ArticleGeneral thoracic and cardiovascular surgery2026
Objective characterization of object-specific grasping behavior during robot-assisted pulmonary resection using intraoperative force data.
Article in General thoracic and cardiovascular surgery, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
0 citing papers in PubMed.
No citing paper in PubMed yet.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
7 authors.
Funding
Abstract
objectivesObjective analytical approaches for characterizing intraoperative grasping behavior have not yet been established, despite the availability of robotic systems capable of recording grasping-force data. This exploratory study aimed to objectively characterize object-specific grasping behavior during robot-assisted pulmonary resection using synchronized surgical video review and force-log analysis.
methodsForce data were collected from seven pulmonary resections performed using a robotic system equipped with haptic feedback and force-logging capability. Surgical videos were reviewed to identify grasping events involving five object categories: bronchial sheath, lung, lymph nodes, artificial materials, and vascular sheath. After force-log cleaning, five force-related features (peak force, mean force, mean-to-peak ratio, initial rising slope, and hold time) were extracted from each grasping event and compared among the object categories.
resultsA total of 271 grasping events comprising 64,765 force data points were analyzed. Significant differences were observed in all five force-related features among the object categories. Lymph nodes exhibited the lowest peak and mean forces, whereas artificial materials showed the highest forces and the steepest initial rising slope. Bronchial sheath and vascular sheath demonstrated similar force-related characteristics with intermediate forces and the gentlest initial rising slope. Subcategory analyses revealed additional differences, including higher forces in mediastinal than hilar lymph nodes and a steeper initial rising slope in lung-move than lung-hold maneuvers.
conclusionObject-specific differences in force-related features enabled quantitative characterization of intraoperative grasping behavior during robot-assisted pulmonary resection. This exploratory study presents a methodological approach for objectively characterizing tissue-specific manipulation during robot-assisted pulmonary resection.
Indexed as
Identifiers
42579047What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.