Wave variables based bilateral teleoperation of an active catheter
Bibliographic record
Abstract
In this paper, we develop a teleoperation framework to perform master-slave control of an active catheter instrumented with Shape Memory Alloy (SMA) actuators. The catheter is also instrumented with a 5-DOF magnetic sensor which provides feedback on the position of the distal end of the catheter while strain gauges on the catheter tip reflect the forces. SMAs demonstrate a hysteretic, non-linear and time-delayed behavior; therefore maintaining stability of the teleoperation algorithm is a prime requirement. The wave variables based approach provides a robust method to perform bilateral teleoperation of the active catheter. The clinician controls the position of the tip of the catheter from a remote location while precisely feeling the forces acting on the catheter tip. This enables the clinician to perform fine manipulations within the blood vessels, close to bifurcations and to the site of plaque buildup. In addition, a force control algorithm has been developed and implemented on the active catheter for enabling smooth guidance of the catheter into the vasculature and for application in cardiac ablation. Experimental results are presented for the proposed algorithms.
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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) | 0.000 | 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 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 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".