Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue
Why this work is in the frame
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Bibliographic record
Abstract
This letter represents a sliding-based controller for steering beveled-tip needles to stationary locations in soft tissue in a 2-D environment by performing appropriate switches of bevel orientation by 180° axial rotations while the needle is being inserted. Assuming the rotation velocity to be large enough with respect to insertion velocity, the out of plane motions of the needle can be neglected. The proposed controller has a nonmodel-based structure, which is fed by the needle tip deflection error and its derivative obtained from ultrasound images and outputs the switching pattern as the control law. To analyze the stability and convergence of the error, the kinematic unicycle model for beveled-tip needle motion in soft tissue is employed and the constraints on switching parameters are derived. The performance of the controller in the sense of targeting error and number of switches is verified using an experimental setup to insert the needle into gelatin phantom tissue and ex-vivo biological tissue.
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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