High-fidelity bilateral teleoperation reflecting delicate tissue resistance back to surgeon master grips without phase delay.
Due to sterilizability constraints and electrical noise, instruments embed optical Fiber Bragg Gratings along the shaft. Wavelength shift measurements calculate 3-DoF tip contact forces down to 5 millinewtons without electrical wiring inside the patient.
Natural physiological hand tremors in the 8-12 Hz band are isolated using weighted-frequency Fourier linear combiners. The filter strips involuntary oscillations while preserving rapid voluntary surgical gestures without perceptible delay.