{"id":"W2151677602","doi":"10.1109/robot.2006.1641777","title":"Robot-assisted catheter insertion using hybrid impedance control","year":2006,"lang":"en","type":"article","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":45,"is_retracted":false,"has_abstract":true,"ca_institutions":"National Research Council Canada; Western University","funders":"","keywords":"Catheter; Robot; Impedance control; Computer science; Simulation; Biomedical engineering; Surgery; Engineering; Medicine; Artificial intelligence","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":[0.0003524951,0.000589293,0.0003787428,0.0003180102,0.0001949573,0.0004761193,0.0006245381,0.0005046141,0.001208291],"category_scores_gemma":[0.0008592932,0.000221268,0.0002306056,0.0002062985,0.0003577162,0.0004279338,0.0005265802,0.0002242192,0.0003550552],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001900101,"about_ca_system_score_gemma":0.0001645434,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0006908298,"about_ca_topic_score_gemma":0.0006604676,"domain_scores_codex":[0.9993885,0.0001213912,0.00004538618,0.0000969952,0.0003007132,0.00004706414],"domain_scores_gemma":[0.9994174,0.0001745899,0.0001355416,0.00009500132,0.0001407999,0.00003658836],"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":[0.0008196444,0.000312601,0.001997445,0.0002222084,0.00008811125,0.0004293166,0.000311092,0.05740147,0.6598871,0.001822167,0.0006800813,0.2760289],"study_design_scores_gemma":[0.0002966201,0.003855293,0.009529275,0.00003425793,0.0001088647,0.00161062,0.000076188,0.6741161,0.2981926,0.0008931953,0.01114488,0.0001421622],"study_design_candidate":"bench_or_experimental","study_design_consensus":"bench_or_experimental","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1838735,0.0002086612,0.8113055,0.00008725678,0.00004473588,0.0001476314,0.00002414913,0.001817737,0.002490709],"genre_scores_gemma":[0.877183,0.00007148401,0.1204353,0.0000469395,0.00001449853,0.00009104989,0.00003590077,0.00003249197,0.002089227],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001208291,"threshold_uncertainty_score":0.004042208,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01015430331956039,"score_gpt":0.2074848407721893,"score_spread":0.1973305374526289,"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."}}