Analytical Tip Force Estimation on Tendon-driven Catheters Through Inverse Solution of Cosserat Rod Model
Bibliographic record
Abstract
Tip force estimation on continuum arms is of crucial clinical importance for catheter-based procedures, i.e., catheter-based ablation therapies. In this study, an analytical solution for force estimation based on inverse Cosserat rod modeling was proposed and validated. Initially, a previously validated Bezier-based shape interpolation was used to parameterize the deformation and the kinematics and balance equations of the catheter were derived thereof. The tip force estimation problem was formulated as an inverse problem with a functional minimization technique and was solved analytically. In the end, the proposed method was experimentally tested for accuracy and computation efficiency through a series of simulations and experiments. The results showed that the estimated forces were in agreement with reference measurement with a mean-absolute error of 0.024 ± 0.020 N and a computation time of 7 ± 5 ms per frame. The exhibited performance was comparable to other studies and was in compliance with the requirements of catheter-based procedures.
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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 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 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 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".