Browse through all publications from the Institute of Global Health Innovation, which our Patient Safety Research Collaboration is part of. This feed includes reports and research papers from our Centre. 

Citation

BibTex format

@article{Li:2026:10.1016/j.measurement.2026.122552,
author = {Li, Z and Zhou, Z and Lou, H and Su, J and Runciman, M and Yang, J and Mylonas, G},
doi = {10.1016/j.measurement.2026.122552},
journal = {Measurement Journal of the International Measurement Confederation},
title = {A novel pouch-based tension sensor array for soft Cable-Driven Parallel Surgical Robot},
url = {http://dx.doi.org/10.1016/j.measurement.2026.122552},
volume = {288},
year = {2026}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Endoscopic Submucosal Dissection (ESD) is an advanced, minimally invasive procedure for the removal of tumors or lesions from the gastrointestinal tract. While robot-assisted surgery has enhanced the safety and efficacy of ESD, a significant limitation of current robot systems is the lack of force feedback capabilities. This deficiency increases the risk of excessive force being exerted on tissue. To address this challenge, this study proposes a soft Cable-Driven Parallel Robot (CDPR) integrated with a novel pouch-based sensor array that is disposable and has simple structure. This system utilizes hydraulic pressure sensors and pouch structures to estimate both cable tension and the three-dimensional forces at the end-effector, thereby providing the surgeon with crucial force feedback. During an ex vivo experiment, the mean absolute errors between the estimated forces and the ground truth values were 0.0267 N, 0.0659 N, and 0.0509 N for the x, y, and z axes, respectively. These results demonstrate the potential of the proposed CDPR for future clinical applications.
AU  - Li,Z
AU  - Zhou,Z
AU  - Lou,H
AU  - Su,J
AU  - Runciman,M
AU  - Yang,J
AU  - Mylonas,G
DO  - 10.1016/j.measurement.2026.122552
PY  - 2026///
SN  - 0263-2241
TI  - A novel pouch-based tension sensor array for soft Cable-Driven Parallel Surgical Robot
T2  - Measurement Journal of the International Measurement Confederation
UR  - http://dx.doi.org/10.1016/j.measurement.2026.122552
VL  - 288
ER  -
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