Self-Supervised Adaptive Transformer for Surgical Step Recognition in Robotic-Assisted Radical Prostatectomy. - Yiru Ye; Wenlong Wang; Yonghao Long 001; Chi-Fai Ng; QingYin Zhou; Dongren Yang; Qi Dou 001; Mengya Xu; Zhifang Pan (IEEE Robotics Autom. Lett., 2026)