Design and Validation of a Compact Concentric-Tube Robot for Percutaneous Nephrolithotomy
Why this work is in the frame
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Bibliographic record
Abstract
Concentric-tube robots (CTRs) have garnered significant attention in various minimally invasive procedures due to their small size and dexterity. Despite extensive technical advancements in the development of CTRs, there is a lack of design approaches specific to their function as surgical instruments. This study proposes a compact CTR specifically designed for percutaneous nephrolithotomy (PCNL), adaptable for both hand-held operation and mounting on a passive arm. We employ a parallel carriage-based design to reduce the device's cross-sectional footprint (46 mm diameter, 322 mm length) and localize the center of mass (570 g mass) beneath the grip area, enhancing ergonomic comfort and control. An ergonomic evaluation of the robot during the handling of the robot by expert urologists, as well as non-clinicians, showed better ergonomics than standard hand-held PCNL devices. Additionally, closed-loop position control of the distal end of the CTR was implemented based on resolved-motion rate inverse kinematics. The performance of the robot was empirically validated through experiments on a life-size abdominal phantom. The results showed mean closed-loop position errors of 1.2±0.8 mm for autonomous navigation to 100 target points on the stone, indicating a performance level in line with the specific requirements of PCNL.
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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