{"id":"https://openalex.org/W7138464905","doi":"https://doi.org/10.48550/arxiv.2603.14450","title":"Surgi-HDTMR: Closing the Sensorimotor Loop in Bimanual Microsurgery via Haptics, Digital Twin, and Mixed Reality","display_name":"Surgi-HDTMR: Closing the Sensorimotor Loop in Bimanual Microsurgery via Haptics, Digital Twin, and Mixed Reality","publication_year":2026,"publication_date":"2026-03-15","ids":{"openalex":"https://openalex.org/W7138464905","doi":"https://doi.org/10.48550/arxiv.2603.14450"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14450","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14450","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14450","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129686364","display_name":"Songming Ping","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ping, Songming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129669093","display_name":"Shaoyue Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Shaoyue","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047056423","display_name":"Junhong Chen","orcid":"https://orcid.org/0009-0000-9122-4859"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Junhong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129719310","display_name":"Wen Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Wen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111249908","display_name":"Lan Wei","orcid":"https://orcid.org/0000-0002-8502-5498"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Lan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129730984","display_name":"Dandan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Dandan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5129686364"],"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.7272999882698059,"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":0.7272999882698059,"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/T10868","display_name":"Soft Robotics and Applications","score":0.17960000038146973,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10916","display_name":"Surgical Simulation and Training","score":0.025599999353289604,"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/teleoperation","display_name":"Teleoperation","score":0.8152999877929688},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.703499972820282},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5644000172615051},{"id":"https://openalex.org/keywords/microsurgery","display_name":"Microsurgery","score":0.4693000018596649},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.45680001378059387},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4458000063896179},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41659998893737793},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.3950999975204468}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8152999877929688},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.703499972820282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5766000151634216},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5644000172615051},{"id":"https://openalex.org/C2781437307","wikidata":"https://www.wikidata.org/wiki/Q977628","display_name":"Microsurgery","level":2,"score":0.4693000018596649},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.45680001378059387},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4361000061035156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41659998893737793},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3950999975204468},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.39070001244544983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37779998779296875},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37310001254081726},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3158999979496002},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3118000030517578},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30660000443458557},{"id":"https://openalex.org/C201004817","wikidata":"https://www.wikidata.org/wiki/Q1707071","display_name":"Guidance system","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2946000099182129},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.28790000081062317},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.271699994802475},{"id":"https://openalex.org/C176700471","wikidata":"https://www.wikidata.org/wiki/Q7611272","display_name":"Stereotaxy","level":3,"score":0.2578999996185303},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14450","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14450","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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14450","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14450","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":false,"raw_source_name":null,"raw_type":"article"},"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":{"Robotic":[0],"microsurgery":[1,18],"demands":[2],"precise":[3],"bimanual":[4,40],"control,":[5],"intuitive":[6],"interaction,":[7],"and":[8,23,33,49,65,75,86,96,98,105,128],"informative":[9],"force":[10],"feedback.":[11],"However,":[12],"most":[13],"training":[14,36],"platforms":[15],"for":[16],"robotic":[17,47],"lack":[19],"immersive":[20],"3D":[21],"interaction":[22],"high-fidelity":[24],"haptics.":[25],"Here,":[26],"we":[27],"present":[28],"Surgi-HDTMR,":[29],"a":[30,44,67,79,117],"mixed-reality":[31],"(MR)":[32],"digital-twin":[34],"(DT)":[35],"system":[37],"that":[38,71,111],"couples":[39],"haptic":[41,69],"teleoperation":[42],"with":[43,61,116,121],"benchtop":[45],"microsurgical":[46],"platform,":[48],"3D-printed":[50],"phantoms.":[51],"A":[52],"metrically":[53],"co-registered,":[54],"time-synchronized":[55],"DT":[56],"aligns":[57],"in-situ":[58],"MR":[59,114],"guidance":[60],"the":[62],"physical":[63],"workspace":[64],"drives":[66],"depth-adaptive":[68,122],"model":[70],"renders":[72],"contact,":[73],"puncture,":[74],"tissue-retraction":[76],"forces.":[77],"In":[78],"within-subjects":[80],"study":[81],"of":[82],"simulated":[83],"cortical":[84],"navigation":[85],"tumor":[87],"resection,":[88],"Surgi-HDTMR":[89],"shortened":[90],"task":[91],"time,":[92],"reduced":[93],"harmful":[94],"contacts":[95],"collisions,":[97],"improved":[99],"perceptual":[100],"accuracy":[101],"relative":[102],"to":[103],"non-haptic":[104],"non-adaptive":[106],"baselines.":[107],"These":[108],"results":[109],"suggest":[110],"tightly":[112],"coupling":[113],"overlays":[115],"synchronized":[118],"DT,":[119],"together":[120],"haptics,":[123],"can":[124],"accelerate":[125],"skill":[126],"acquisition":[127],"improve":[129],"safety":[130],"in":[131],"robot-assisted":[132],"microsurgery,":[133],"pointing":[134],"toward":[135],"next-generation":[136],"surgical":[137],"training.":[138]},"counts_by_year":[],"updated_date":"2026-03-18T06:31:55.123368","created_date":"2026-03-18T00:00:00"}