{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T04:48:58Z","timestamp":1782449338256,"version":"3.54.5"},"reference-count":27,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T00:00:00Z","timestamp":1779235200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T00:00:00Z","timestamp":1779235200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52475027"],"award-info":[{"award-number":["52475027"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52475040"],"award-info":[{"award-number":["52475040"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2026,6]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Telesurgery is limited by visual latency, compromising master\u2013slave synchronization and safety. This study proposes a real\u2010time semantic feedback framework that reduces latency while maintaining millimetre\u2010level localization accuracy.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>We developed a low\u2010latency semantic feedback system for real\u2010time instrument localization using a custom visual marker and FPGA\u2010based extraction. The system was evaluated through phantom experiments, accuracy benchmarking against the NDI system, latency measurement, and task\u2010based evaluation under delayed visual feedback conditions.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The system achieved a 99.2% marker extraction success rate, with a maximum mean error of 0.68  0.72\u00a0mm and an end\u2010to\u2010end latency of 31.2  1.4\u00a0ms. Task\u2010based evaluation further showed significantly reduced task completion time under delayed visual feedback.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The proposed system provides robust, precise, and low\u2010latency semantic feedback and demonstrates potential to mitigate the impact of visual latency on surgical performance, supporting its application in future telesurgical systems pending further in vivo validation.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70180","type":"journal-article","created":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T10:35:16Z","timestamp":1779273316000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["FPGA\u2010Based Low\u2010Latency Semantic Feedback System for Real\u2010Time Instrument Localization in Telesurgery"],"prefix":"10.1002","volume":"22","author":[{"given":"Zhikang","family":"Ma","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering Tianjin University  Tianjin China"},{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinan","family":"Sun","sequence":"additional","affiliation":[{"name":"Institute of Medical Robotics and Intelligent Systems Tianjin University  Tianjin China"},{"name":"School of Mechanical Engineering The Open University of China  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Yi","sequence":"additional","affiliation":[{"name":"Department of General Surgery The Third Xiangya Hospital Central South University  Hunan China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiale","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical 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