A Novel Manipulator for 3D Ultrasound Guided Percutaneous Needle Insertion
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
The prostate is a small exocrine gland in men responsible for production of the liquid component of the seminal fluid. In North America, prostate cancer accounts for over 300,000 new cases and 40,000 deaths each year and it is the second leading cause of cancer death in men. Low-dose Rate (LDR) brachytherapy is gaining interest as a viable treatment option for prostate cancer due to its low side effects and high benefits. The present manual approach for brachytherapy needle insertion and the inherent flexibility of the needles make it extremely difficult to achieve accurate and consistent dosimetry. In this paper, we present a new 5 degrees-of-freedom (DOF) manipulator capable of performing percutaneous needle insertion. The manipulator can perform orientation, insertion and rotation of the needle and linear motion of the plunger to drop radioactive seeds at targeted locations. The manipulator is an integral part of a system utilizing a mechanically rotated side-fire transducer to create 3D ultrasound images of the organ and utilizing 3D SLICER software to visualize those images. Experiments conducted in agar phantoms reveal an average RMS targeting error of 1.45mm at an average insertion depth of 75.78mm proving the feasibility and efficacy of the proposed robotic system for percutaneous needle insertion.
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.
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 | 0.001 | 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