{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T13:52:08Z","timestamp":1791553928415,"version":"4.3.4"},"reference-count":38,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T00:00:00Z","timestamp":1791504000000},"content-version":"vor","delay-in-days":8,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100000024","name":"Canadian Institutes of Health Research","doi-asserted-by":"publisher","award":["6210101144"],"award-info":[{"award-number":["6210101144"]}],"id":[{"id":"10.13039\/501100000024","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100022221","name":"Sickkids Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100022221","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":[[2026,10]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>During surgical robotic tool development, teleoperation can provide a valuable means of evaluating tool performance and informing iterative design improvements.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>We propose a compact framework for establishing real2sim bimanual teleoperation systems. Using this framework, an Omni\u2010to\u2010Unity system was established to enable bimanual teleoperation of simulated robotic tools using two portable haptic devices. A dVRK\u2010to\u2010Unity system was also implemented to evaluate the framework with a different leader robot. An application scenario was presented to illustrate its use in robotic tool design.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Both systems were integrated with simulated surgical tasks and operated without observed system failures during the reported experiments. The experiments showed the applicability of the framework to different leader robots and simulated robotic tools with different kinematic configurations.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The proposed framework provides a compact approach to establishing bimanual real2sim teleoperation systems and facilitates the evaluation of different robotic tool designs through simulated surgical tasks.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70235","type":"journal-article","created":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T13:24:24Z","timestamp":1791552264000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Configurable Real2Sim Bimanual Teleoperation Framework for Surgical Robotic Tool Design and Evaluation"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9144-4154","authenticated-orcid":false,"given":"Teng","family":"Li","sequence":"first","affiliation":[{"name":"The Wilfred and Joyce Posluns Center for Image Guided Innovation and Therapeutic Intervention (PCIGITI) The Hospital for Sick Children (SickKids)  Toronto Ontario Canada"},{"name":"The Division of Plastic, Reconstructive &amp; Aesthetic Surgery, Department of Surgery University of Toronto  Toronto Ontario Canada"},{"name":"The Department of Mechanical and Industrial Engineering (MIE), Faculty of Applied Science and Engineering University of Toronto  Toronto Ontario Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sunny","family":"Zhang","sequence":"additional","affiliation":[{"name":"The Wilfred and Joyce Posluns Center for Image Guided Innovation and Therapeutic Intervention (PCIGITI) The Hospital for Sick Children (SickKids)  Toronto Ontario Canada"},{"name":"The Division of Engineering Science, Faculty of Applied Science and Engineering University of Toronto  Toronto Ontario Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cate","family":"Balasubramanian","sequence":"additional","affiliation":[{"name":"The Wilfred and Joyce Posluns Center for Image Guided Innovation and Therapeutic Intervention (PCIGITI) The Hospital for Sick Children (SickKids)  Toronto Ontario Canada"},{"name":"The Department of Systems Design Engineering Faculty of Engineering, University of Waterloo  Waterloo Ontario Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thomas","family":"Looi","sequence":"additional","affiliation":[{"name":"The Wilfred and Joyce Posluns Center for Image Guided Innovation and Therapeutic Intervention (PCIGITI) The Hospital for Sick Children (SickKids)  Toronto Ontario Canada"},{"name":"The Department of Mechanical and Industrial Engineering (MIE), Faculty of Applied Science and Engineering University of Toronto  Toronto Ontario Canada"},{"name":"The Department of Otolaryngology \u2010 Head &amp; 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