{"id":"W4379520969","doi":"10.1140/epjp/s13360-023-04067-1","title":"Autonomous three-dimensional sensor-assisted hybrid force/position control for tendon-driven catheters","year":2023,"lang":"en","type":"article","venue":"The European Physical Journal Plus","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":1,"is_retracted":false,"has_abstract":false,"ca_institutions":"Toronto Metropolitan University","funders":"","keywords":"Contact force; Controller (irrigation); Catheter; Cardiac Ablation; Robot; Position (finance); Computer science; Control theory (sociology); Biomedical engineering; Simulation; Control engineering; Engineering; Artificial intelligence; Surgery; Control (management); Catheter ablation; Ablation; 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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002119717,0.0001493643,0.0001684927,0.00004732039,0.0003179382,0.00008519119,0.0002321357,0.00001246758,0.000002145648],"category_scores_gemma":[0.00001564358,0.0001066283,0.0002075737,0.0001261628,0.00004876612,0.00006044188,0.00002660693,0.00025894,0.0002533851],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00008047776,"about_ca_system_score_gemma":0.00001706694,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000001251419,"about_ca_topic_score_gemma":5.848705e-7,"domain_scores_codex":[0.9991598,0.0000617002,0.000203644,0.0001261212,0.0001618015,0.0002870047],"domain_scores_gemma":[0.99931,0.0002600334,0.00006196881,0.0001955837,0.00006019975,0.0001122334],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00002749463,0.00004185362,0.000004884208,0.00001178344,0.0001518989,0.00004583742,0.0001225669,0.9166456,0.0554497,0.0005647784,0.01128493,0.01564861],"study_design_scores_gemma":[0.001402007,0.00009095595,0.003062208,0.00003440323,0.0001220768,0.0002267043,0.00002252835,0.9864289,0.0008515979,0.00596895,0.001550933,0.0002387576],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.8602896,0.00006414834,0.126656,0.003161725,0.0008029814,0.000948407,0.0001946187,0.001109223,0.006773258],"genre_scores_gemma":[0.9979908,0.000004460294,0.0002938139,0.0001192983,0.001334511,0.00001626435,0.00002855667,0.00007200332,0.000140295],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.1377012,"threshold_uncertainty_score":0.4348175,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01633207067593217,"score_gpt":0.2292539293654128,"score_spread":0.2129218586894806,"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."}}