Shaft-integrated 6-axis force sensing in cable-driven RAMIS tools using transformer-based compensation for cable dynamics achieves normalized errors below 6% and improved generalization over proximal baselines.
Sensorized surgical forceps for robotic-assisted minimally invasive surgery,
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Shaft-integrated Force Sensing with Transformer-based Dynamics Compensation for Telesurgery
Shaft-integrated 6-axis force sensing in cable-driven RAMIS tools using transformer-based compensation for cable dynamics achieves normalized errors below 6% and improved generalization over proximal baselines.