## 1 Introduction  
Existing flexible endoscopic systems provide limited instrument dexterity. This hinders the uptake of emerging superior techniques, like endoscopic submucosal dissection (ESD), which have shown superior _en bloc_ resection rates for early gastrointestinal cancers compared to conventional methods [1]. Utilizing flexible gastrointestinal endoscopes, diverse robotic platforms have been developed and assessed in both preclinical and clinical scenarios to validate their effectiveness and safety [2]. Most of these platforms can perform ESD. However, they predominantly utilize cable-driven articulated manipulators, which face common limitations in terms of their flexibility, force transmission, and precision, which can be significant due to the long and tortuous human colon. Soft robots, known for their ability to conform to environments, hold significant promise for applications in minimally invasive surgeries (MISs) [3]. They are anticipated to address challenges faced by conventional rigid robots, offering innovative solutions for clinical interventions and surgical procedures. Particularly in delicate surgical scenarios like endoluminal and transluminal surgeries, where adaptation to the patient's anatomical structure is crucial, soft robots exhibit great potential. However, the inherent softness of these robots also presents substantial challenges, including a low force exertion, limited controllability, and a lack of sensing capabilities [4]. Parallel robots employ multiple kinematic chains to connect the moving platform with the base platform [5], while they offer advantages such as having high speeds, stiffnesses, and payload capacities. Many parallel robots have been developed for MISs [6; 7; 8; 9]. [PERSON] et al. introduced a dexterous endoscopic parallel manipulator for MISs with three limbs featuring identical kinematic structures and three degrees of freedom (DOFs) [6]. [PERSON] et al. proposed a dual-arm single-port-access surgical robot incorporating a visual module and two surgical manipulators [7]. Each manipulator, with six DOFs, consists of two parallel mechanisms connected in series, expanding the end-effector's workspace while maintaining high stiffness. [PERSON] et al. presented a flexible robotic system with variable stiffness for transoral robotic surgeries, achieving compliant movements through flexible three-prismatic-universal parallel mechanisms using nickel-titanium rods [8]. [PERSON] et al. developed a surgical parallel/continuum manipulator with a standard Stewart-Gough arrangement, combining the precision and power of rigid-link parallel robots with the simplicity, compactness, and compliance of continuum robots [9]. However, these robots face limitations when required to navigate through narrow and confined surgical spaces, such as the colon, due to their rigidity. Even the robots driven by flexible rods are still relatively rigid. Cable-driven parallel robots (CDPRs) replace the rigid kinematic chains of parallel mechanisms with cables, offering advantages such as high payload capacities, dynamic capabilities, and large workspaces [10]. The CYCLOPS concept, introduced by [PERSON] et al., employs the CDPR structure to create a versatile endoscopic surgical robot with bimanual dexterity [11]. Driven by flexible Bowden cable mechanisms, the CYCLOPS robot can be introduced into the colon using an endoscope. In subsequent developments, a fully soft CDPR robot was created boasting an inflatable scaffold made of low-profile and low-cost plastic materials [12]. However, the robot still utilized long Bowden cables, resulting in issues of hysteresis and reduced accuracy due to the difficulty in modeling the effects of cables bending over long distances. To address this challenge, [PERSON] et al. proposed an open-loop, controlled, soft, inflatable robot driven by contraction-based hydraulic pouch actuators [13].