Robotic Assisted Cleft Palate Repair Using Novel 3 mm Tools: A Reachability and Collision Analysis
Bibliographic record
Abstract
OBJECTIVE: Cleft palate repair is technically challenging: visualization is reduced, delicate dissection is required, and instrument reachability is limited within the infant oral cavity using standard instruments. A 3 mm diameter pin-jointed wristed tool was developed that couples to a da Vinci Research Kit (dVRK) to perform infant cleft palate surgery. METHODS: A reachability simulation analysis was performed to determine the number of collisions (tool-tool and tool-cavity) for tool tip positions within the oral cavity and the impact of dVRK trocar height. Tool reachability was measured using a reachability ratio of collision-free to total poses considered for a given oral cavity target point. Three physical experiments were performed using a high-fidelity cleft palate simulator: (1) the 3 mm tools were compared to existing 8 mm tools assessing visual field obstruction and the number of collisions during suturing tasks; (2) an end-to-end robotic assisted cleft palate repair was performed on the simulator using the new tool assessing collisions; and (3) the impact of trocar height on tool performance was investigated to validate the reachability simulation analysis. RESULTS: The 3 mm tools demonstrated fifteen times fewer tool-cavity collisions and 21% less visual obstruction than the 8 mm tools. Average tool-cavity collisions per throw demonstrated an increasing trend posteriorly within the oral cavity (nasal mucosa: $R^{2}=0.344$, $p=0.013$; oral mucosa: $R^{2}=0.811$, $p< 0.001$); and a 31% increase ($R^{2}=0.988$, $p=0.069$) with increasing trocar height. CONCLUSION/SIGNIFICANCE: Physical experiments validated tool functionality for cleft repair and the reachability analysis reveals increasing collision risk deeper within the oral cavity.
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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 | 0.001 |
| 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".