{"id":"https://openalex.org/W7123348379","doi":"https://doi.org/10.1109/lra.2026.3653386","title":"Confidence-Based Intent Prediction for Teleoperation in Bimanual Robotic Suturing","display_name":"Confidence-Based Intent Prediction for Teleoperation in Bimanual Robotic Suturing","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123348379","doi":"https://doi.org/10.1109/lra.2026.3653386"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3653386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653386","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhaoyang Jacopo Hu","orcid":"https://orcid.org/0000-0002-0174-2394"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhaoyang Jacopo Hu","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College of Science, Technology and Medicine, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022005243","display_name":"Haozheng Xu","orcid":"https://orcid.org/0009-0004-0594-3945"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Haozheng Xu","raw_affiliation_strings":["Department of Surgery &amp; Cancer, Imperial College of Science, Technology and Medicine, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Surgery &amp; Cancer, Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045680002","display_name":"S Y Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sion Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College of Science, Technology and Medicine, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120971100","display_name":"Yanan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanan Li","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College of Science, Technology and Medicine, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103051485","display_name":"Etienne Burdet","orcid":"https://orcid.org/0000-0002-4427-1414"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Etienne Burdet","raw_affiliation_strings":["Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10521879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"2738","last_page":"2745"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.7129999995231628,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.7129999995231628,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.10490000247955322,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.08619999885559082,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8877999782562256},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6335999965667725},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5716999769210815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.545199990272522},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4115000069141388},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.3912999927997589},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.35839998722076416},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.35350000858306885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3467000126838684}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8877999782562256},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6335999965667725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.620199978351593},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5716999769210815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.545199990272522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49900001287460327},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4918999969959259},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4115000069141388},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3912999927997589},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36390000581741333},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35839998722076416},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3327000141143799},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32359999418258667},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32339999079704285},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3203999996185303},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3197999894618988},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31690001487731934},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.31369999051094055},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30239999294281006},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.3018999993801117},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.301800012588501},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2989000082015991},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.28600001335144043},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2766999900341034},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26899999380111694},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2676999866962433},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3653386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653386","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1982974025","https://openalex.org/W1983522656","https://openalex.org/W2007567868","https://openalex.org/W2077177611","https://openalex.org/W2150768354","https://openalex.org/W2153646384","https://openalex.org/W2154018708","https://openalex.org/W2164901482","https://openalex.org/W2341108136","https://openalex.org/W2593425479","https://openalex.org/W2892343190","https://openalex.org/W2909651755","https://openalex.org/W2909776290","https://openalex.org/W2913755169","https://openalex.org/W2938382028","https://openalex.org/W2947984804","https://openalex.org/W2968311122","https://openalex.org/W2982887926","https://openalex.org/W3089447464","https://openalex.org/W3097968638","https://openalex.org/W3108250615","https://openalex.org/W3121789984","https://openalex.org/W3126611668","https://openalex.org/W3207841303","https://openalex.org/W4210453703","https://openalex.org/W4285590860","https://openalex.org/W4306955484","https://openalex.org/W4380451266","https://openalex.org/W4385245566","https://openalex.org/W4387885739","https://openalex.org/W4393302630","https://openalex.org/W4400579693","https://openalex.org/W4400579818","https://openalex.org/W4401416345","https://openalex.org/W4401417056","https://openalex.org/W4408222667"],"related_works":[],"abstract_inverted_index":{"Robotic-assisted":[0],"procedures":[1],"offer":[2],"enhanced":[3],"precision,":[4],"but":[5],"while":[6],"fully":[7,23],"autonomous":[8],"systems":[9,26],"are":[10],"limited":[11],"in":[12,16,147],"task":[13,126,148],"knowledge,":[14],"difficulties":[15],"modeling":[17],"unstructured":[18],"environments,":[19],"and":[20,34,61,105,125,151],"generalization":[21],"abilities,":[22],"manual":[24],"teleoperated":[25],"also":[27],"face":[28],"challenges":[29],"such":[30],"as":[31],"delay,":[32],"stability,":[33],"reduced":[35],"sensory":[36],"information.":[37],"To":[38],"address":[39],"these":[40],"limitations,":[41],"we":[42],"propose":[43],"an":[44],"interactive":[45],"control":[46,107],"strategy":[47],"that":[48,121],"assists":[49],"the":[50,65,85,89,137,140],"human":[51],"operator":[52],"by":[53,119],"predicting":[54],"their":[55],"motion":[56],"plan":[57],"at":[58],"both":[59],"high":[60,66],"low":[62,90],"levels.":[63],"At":[64,88],"level,":[67,91],"a":[68,75,92,114],"surgeme":[69],"recognition":[70],"system":[71,110],"is":[72,111],"employed":[73],"through":[74],"Transformer-based":[76],"real-time":[77],"gesture":[78],"classification":[79],"model":[80],"to":[81,84],"dynamically":[82],"adapt":[83],"operator's":[86],"actions.":[87],"Confidence-based":[93],"Intention":[94],"Assimilation":[95],"Controller":[96],"adjusts":[97],"robot":[98,123],"actions":[99],"based":[100],"on":[101],"inferred":[102],"user":[103,152],"intent":[104],"shared":[106],"paradigms.":[108],"The":[109],"built":[112],"around":[113],"robotic":[115],"suturing":[116],"task,":[117],"supported":[118],"sensors":[120],"capture":[122],"kinematics":[124],"dynamics.":[127],"Experimental":[128],"results":[129],"across":[130],"users":[131],"with":[132,155],"varying":[133],"skill":[134],"levels":[135],"demonstrate":[136],"effectiveness":[138],"of":[139],"proposed":[141],"approach,":[142],"yielding":[143],"statistically":[144],"significant":[145],"improvements":[146],"completion":[149],"time":[150],"satisfaction":[153],"compared":[154],"traditional":[156],"teleoperation.":[157]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-01-14T00:00:00"}
