160553},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.295199990272522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2937000095844269},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C2778451229","wikidata":"https://www.wikidata.org/wiki/Q212809","display_name":"Endoscopy","level":2,"score":0.2768999934196472},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C2780940725","wikidata":"https://www.wikidata.org/wiki/Q206280","display_name":"Pulmonary artery","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2583000063896179}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.03147","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.03147","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.03147","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.03147","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Patients":[0],"suffering":[1],"chronic":[2],"severe":[3],"pulmonary":[4,18],"thromboembolism":[5],"need":[6],"Pulmonary":[7],"Thromboendarterectomy":[8],"(PTE)":[9],"to":[10,31,49,92,165],"remove":[11],"the":[12,22,34,93,99,112,146,158,175],"thromb":[13],"and":[14,28,44,88,95,120,123,182,199],"intima":[15],"located":[16],"inside":[17],"artery":[19],"(PA).":[20],"During":[21],"surgery,":[23],"a":[24,29,60,105,141],"surgeon":[25],"holds":[26],"tweezers":[27],"dissector":[30,63,101,177],"delicately":[32],"strip":[33],"blockage,":[35],"but":[36],"available":[37],"tools":[38],"for":[39,118,125],"this":[40,57],"surgery":[41],"are":[42],"rigid":[43,82],"straight,":[45],"lacking":[46],"distal":[47],"dexterity":[48,198],"access":[50],"into":[51],"thin":[52,74],"branches":[53],"of":[54,76,98,108,174],"PA.":[55,78],"Therefore,":[56],"work":[58],"presents":[59],"novel":[61],"robotized":[62,176],"based":[64],"on":[65,190],"concentric":[66],"push/pull":[67],"robot":[68],"(CPPR)":[69],"structure,":[70],"enabling":[71],"entering":[72],"deep":[73],"branch":[75],"tortuous":[77],"Compared":[79],"with":[80,157],"conventional":[81],"dissectors,":[83],"our":[84],"design":[85],"characterizes":[86],"slenderness":[87],"dual-segment-bending":[89],"dexterity.":[90],"Owing":[91],"hollow":[94],"thin-walled":[96],"structure":[97],"CPPR-based":[100],"as":[102,168],"it":[103],"has":[104],"slender":[106],"body":[107],"3.5mm":[109],"in":[110,144,202],"diameter,":[111],"central":[113],"lumen":[114],"accommodates":[115],"two":[116],"channels":[117],"irrigation":[119],"tip":[121,147],"tool,":[122],"space":[124],"endoscopic":[126,159,169],"camera's":[127],"signal":[128],"wire.":[129],"To":[130],"provide":[131],"accurate":[132],"surgical":[133],"manipulation,":[134],"optimization-based":[135],"kinematics":[136],"model":[137],"was":[138,184],"established,":[139],"realizing":[140],"2mm":[142],"accuracy":[143,181],"positioning":[145],"tool":[148],"(60mm":[149],"length)":[150],"under":[151],"open-loop":[152],"control":[153],"strategy.":[154],"As":[155],"such,":[156],"camera,":[160],"traditional":[161],"PTE":[162],"is":[163],"possible":[164],"be":[166],"upgraded":[167],"PTE.":[170,203],"Basic":[171],"physic":[172],"performance":[173],"including":[178],"stiffness,":[179],"motion":[180],"maneuverability":[183],"evaluated":[185],"through":[186],"experiments.":[187],"Surgery":[188],"simulation":[189],"ex":[191],"vivo":[192],"porcine":[193],"lung":[194],"also":[195],"demonstrates":[196],"its":[197],"notable":[200],"advantages":[201]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-02-06T00:00:00"}