Development of a Shape Memory Alloy Actuated Catheter for Cardiovascular Procedures
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Bibliographic record
Abstract
This research highlights the design, fabrication and experimental validation of a Shape Memory Alloy (SMA) actuated robotic catheter. The prototype consists of four SMA tendons that actuate a central tubular substructure in two orthogonal directions. The experimental shape memory characteristics are used to optimize the design. Joule heating is used to generate tip deflections and the experimental bending characteristics are obtained using a dual camera imaging system. These measurements reveal important nonlinearities and hysteretic characteristics of the system. A dynamic model of the system is developed to describe the SMA-effected bending mechanics, and simulation results are compared to experimental measurements for model validation. The applicability of this technology to cardiovascular procedures, like atrial ablation, is demonstrated through precise tracking of trajectories using PID control.
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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) | 0.001 | 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