Analytical Tip Force Estimation on Tendon-driven Catheters Through Inverse Solution of Cosserat Rod Model
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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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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