A parallel Remote Center of Motion mechanism for needle-based medical interventions
Why this work is in the frame
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Bibliographic record
Abstract
A novel parallel Remote Center of Motion (RCM) mechanism is proposed for a surgical robot designed to perform minimally invasive needle-based interventions for lung cancer diagnosis and treatment. The proposed robot provides four degrees of freedom (DOFs) to orient and move a surgical needle within a spherical coordinate system. The RCM is beneath the skin surface to minimize the invasiveness of the surgical procedure while providing the required workspace. This compact, patient-mounted robot benefits from a design capable of measuring the pure interaction forces between the needle and the tissue. In this paper, the mechanism design and its specifications are described. The kinematic analysis is presented and isotropy of the mechanism for targeting tumors is studied. Finally, the performance of the proposed robot is evaluated experimentally.
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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