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About this paper
Siddhartha Kapuria, Mohammad Rafiee Javazm, Naruhiko Ikoma, Joga Ivatury, Mohammad Ali Nasseri, Nassir Navab, Farshid Alambeigi
OpenRC is an open-source retrofit framework that records colonoscope video, operator commands, motor state, and tracked tip pose together. Across 1,894 teleoperated phantom episodes, calibrated median residual lag is 55.6 ms between actions and motor state, and 0.0 ms between motor state and tip pose. This is phantom-validated infrastructure, not demonstrated autonomy or clinical benefit.
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