Black-box modeling and control of steerable ablation catheters
Bibliographic record
Abstract
Minimally invasive intervention for treating cardiac arrhythmia involves ablating sources causing chaotic electrical signals in the atria. In order to perform tissue ablation, flexible catheters are steered through the vasculature from the insertion point in the groin area to the atrium. The outcome of this procedure depends on a number of factors, among which is the correct placement of the catheter tip on the target tissue. The tip/tissue contact angle is adjusted by using a manual prismatic knob on the proximal handle to bend the deflectable distal shaft of the catheter. With the goal of developing a robotics-assisted catheter manipulation system, in this paper, we focus on the problem of controlling the bending of the distal shaft when the proximal handle is used within a robotic manipulator. To this end, we apply the black-box modeling technique and perform an extensive experimental study to characterize the behavior of the catheter. The relationship between proximal measurements and the distal tip angle is then determined by fitting a model to the experimental dataset. The proposed model is used in designing a control system that adjusts the bending of the distal shaft merely based on proximal measurements with no feedback from the distal end. The performance of the designed control scheme is evaluated through experimental implementation. The results show that the control system can achieve the desired tip angle with an error less than 2 deg.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".