Recently, flexible robotic systems are developed to enhance minimally invasive
interventions on internal organs located in confined areas of human body. These surgical …

The trend of achieving minimal invasiveness in surgeries and recent technological
advances in robotics have resulted in the emergence of flexible surgical robots. Such …

Background Despite its high lesion accessibility and versatility, endoscopic platforms have
suffered from designing flexible manipulators with high payload capability sufficient to …

In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the
surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses …

Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …

Continuum manipulators with flexibility and compliant characteristics have attracted the
attention of more and more researchers due to its wide application prospect. This paper …

Multi-backbone continuum robots demonstrated potentials for dexterous manipulation with
proper payload capability in minimally invasive surgeries. Most prior works assume constant …

Early-stage gastrointestinal cancer is often treated by endoscopic submucosal dissection
(ESD) using a flexible endoscope. Compared with conventional percutaneous surgery, ESD …

Surgical tool segmentation in endoscopic images is the first step towards pose estimation
and (sub-) task automation in challenging minimally invasive surgical operations. While …

The overtube of an endoscopic surgery robot is fixed when performing tasks, unlike those of
commercial endoscopes, and this overtube should have high structural stiffness after …