## 4 Discussion and Conclusions  
A novel, soft, CDPR for MISs based on folded pouch actuators is introduced, featuring variable stiffness capabilities. The rapid and cost-effective production of this type of robot allows for single-use applications. The direct connection of the end-effector to the actuators eliminates the friction typically associated with Bowden tubes, mitigating potential hysteresis issues.  
Several planar robots have been prototyped based on folded hydraulic actuators, which are low profile, low cost, and have a large stroke. The actuator has a simple structure and can work as a robotic arm, opening avenues for the creation of innovative mechanisms and structures. Deployable robots with diverse configurations could be crafted using the same manufacturing technique. For instance, redundant CDPRs could be produced to enhance the robot's force capabilities and workspace. CDPRs with more compact configurations can be explored to reduce the longitudinal size for easier delivery in lumens and to improve the scaffold stiffness.  
This paper focuses on designing a novel CDPR, including its actuators and deployable scaffold. Future work will explore appropriate approaches for the full deflation, folding, and extraction of the robot from the colon. The robot allows for the intuitive execution of surgical tasks through small manual adjustments by the user in master-slave mode. Its accuracy can be further improved using closed-loop control methods, such as data-driven techniques or visual serving. However, establishing a kinematic model that considers robot deformation would further improve the accuracy and prediction of the robot workspace, and allow for the estimation of the robot's force output. Electrical Impedance Tomography (EIT) techniques developed in [31] will be used for actuator and/or scaffold shape sensing for the above purposes. Sensors, such as pressure sensors, will be integrated to monitor system operation to prevent complications from potential robot failures. Subsequently, the robot will be integrated into an endoscopic system to verify its feasibility in in vivo scenarios.  
The following supporting information can be downloaded at: [[https://www.mdpi.com/article/10.3390/app14104095/s1](https://www.mdpi.com/article/10.3390/app14104095/s1)]([https://www.mdpi.com/article/10.3390/app14104095/s1](https://www.mdpi.com/article/10.3390/app14104095/s1)), Video S1: Demonstrations of the robots.  
Conceptualization, J.Y.; Methodology, J.Y., M.R. and J.A.; Investigation, J.Y., X.L., M.R. and Z.Z.; Writing--original draft, J.Y. and X.L.; Writing--review & editing, J.A., Z.Z., Z.S. and G.M.; Supervision, Z.S. and G.M.; Project administration, G.M. All authors have read and agreed to the published version of the manuscript.  
This research was funded in part by the National Natural Science Foundation of China (No. 52275058) and the Fundamental Research Funds for the Central Universities (No. NJ2022007). [PERSON] is an Imperial College Research Fellow.  
Not applicable.  
Data Availability Statement: The data presented in this study is available on request from the corresponding author. The data is not publicly available because the dataset was jointly completed by the team.