Eccentric-Tube Robot (ETR) Modeling and Validation
Bibliographic record
Abstract
This paper introduces a snake-like continuum robot design intended for minimally invasive surgery (MIS) in which a robotic sheath is designed to control an end effector with enhanced dexterity. The structure of the eccentric tube robot (ETR) is a development and extension of the current concentric tube robot (CTR) design. By introducing a non-extensible outer sheath, three pre-curved superelastic nitinol (NiTi) tubes are held together eccentrically inside the sheath. The articulation of the ETR is achieved by rotating the individual tubes at their proximal ends, and the curvatures interact to determine the robot's final shape. A kinematic model based on Cosserat rod theory is derived considering the eccentric arrangement and the geometrical constraint imposed by the outer sheath. The kinematic model is validated through simulations and experiments for a single-stage ETR. Experimental results show that, in the worst case, the mean tip error corresponds to 5% of the length of the sheath.
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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".