Robotically Assisted Cleft Palate Repair Using Novel 3 mm Instruments: Validation, Port Placement, and Haptic Virtual Fixtures
Bibliographic record
Abstract
Following the development of robot assisted surgery in the 1990s, transoral robotic surgery has become well established for adults. However, applications within the pediatric oral cavity, specifically infant cleft palate repair have not been fully explored. Space constraints during cleft repair introduce safety concerns regarding the size and shape of the surgical workspace. This thesis presents three projects with the overarching goal of implementing haptic feedback for robotic assisted cleft palate repair using custom instruments for the daVinci robot research kit. The first project compares the performance of novel 3 mm instruments with commercially available EndoWrist instruments. The second project explores how robot positioning affects reachability within the cleft palate workspace through optimized trocar port placement. The final project shows a design for a haptic feedback system incorporating virtual fixtures. Improvements to this design are also discussed including considerations for ensuring passivity and implementation of a measurement only Kalman filter.
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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 | 0.001 | 0.001 |
| 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 | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 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 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".