{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,26]],"date-time":"2026-09-26T13:59:45Z","timestamp":1790431185043,"version":"4.1.0"},"reference-count":47,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2026,9,12]],"date-time":"2026-09-12T00:00:00Z","timestamp":1789171200000},"content-version":"vor","delay-in-days":11,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"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":["62461002"],"award-info":[{"award-number":["62461002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["nyaspubs.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Ann NY Acad Sci"],"published-print":{"date-parts":[[2026,9]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>In robot\u2010assisted minimally invasive surgery, precise grasping force feedback is a key factor for enabling delicate manipulation and reducing tissue damage. However, due to confined workspaces and frequent visual occlusions, achieving force feedback via integrated sensors or image signals remains challenging. To obtain grasping\u2010force feedback for single\u2010port surgical robots, this study proposes a two\u2010stage force estimation framework combining Bidirectional Long Short\u2010Term Memory\u2010improved Transformer (BiLSTM\u2010iTransformer) with time\u2010series features. First, the prediction task is separated into contact state classification and grasping force regression, which effectively reduces misclassification in noncontact states. Then, a dynamic transition window and multiorder differencing are introduced to further improve the prediction performance. Furthermore, the improved Transformer incorporates a dynamic relative position\u2013encoding mechanism, dilated convolution layers, and a learnable scaling factor, while integrating BiLSTM to enhance temporal modeling capacity. The framework was validated on known and unknown material datasets. Results confirm robust performance in both classification and regression tasks. The proposed method achieved classification accuracies of 93.83% and 91.63% on the two datasets, respectively. For regression, it attained an RMSE of 0.64, outperforming comparative models. This study provides a feasible sensorless force feedback solution, offering potential value for enhancing surgical safety and precision.<\/jats:p>","DOI":"10.1111\/nyas.70396","type":"journal-article","created":{"date-parts":[[2026,9,12]],"date-time":"2026-09-12T13:44:22Z","timestamp":1789220662000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Two\u2010Stage Grip Force Estimation Method for Surgical Robots Based on BiLSTM\u2010iTransformer"],"prefix":"10.1111","volume":"1563","author":[{"given":"Tiecheng","family":"Su","sequence":"first","affiliation":[{"name":"College of Mechanical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingzhang","family":"Pan","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lu","family":"Liang","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chun","family":"Ma","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Cai","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weizhe","family":"Feng","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ke","family":"Liang","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Guangxi University  Nanning China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,9,12]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2805327"},{"key":"e_1_2_11_3_1","doi-asserted-by":"crossref","unstructured":"Y.Dai A.Abiri S.Liu et\u00a0al. \u201cGrasper Integrated Tri\u2010Axial Force Sensor System for Robotic Minimally Invasive Surgery.\u201d Paper presented at the 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (2017):3936\u20133939 https:\/\/doi.org\/10.1109\/EMBC.2017.8037717.","DOI":"10.1109\/EMBC.2017.8037717"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-09564-6"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2962636"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1625"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2021.114900"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.705662"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598\u2010024\u201060574\u2010w"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500139"},{"key":"e_1_2_11_11_1","unstructured":"A.Marb\u00e1n A.Casals J.Fern\u00e1ndez andJ.Amat \u201cHaptic Feedback in Surgical Robotics: Still a Challenge \u201dPaper presented at the ROBOT2013: First Iberian Robotics Conference: Advances in Robotics Vol.1(2014) https:\/\/doi.org\/10.1007\/978\u20103\u2010319\u201003413\u20103_18."},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2018.2869417"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2563384"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2810948"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2016.04.020"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2018.2821626"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2951782"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2951540"},{"key":"e_1_2_11_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3019138"},{"key":"e_1_2_11_20_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211052067"},{"key":"e_1_2_11_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2023.107045"},{"key":"e_1_2_11_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2013.09.003"},{"key":"e_1_2_11_23_1","doi-asserted-by":"crossref","unstructured":"A.Petit F.Ficuciello G. A.Fontanelli L.Villani andB.Siciliano. \u201cUsing Physical Modeling and RGB\u2010D Registration for Contact Force Sensing on Deformable Objects.