Projecting beam model for robot-assisted flexible 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
Needle path steering is one of the most important techniques during robotic-assisted needle insertion.Soft tissue deformation,multi-layer tissue relative sliding and needle deflection can easily make the needle miss the target,which decreases the needle insertion precision.Based on the analysis of needle forces,a projecting beam model was proposed to predict the needle path through laws of needle deflection,with a flexible needle divided into finite segments with quasi-static process during needle insertion and each segment regarded as a projecting beam.An algorithm was then developed to predict the needle path in three-dimensional space.Simulation results show that the proposed model can effectively predict the flexible needle path,which provides a theoretical fundamental for path planning and obstacle avoidance during robot-assisted needle insertion.
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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 | 0.001 | 0.001 |
| 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