Control of a mechatronics-assisted system for surgeries using flexible tools
Bibliographic record
Abstract
Flexible and lightweight surgical tools have the potential to significantly increase the dexterity of mechatronics-assisted surgical systems for minimally invasive surgeries. However, the control of a mechatronics-assisted system with the link and joint flexibility is quite challenging and needs to be studied. In this paper, a bilateral impedance-controlled master-slave teleoperation system is considered, where the slave (surgical) robot is flexible. Two reference impedance models are designed for the master and slave robots to control the mechatronics-assisted system. Also, depending on different feedback and feedforward signals, four cases are distinguished. To obtain better transparency of the system, the tuning rules for the impedance parameters for each case are presented and the corresponding transparency measures are analyzed and compared. As a result, by appropriately adjusting the impedance model parameters, ideal position and force tracking can be attained for a teleoperation system with a flexible surgical robot. The theoretical findings are validated in simulations.
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How this classification was reachedexpand
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 | 0.000 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".