A Novel Methodology for Comprehensive Modeling of the Kinetic Behavior of Steerable Catheters
Bibliographic record
Abstract
This paper presents a novel methodology for building a kinetic model for steerable catheters by capturing the nonlinearity of the steerable catheter, the flexibility of the pathway, and the contact and friction between the pathway and the moving catheter. The planar catheter system was used to illustrate the methodology. An experiment was conducted to validate the model along with the friction model. The experimental result and model-predicted result have a good agreement in both displacement and force of the distal tip of the catheter along with the input force. The experiment also shows that the LuGre friction model is most accurate. The methodology is thus applicable to modeling specific catheter-pathway systems. The kinetic model of the steerable catheter is useful to 1) design and for evaluation of new steerable catheters and 2) planning of catheter-based operations. Furthermore, the methodology has a generalized implication to other systems such as colonoscopy systems.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
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 source (direct Gemma or distilled Codex), 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".