Bilateral telemanipulation of a flexible catheter in a constrained environment
Bibliographic record
Abstract
This paper describes some novel research results on bilateral teleoperation of a flexible catheter in a constrained environment. The dynamics of the catheter in a constrained environment is highly nonlinear and is affected by a large number of factors such as friction, flexibility of the catheter, force of insertion, shape and size of the catheter, etc. As a result, the distal end of the catheter almost never follows the actuated end of the catheter which could cause fatigue to the clinician/user attempting to insert the catheter in a blood vessel. In addition, there is a time delay of up to 0.8 second before the distal end of the catheter advances after the near end is actuated. This delay is sufficient to cause instability in the control loop. We have developed a teleoperation framework using wave variables to perform robot- assisted catheter insertion in a constrained environment while reflecting the forces at the tip of the catheter to the clinician. Experimental results showing the effect of different factors such as the velocity and stroke length of insertion on the delays introduced in control loop and errors between the master and slave position are included. To the best of our knowledge, this work is among the first to attempt to provide an understanding of the effects of various factors on the flexing of the catheter. In addition, master-slave insertion of a catheter instrumented with shape memory alloys (SMA) has also been performed and the results are included in this paper.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".