Design, calibration and evaluation of a robotic needle-positioning system for small animal imaging applications
Why this work is in the frame
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Bibliographic record
Abstract
A needle-positioning robot has been developed for image-guided interventions in small animal research models. The device is designed to position a needle with an error < or =100 microm. The robot has two rotational axes (pitch and roll) to control needle orientation, and one linear axis to perform needle insertion. The three axes intersect at a single point to create a remote centre of motion (RCM) that acts as a fulcrum for the orientation of the needle. The RCM corresponds to the skin-entry point of the needle into the animal. The robot was calibrated to ensure that the three axes intersected at a single point defining an RCM and that the needle tip was positioned at the RCM. Needle-positioning accuracy and precision were quantified in Cartesian coordinates at ten target locations in the plane of each rotational axis. The measured needle-positioning accuracy in free space was 54 +/- 12 microm for the pitch axis plane and 91 +/- 21 microm for the roll axis plane. The measured needle-positioning precision was 15 and 17 microm for the pitch and roll axes planes, respectively. The robot's ability to insert a needle into a tumour in a euthanized mouse was demonstrated.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
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 it