Path Planning with RRT*M Algorithm in Simulated Human Respiratory Environment
Bibliographic record
Abstract
Image-guided percutaneous insertion is widely applied in lung biopsy surgeries.Traditional procedure used rigid needle, which may lead to post-operation complications such as pneumothorax and hemothorax.Recent research have investigated the application of curvature-controllable steerable bevel-tip needle with pre-surgery path planning to overcome this problem.This work focuses on improving the RRT* algorithm (in terms of path length, search time and redundant random nodes) for the pre-operation path planning based on a constrained search environment.An RRT*M algorithm is proposed via probability distribution of the generation of random nodes around the ideal path connecting the start and goal points within a constraint region while avoiding the obstacles in the simulated human respiratory system.The performance of the proposed algorithm is compared with informed RRT* algorithm based on a similar 2D environment.The result indicated the potential of the proposed algorithm for lung biopsy path planning in a 3D virtual environment based on the human anatomy.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 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".