Development of autonomous microrobotics in endoscopy
Bibliographic record
Abstract
With experience and training the colonoscope can be a very effective tool in the screening and diagnosis of colorectal cancer. However, the colonoscope most commonly used today has changed very little in the last three decades. It is not without its problems, including a risk of perforation and significant patient discomfort, especially associated with loop formation. Furthermore, loop formation may prevent a complete colonoscopy from being performed in certain patients. In order to avoid looping formation of the colonoscopy and develop a better colonoscope it is necessary to understand the generic principle that results in the looping phenomenon. Loop formation is caused by three factors including the natural characteristic of the colon, the flexible nature of the insertion tube and the impact of frictional force on deformation of intestinal walls and mesenteries. We scientifically analyse loop formation by Kirchhoff's slender rod model, and present a review of the state-of-the-art of technologies that are being promoted as a way to address the problems of the colonoscope.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.002 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".