Asymmetric force feedback control framework for teleoperated robot-assisted surgery
Bibliographic record
Abstract
Lack of haptic feedback in teleoperated robot-assisted surgery (RAS) is known to be detrimental in many surgical tasks. While performing a class of force sensitive tasks, surgeons commonly use both hands. Oftentimes, one hand is used to exert tension/compression forces, and the other to hold the suture knot or tissue. A novel control framework to accomplish haptic force feedback for two-handed tasks in teleoperated RAS is presented in this paper. The force applied on the surgical environment by the action hand is not transferred back to the same hand, but rather to the other hand. In two-handed tasks that involve an action and a reaction force, this provides an intuitive way of feeling the action. Because the loop in not closed from the slave back to the master of the same hand, it does not have a destabilizing effect. The technique can be easily implemented using a variable-structure controller that combines two PD controllers and a switch. It has been evaluated with an experimental setup consisting of four haptic devices with promising results.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.004 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".