Image-Guided Observer-Based Control for Needle Steering
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
In robot-assisted needle-insertion procedures, in order to steer a beveled-tip needle toward a target location, the needle tip pose is required to be used as feedback. Mathematically, the needle tip pose can be expressed as a position vector and a rotation matrix that represents the orientation of the needle. Using the traditional 2-D ultrasound imaging modality, since the images are low in resolution and the needles are small in diameter, only the position of the needle tip can be measured, and the orientation information cannot be directly extracted. This brief presents a nonlinear observer for estimating the needle tip orientation based on needle 3-D kinematic equations and the position data measured from ultrasound images. Assuming bounded inputs for the needle model, it is shown that the observation error remains bounded. The performance of the observer is shown in an observer/controller feedback loop. The stability and convergence of the observer/controller combination are shown by solving linear matrix inequality (LMI) optimizations. Experiments performed for different tissue types and different needle insertion goals verify the effectiveness of our method.
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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