Robot-assisted catheter insertion using hybrid impedance control
Bibliographic record
Abstract
Angioplasty is a minimally invasive procedure wherein a catheter (a thermoplastic hollow wire) is inserted into the femoral artery and guided till it reaches a blockage in the blood vessel. There could be some potential complications arising from the conventional way of performing angioplasty, e.g., damage to the blood vessel due to excessive force of insertion and exposure of clinicians to harmful radiations and/or high levels of noise from an MRI machine. In this paper, we investigate the use of a robot manipulator (Mitsubishi PA 10-7C) to aid in the insertion of a catheter into a blood vessel. The robot controls the insertion force while the surgeon can remotely operate the robot from a safe and comfortable environment. The paper describes a hybrid impedance control scheme implemented on the Mitsubishi robot to perform simultaneous force/position control. The robot is used in experiments to insert a catheter into a test-bed by controlling the force of insertion and preventing the catheter from buckling or "bunching up". Experimental results for the insertion algorithms are shown
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 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 | 0.001 | 0.001 |
| Research integrity | 0.001 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), 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".