H-Net: A Multitask Architecture for Simultaneous 3D Force Estimation and Stereo Semantic Segmentation in Intracardiac Catheters
Bibliographic record
Abstract
The success rate of catheterization procedures is closely linked to the sensory data provided to the surgeon. Vision-based deep learning models can deliver both tactile and visual information in a sensor-free manner, while also being cost-effective to produce. Given the complexity of these models for devices with limited computational resources, research has focused on force estimation and catheter segmentation separately. However, there is a lack of a comprehensive architecture capable of simultaneously segmenting the catheter from two different angles and estimating the applied forces in 3D. To bridge this gap, this work proposes a novel, lightweight, multi-input, multi-output encoder-decoder-based architecture. It is designed to segment the catheter from two points of view and concurrently measure the applied forces in the$x$,$y$, and$z$directions. This network processes two simultaneous X-Ray images, intended to be fed by a biplane fluoroscopy system, showing a catheter's deflection from different angles. It uses two parallel sub-networks with shared parameters to output two segmentation maps corresponding to the inputs. Additionally, it leverages stereo vision to estimate the applied forces at the catheter's tip in 3D. The architecture features two input channels, two classification heads for segmentation, and a regression head for force estimation through a single end-to-end architecture. The output of all heads was assessed and compared with the literature, demonstrating state-of-the-art performance in both segmentation and force estimation. To the best of the authors' knowledge, this is the first time such a model has been proposed.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.004 | 0.001 |
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".