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Beyond the Manual Touch: Situational-aware Force Control for Increased Safety in Robot-assisted Skullbase Surgery (2401.11721v1)
Published 22 Jan 2024 in cs.RO, cs.SY, and eess.SY
Abstract: Purpose - Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can significantly impact the surgeon's perception and control of the tool-to-tissue interaction forces. Methods - We present a situational-aware, force control technique aimed at regulating interaction forces during robot-assisted skullbase drilling. The contextual interaction information derived from the digital twin environment is used to enhance sensory perception and suppress undesired high forces. Results - To validate our approach, we conducted initial feasibility experiments involving a medical and two engineering students. The experiment focused on further drilling around critical structures following cortical mastoidectomy. The experiment results demonstrate that robotic assistance coupled with our proposed control scheme effectively limited undesired interaction forces when compared to robotic assistance without the proposed force control. Conclusions - The proposed force control techniques show promise in significantly reducing undesired interaction forces during robot-assisted skullbase surgery. These findings contribute to the ongoing efforts to enhance surgical precision and safety in complex procedures involving the lateral skull base.
- Jain, S., Deshmukh, P., Lakhotia, P., Kalambe, S., Chandravanshi, D., Khatri, M.: Anatomical study of the facial recess with implications in round window visibility for cochlear implantation: personal observations and review of the literature. International Archives of Otorhinolaryngology 23, 281–291 (2019) Kratchman et al. [2016] Kratchman, L.B., Schuster, D., Dietrich, M.S., Labadie, R.F.: Force perception thresholds in cochlear implantation surgery. Audiology and Neurotology 21(4), 244–249 (2016) Gantz [2018] Gantz, B.J.: Evolution of otology and neurotology education in the United States. Otology & Neurotology 39(4S), 64–68 (2018) Trejos et al. [2010] Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Kratchman, L.B., Schuster, D., Dietrich, M.S., Labadie, R.F.: Force perception thresholds in cochlear implantation surgery. Audiology and Neurotology 21(4), 244–249 (2016) Gantz [2018] Gantz, B.J.: Evolution of otology and neurotology education in the United States. Otology & Neurotology 39(4S), 64–68 (2018) Trejos et al. [2010] Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Gantz, B.J.: Evolution of otology and neurotology education in the United States. Otology & Neurotology 39(4S), 64–68 (2018) Trejos et al. [2010] Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). 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[2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Gantz, B.J.: Evolution of otology and neurotology education in the United States. Otology & Neurotology 39(4S), 64–68 (2018) Trejos et al. [2010] Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Gantz, B.J.: Evolution of otology and neurotology education in the United States. Otology & Neurotology 39(4S), 64–68 (2018) Trejos et al. [2010] Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Trejos, A., Patel, R., Naish, M.: Force sensing and its application in minimally invasive surgery and therapy: a survey. Journal of Mechanical Engineering Science 224(7), 1435–1454 (2010) Simaan et al. [2015] Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
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[2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Simaan, N., Taylor, R.H., Choset, H.: Intelligent surgical robots with situational awareness. Mechanical Engineering 137(09), 3–6 (2015) Attanasio et al. [2021] Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. 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IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. 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Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. 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IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. 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IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
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IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., Valdastri, P.: Autonomy in surgical robotics. Annual Review of Control, Robotics, and Autonomous Systems 4, 651–679 (2021) Golahmadi et al. [2021] Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: A systematic review. Annals of Medicine and Surgery 65, 102268 (2021) Haidegger et al. [2009] Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Haidegger, T., Benyó, B., Kovács, L., Benyó, Z.: Force sensing and force control for surgical robots. IFAC Proceedings Volumes 42(12), 401–406 (2009) Suomalainen et al. [2022] Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
