{"id":"https://openalex.org/W4414691660","doi":"https://doi.org/10.48550/arxiv.2509.14967","title":"Affordance-Based Disambiguation of Surgical Instructions for Collaborative Robot-Assisted Surgery","display_name":"Affordance-Based Disambiguation of Surgical Instructions for Collaborative Robot-Assisted Surgery","publication_year":2025,"publication_date":"2025-09-18","ids":{"openalex":"https://openalex.org/W4414691660","doi":"https://doi.org/10.48550/arxiv.2509.14967"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2509.14967","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.14967","pdf_url":"https://arxiv.org/pdf/2509.14967","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.14967","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046731206","display_name":"Ana Davila","orcid":"https://orcid.org/0000-0002-2076-6842"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Davila, Ana","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081397540","display_name":"Jacinto Colan","orcid":"https://orcid.org/0000-0002-8833-2215"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Colan, Jacinto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hasegawa, Yasuhisa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9430000185966492,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9430000185966492,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6344000101089478},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.6025000214576721},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4763000011444092},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.44929999113082886},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.38199999928474426},{"id":"https://openalex.org/keywords/knowledge-base","display_name":"Knowledge base","score":0.3774000108242035},{"id":"https://openalex.org/keywords/continuation","display_name":"Continuation","score":0.36250001192092896}],"concepts":[{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6344000101089478},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.6025000214576721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5800999999046326},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4763000011444092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45179998874664307},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.44929999113082886},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.38199999928474426},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.3774000108242035},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3508000075817108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33399999141693115},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3034999966621399},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C2776641081","wikidata":"https://www.wikidata.org/wiki/Q638774","display_name":"Cholecystectomy","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C3019611579","wikidata":"https://www.wikidata.org/wiki/Q6641956","display_name":"Surgical procedures","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2637999951839447},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.25279998779296875}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2509.14967","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.14967","pdf_url":"https://arxiv.org/pdf/2509.14967","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2509.14967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.14967","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.14967","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.14967","pdf_url":"https://arxiv.org/pdf/2509.14967","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Effective":[0],"human-robot":[1,133],"collaboration":[2],"in":[3,36,135],"surgery":[4],"is":[5,85],"affected":[6],"by":[7,33],"the":[8,37,41,55,67,136],"inherent":[9],"ambiguity":[10],"of":[11,40,73,113,125],"verbal":[12,28],"communication.":[13],"This":[14],"paper":[15],"presents":[16],"a":[17,20,31,47,59,70,80,89,110,121,129],"framework":[18,108],"for":[19,94,131],"robotic":[21],"surgical":[22,56,115],"assistant":[23],"that":[24,52],"interprets":[25],"and":[26,63,101,127],"disambiguates":[27],"instructions":[29],"from":[30,117],"surgeon":[32],"grounding":[34],"them":[35],"visual":[38],"context":[39],"operating":[42,137],"field.":[43],"The":[44],"system":[45],"employs":[46],"two-level":[48],"affordance-based":[49],"reasoning":[50],"process":[51],"first":[53],"analyzes":[54],"scene":[57],"using":[58,69],"multimodal":[60],"vision-language":[61],"model":[62],"then":[64],"reasons":[65],"about":[66],"instruction":[68],"knowledge":[71],"base":[72],"tool":[74],"capabilities.":[75],"To":[76],"ensure":[77],"patient":[78],"safety,":[79],"dual-set":[81],"conformal":[82],"prediction":[83],"method":[84,130],"used":[86],"to":[87,99],"provide":[88],"statistically":[90],"rigorous":[91],"confidence":[92],"measure":[93],"robot":[95],"decisions,":[96],"allowing":[97],"it":[98],"identify":[100],"flag":[102],"ambiguous":[103,114],"commands.":[104],"We":[105],"evaluated":[106],"our":[107],"on":[109],"curated":[111],"dataset":[112],"requests":[116],"cholecystectomy":[118],"videos,":[119],"demonstrating":[120],"general":[122],"disambiguation":[123],"rate":[124],"60%":[126],"presenting":[128],"safer":[132],"interaction":[134],"room.":[138]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
