{"id":"W1506157690","doi":"10.1109/icra.2015.7139236","title":"Articulating minimally invasive ultrasonic tool for robotics-assisted surgery","year":2015,"lang":"en","type":"article","venue":"","topic":"Piezoelectric Actuators and Control","field":"Engineering","cited_by":6,"is_retracted":false,"has_abstract":true,"ca_institutions":"Western University","funders":"","keywords":"Robotics; Ultrasonic sensor; Transducer; Surgical robot; Medical robotics; Finite element method; Invasive surgery; Artificial intelligence; Computer science; Soft robotics; Surgical instrument; Robot end effector; Biomedical engineering; Actuator; Acoustics; Robot; Engineering; Mechanical engineering; Surgery; Medicine; Physics","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002111301,0.0002828939,0.0002097159,0.0002778836,0.0001238304,0.0003094344,0.0005081383,0.0004741914,0.001399311],"category_scores_gemma":[0.0003313424,0.0001768918,0.0002321497,0.0001712551,0.0002233525,0.0003196071,0.0003404967,0.0002952857,0.0005861284],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00016461,"about_ca_system_score_gemma":0.000358692,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001074769,"about_ca_topic_score_gemma":0.000232792,"domain_scores_codex":[0.9996822,0.00003308611,0.00001343292,0.00003407906,0.0002219605,0.00001523739],"domain_scores_gemma":[0.9998007,0.0000603449,0.00004920916,0.00002530405,0.00004918631,0.00001519971],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"bench_or_experimental","study_design_scores_codex":[0.00006191868,0.00003216941,0.000728162,0.0004314593,0.00002527345,0.0003028486,0.00008234495,0.01257693,0.7173275,0.01680284,0.001059545,0.2505691],"study_design_scores_gemma":[0.00007836158,0.002148902,0.005787826,0.0001754475,0.0001416314,0.008104447,0.0001147104,0.2739451,0.5055681,0.008752473,0.1949982,0.0001848002],"study_design_candidate":"bench_or_experimental","study_design_consensus":"bench_or_experimental","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.02738043,0.002417654,0.964262,0.0001002074,0.00007169326,0.00004726247,0.00002857598,0.0003588703,0.005333327],"genre_scores_gemma":[0.4149618,0.002292719,0.5760478,0.0001264509,0.00009262826,0.0001039839,0.0001079313,0.00005407009,0.006212694],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001399311,"threshold_uncertainty_score":0.00468117,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0232926957917047,"score_gpt":0.2136411723174381,"score_spread":0.1903484765257334,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}