Design and Evaluation of a Sterilizable Force Sensing Instrument for Minimally Invasive Surgery
Why this work is in the frame
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Bibliographic record
Abstract
Although the inability to feel tool-tissue interaction forces during minimally invasive surgery (MIS) has been recognized as a significant difficulty encountered by surgeons during these procedures, existing sensorized technologies have not yet been approved for use in humans. The challenges of properly cleaning and sterilizing these instruments prevent them from being operating-room ready. The focus of this paper was to develop a sterilizable instrument that uses strain gauges, the most common force-sensing method, to measure the tool-tissue interaction forces in three degrees of freedom (DOFs) during MIS. A series of experiments is conducted to identify cables and connectors, as well as strain gauge adhesives and coatings to allow the instruments to successfully withstand autoclave sterilization. This resulted in the construction of a final prototype capable of measuring forces in three DOFs, which was able to withstand six sterilization cycles with good sensing performance (0.15-1.70 N accuracy, 0.02-1.20 N repeatability, and 0.11-1.05 N hysteresis depending on the measurement direction). This paper demonstrates that autoclave sterilization is possible for a strain-gauge instrumented device and can lead to more advances in the development of sensorized instruments for surgery and therapy.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 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 | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
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 it