{"id":"W2209517745","doi":"10.1109/iros.2015.7353821","title":"A robotics-assisted catheter manipulation system for cardiac ablation with real-time force estimation","year":2015,"lang":"en","type":"article","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":15,"is_retracted":false,"has_abstract":true,"ca_institutions":"Western University","funders":"Biosense Webster","keywords":"Catheter; Contact force; Actuator; Computer science; Cardiac Ablation; Ablation; Robotics; Position (finance); Biomedical engineering; Tension (geology); Orientation (vector space); Haptic technology; Simulation; Catheter ablation; Interface (matter); Robot; Artificial intelligence; Control theory (sociology); Materials science; Engineering; Surgery; Medicine; Mathematics; Physics; Control (management)","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":[0.0003731837,0.0005099769,0.0005218118,0.0004191831,0.000299292,0.0003547112,0.001047529,0.0007245941,0.003585767],"category_scores_gemma":[0.000769957,0.0003087043,0.000266356,0.0002339671,0.0002100108,0.0005053426,0.0005018,0.0003567318,0.001129465],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001816776,"about_ca_system_score_gemma":0.0005339963,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0007628269,"about_ca_topic_score_gemma":0.001089939,"domain_scores_codex":[0.9995742,0.00004886303,0.00003308522,0.0001007641,0.0002174613,0.00002552091],"domain_scores_gemma":[0.9996331,0.00008143374,0.00007924794,0.00005918106,0.0001120669,0.00003498826],"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":[0.0004378369,0.0002622397,0.001868673,0.0003900229,0.00006397122,0.0006371702,0.000282575,0.00833025,0.6096492,0.001816193,0.005706061,0.3705557],"study_design_scores_gemma":[0.00042101,0.004796413,0.0267432,0.0001391161,0.0002552383,0.008661401,0.0001089172,0.5094394,0.3407598,0.001455636,0.1066921,0.0005277575],"study_design_candidate":"bench_or_experimental","study_design_consensus":"bench_or_experimental","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.04799544,0.0004471163,0.9394951,0.0002132473,0.0001807911,0.0003476952,0.0001654185,0.00786307,0.003292093],"genre_scores_gemma":[0.4247648,0.0003313317,0.565182,0.0002224513,0.0001010164,0.0005437807,0.0003167223,0.0001508027,0.008387051],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003585767,"threshold_uncertainty_score":0.01199555,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02399894270404549,"score_gpt":0.2333793369559558,"score_spread":0.2093803942519103,"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."}}