Generalized Predictive Control of a Surgical Robot for Beating-Heart Surgery Under Delayed and Slowly-Sampled Ultrasound Image Data
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Bibliographic record
Abstract
Operating on a beating heart would offer many benefits to patients. The risks associated with heart-lung machines used in arrested-heart surgery would be eliminated and the effectiveness of reconstructive procedures could be judged immediately. However, the heart's fast beating motions make operating on a beating heart impossible for the surgeon. With advances in surgical robotics, we can now envision a robot-assisted surgical system that first synchronizes the surgical robot with the beating heart motion and then lets the surgeon operate through teleoperation on a seemingly motionless point on the heart. This letter presents such a system that relies on both motion prediction and predictive control to overcome the delays introduced in acquiring the beating heart's position from ultrasound images. Also, slowly sampled position data originating from low-frame-rate ultrasound images is treated with cubic interpolation and extended Kalman filter-based prediction. The results of a user study involving a task based on mitral valve annuloplasty are presented to show the proposed method's efficacy in terms of synchronizing the surgical robot to the beating heart motion.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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