\u201d Paper presented at the ICINCO 2017\u201014th International Conference on Informatics in Control Automation and Robotics (2017) https:\/\/doi.org\/10.5220\/0006415900240033.","DOI":"10.5220\/0006415900240033"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2016.2640289"},{"key":"e_1_2_11_25_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548\u2010016\u20101361\u2010z"},{"key":"e_1_2_11_26_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21010110"},{"key":"e_1_2_11_27_1","doi-asserted-by":"publisher","DOI":"10.3390\/s17112455"},{"key":"e_1_2_11_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2019.01.011"},{"key":"e_1_2_11_29_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2022.118441"},{"key":"e_1_2_11_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2868332"},{"key":"e_1_2_11_31_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.122221"},{"key":"e_1_2_11_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2023.3295008"},{"key":"e_1_2_11_33_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.70083"},{"key":"e_1_2_11_34_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00056"},{"key":"e_1_2_11_35_1","doi-asserted-by":"publisher","DOI":"10.3390\/s19112520"},{"key":"e_1_2_11_36_1","doi-asserted-by":"crossref","unstructured":"S.Kru\u017ei\u0107 J.Musi\u0107 I.Stan\u010di\u0107 andV.Papi\u0107. \u201cNeural Network\u2010Based End\u2010Effector Force Estimation for Mobile Manipulator on Simulated Uneven Surfaces.\u201d Paper presented at the 2022 International Conference on Software Telecommunications and Computer Networks (SoftCOM) (2022).","DOI":"10.23919\/SoftCOM55329.2022.9911383"},{"key":"e_1_2_11_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2666420"},{"key":"e_1_2_11_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2024.111494"},{"key":"e_1_2_11_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2962081"},{"key":"e_1_2_11_40_1","doi-asserted-by":"crossref","unstructured":"H.Yang H.Zhou G. S.Fischer andJ. Y.Wu \u201cA Hybrid Model and Learning\u2010Based Force Estimation Framework for Surgical Robots \u201d Paper presented at the 2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2024) https:\/\/doi.org\/10.1109\/IROS58592.2024.10802648.","DOI":"10.1109\/IROS58592.2024.10802648"},{"key":"e_1_2_11_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2025.3589744"},{"key":"e_1_2_11_42_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cja.2024.05.025"},{"key":"e_1_2_11_43_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.aei.2025.103234"},{"key":"e_1_2_11_44_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.egyai.2024.100466"},{"key":"e_1_2_11_45_1","doi-asserted-by":"crossref","unstructured":"H.Zhou S.Zhang J.Peng et\u00a0al. \u201cInformer: Beyond Efficient Transformer for Long Sequence Time\u2010Series Forecasting \u201d Paper presented at the Proceedings of the AAAI Conference on Artificial Intelligence(2021) 11106\u201311115 https:\/\/doi.org\/10.1609\/aaai.v35i12.17325.","DOI":"10.1609\/aaai.v35i12.17325"},{"key":"e_1_2_11_46_1","unstructured":"Y.Nie N. H.Nguyen P.Sinthong andJ.Kalagnanam.A Time Series Is Worth 64 Words: Long\u2010Term Forecasting With Transformers.arXiv preprint arXiv:2211.14730(2022)."},{"key":"e_1_2_11_47_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2019.101774"},{"key":"e_1_2_11_48_1","doi-asserted-by":"crossref","unstructured":"J.Liang J.Buzzatto B.Busby et\u00a0al. \u201cEmploying Multi\u2010Layer Sensorised Kirigami Grippers for Single\u2010Grasp Based Identification of Objects and Force Exertion Estimation.\u201d Paper presented at the 2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2023) https:\/\/doi.org\/10.1109\/IROS55552.2023.10341390.","DOI":"10.1109\/IROS55552.2023.10341390"}],"container-title":["Annals of the New York Academy of Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/pdf\/10.1111\/nyas.70396","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/full-xml\/10.1111\/nyas.70396","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/pdf\/10.1111\/nyas.70396","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,26]],"date-time":"2026-09-26T13:12:15Z","timestamp":1790428335000},"score":1,"resource":{"primary":{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/10.1111\/nyas.70396"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":47,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,9]]}},"alternative-id":["10.1111\/nyas.70396"],"URL":"https:\/\/doi.org\/10.1111\/nyas.70396","archive":["Portico"],"relation":{},"ISSN":["0077-8923","1749-6632"],"issn-type":[{"value":"0077-8923","type":"print"},{"value":"1749-6632","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"2025-12-15","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-07-29","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-09-12","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e70396"}}