A pseudo-rigid-body 3R model for a steerable ablation catheter
Why this work is in the frame
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Bibliographic record
Abstract
Over the past few decades, catheter-based cardiac ablation has been the first surgical option for treatment of arrhythmia. In order to have an effective ablation procedure, after positioning the catheter at the desired location inside the heart chamber, a consistent tip/tissue contact should be maintained during the whole procedure. With the goal of implementing hybrid force/position control of the catheter tip during the ablation procedure, this paper studies how the catheter tip deflects when forces are applied. A pseudo-rigid-body 3R model for the catheter tip is introduced. The model performance is evaluated through extensive experiments and it is shown that the proposed model can estimate the shape of the bending section of the ablation catheter if force information is available. This model does not require extensive knowledge of the catheter internal structure. Moreover, the well-established static equations are simple to understand and solve, making this model a convenient choice for developing a control system.
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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 | 0.000 | 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