Predictive Position Estimation for Remote Surgery under Packet Loss Using the Informer Framework
Abstract
Accurate and real-time position estimation of the robotic arm on the patient's side is crucial for the success of remote robotic surgery in Tactile Internet environments. This paper proposes a predictive approach using the computationally efficient Transformer-based Informer model for position estimation, combined with a Four-State Hidden Markov Model (4-State HMM) to simulate realistic packet loss scenarios. The method effectively addresses network-induced delays, jitter, and packet loss, ensuring reliable performance in remote robotic surgery. The study evaluates the Informer model on the JIGSAWS dataset, demonstrating its capability to handle sequential data challenges caused by network uncertainties. Key features, including ProbSparse attention and a generative-style decoder, enhance prediction accuracy, computational speed, and memory efficiency. Results indicate that the proposed method achieves over 90 percent accuracy across varying network conditions. Furthermore, the Informer framework outperforms traditional models such as TCN, RNN, and LSTM, highlighting its suitability for real-time remote surgery applications.
Keywords
Cite
@article{arxiv.2501.14664,
title = {Predictive Position Estimation for Remote Surgery under Packet Loss Using the Informer Framework},
author = {Muhammad Hanif Lashari and Shakil Ahmed and Wafa Batayneh and Ashfaq Khokhar},
journal= {arXiv preprint arXiv:2501.14664},
year = {2025}
}
Comments
The paper is being withdrawn due to a methodological issue identified during the review process. Specifically, further evaluation revealed inconsistencies in the packet loss modeling and prediction performance analysis. We plan to revise and correct these aspects before considering resubmission