  Gastrointestinal endoscopic surgery (GES) has high requirements for
instruments' size and distal dexterity, because of the narrow endoscopic
channel and long, tortuous human gastrointestinal tract. This paper utilized
Nickel-Titanium (NiTi) wires to develop a miniature 3-DoF
(pitch-yaw-translation) flexible parallel robotic wrist (FPRW). Additionally,
we assembled an electric knife on the wrist's connection interface and then
teleoperated it to perform an endoscopic submucosal dissection (ESD) on porcine
stomachs. The effective performance in each ESD workflow proves that the
designed FPRW has sufficient workspace, high distal dexterity, and high
positioning accuracy.
