Autonomous Image-Guided Robot-Assisted Active Catheter Insertion
Why this work is in the frame
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Bibliographic record
Abstract
Interventional cardiologists are at great risk from radiation exposure due to lengthy procedures performed under X-ray radiations. Angioplasty is one such procedure wherein the clinician guides a catheter into the femoral artery under X-rays and the procedure often extends to over 50 min. A clinician performs several hundred such procedures over his/her lifetime, leading to an accumulation of the total radiation he/she is exposed to. In this paper, we investigate autonomous robot-assisted insertion of an active catheter instrumented with shape memory alloy (SMA) actuators using image guidance. The tip of the active catheter is tracked in real time to provide information on the location of the catheter that determines the optimal stroke length of insertion for the robot and the necessary bending angle for the active catheter. The catheter is autonomously guided from the point of entry to the site of plaque buildup, thereby shielding the clinician from harmful radiation due to the X-rays used for imaging and providing a more ergonomic approach for catheter insertion. Experimental results are given to illustrate the robot-assisted catheter insertion procedure using image guidance.
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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