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[2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Suomalainen, M., Karayiannidis, Y., Kyrki, V.: A survey of robot manipulation in contact. Robotics and Autonomous Systems 156, 104224 (2022) Minniti et al. [2021] Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Minniti, M.V., Grandia, R., Fäh, K., Farshidian, F., Hutter, M.: Model predictive robot-environment interaction control for mobile manipulation tasks. In: ICRA, pp. 1651–1657 (2021). IEEE Yen and Chen [2022] Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Yen, P.-L., Chen, Y.-J.: Contact compliance based visual feedback for tool alignment in robot assisted bone drilling. Sensors 22(9), 3205 (2022) Hu et al. [2014] Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Hu, Y., Jin, H., Zhang, L., Zhang, P., Zhang, J.: State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE/ASME Transactions on Mechatronics 19(1), 357–365 (2014) Li et al. [2022] Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Li, H., Nie, X., Duan, D., Li, Y., Zhang, J., Zhou, M., Magid, E.: An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system. IJMRCAS 18(5), 2428 (2022) Xie et al. [2010] Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Xie, Y., Sun, D., Liu, C., Tse, H.Y., Cheng, S.H.: A force control approach to a robot-assisted cell microinjection system. IJRR 29(9), 1222–1232 (2010) Rothbaum et al. [2002] Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Rothbaum, D.L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Robot-assisted stapedotomy: micropick fenestration of the stapes footplate. Otolaryngology-head and neck surgery 127(5), 417–426 (2002) Rothbaum et al. [2003] Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Rothbaum, D.L., Roy, J., Hager, G.D., Taylor, R.H., Whitcomb, L.L., Francis, H.W., Niparko, J.K.: Task performance in stapedotomy: Comparison between surgeons of different experience levels. Otolaryngology—Head and Neck Surgery 128(1), 71–77 (2003) Ebrahimi et al. [2019] Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. 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IEEE Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., Iordachita, I.: Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In: ICRA, pp. 9073–9079 (2019). IEEE Sang et al. [2017] Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Sang, H., Monfaredi, R., Wilson, E., Fooladi, H., Preciado, D., Cleary, K.: A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery. Journal of Medical Devices 11(3) (2017) Maier et al. [2010] Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Maier, T., Strauss, G., Hofer, M., Kraus, T., Runge, A., Stenzel, R., Gumprecht, J., Berger, T., Dietz, A., Lueth, T.C.: A new micromanipulator system for middle ear surgery. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1568–1573 (2010). IEEE Miroir et al. [2010] Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Miroir, M., Nguyen, Y., Szewczyk, J., Mazalaigue, S., Ferrary, E., Sterkers, O., Grayeli, A.B.: Robotol: from design to evaluation of a robot for middle ear surgery. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 850–856 (2010). IEEE Chen* et al. [2023] Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Chen*, Y., Goodridge*, A., Sahu*, M., Kishore, A., Vafaee, S., Mohan, H., Sapozhnikov, K., Creighton, F.X., Taylor, R.H., Galaiya, D.: A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy. IJCARS, 1–8 (2023) [23] Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Ishida*, H., Sahu*, M., Munawar, A., Nagururu, N., Galiya, D., Kazanzides, P., Creighton, F.X., Taylor, R.H.: Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery. Under Review for ICRA2024. Shu* et al. [2023] Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Shu*, H., Liang*, R., Li*, Z., Goodridge, A., Zhang, X., Ding, H., Nagururu, N., Sahu, M., Creighton, F.X., Taylor, R.H., et al.: Twin-s: a digital twin for skull base surgery. IJCARS, 1–8 (2023) Olds et al. [2014] Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Olds, K.C., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H.: Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In: ICRA, pp. 1276–1281 (2014). IEEE Olds [2015] Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Olds, K.: Robotic assistant systems for otolaryngology-head and neck surgery. PhD thesis, Johns Hopkins University (2015) Keemink et al. [2018] Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Keemink, A.Q., Kooij, H., Stienen, A.H.: Admittance control for physical human–robot interaction. IJRR 37(11), 1421–1444 (2018) Ishida* et al. [2023] Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE
- Ishida*, H., Barragan*, J.A., Munawar, A., Li, Z., Ding, A., Kazanzides, P., Trakimas, D., Creighton, F.X., Taylor, R.H.: Improving surgical situational awareness with signed distance field: a pilot study in virtual reality. In: IROS, pp. 8474–8479 (2023). IEEE