Pith Number

pith:75RCJ6CE

pith:2026:75RCJ6CE4ZXS6GORX424F35ZJH

not attested not anchored not stored refs resolved

Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots

Filipe C. Pedrosa, Jagadeesan Jayender, Navid Feizi, Rajni V. Patel

Embedding Cosserat rod equations in a neural network enables accurate full-state reconstruction of concentric-tube robots from few-shot data.

arxiv:2605.12790 v1 · 2026-05-12 · cs.RO

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\pithnumber{75RCJ6CE4ZXS6GORX424F35ZJH}

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4 Citations open

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Claims

C1strongest claim

PINN enables full-state estimation of shape, twist angle, torsional strain, bending moment, and orientation. Benchmark tests show a mean shape error below 1% of the robot length and accurately recovered other kinematic states, outperforming a purely physics-based Cosserat rod model baseline while using a minimal training set.

C2weakest assumption

That embedding the Cosserat rod differential equations directly into the neural network loss will produce accurate full-state estimates from few-shot data without requiring large datasets or suffering from physics-data mismatch in real experimental setups.

C3one line summary

A PINN embedding Cosserat rod mechanics achieves sub-1% mean shape error for 6-DoF concentric tube robots using minimal training data and outperforms a pure physics baseline.

References

36 extracted · 36 resolved · 0 Pith anchors

[1] Continuum robots for medical interventions, 2022

[2] Continuum robots for medical applications: A survey, 2015

[3] Design and fabrication of concentric tube robots: A survey, 2023

[4] From theoretical work to clinical translation: Progress in concentric tube robots, 2022

[5] Using robotics to move a neurosurgeon’s hands to the tip of their endoscope, 2023

Receipt and verification

First computed	2026-05-18T03:09:12.933503Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ff6224f844e66f2f19d1bf35c2efb949dba7b84ef02f122c0555453cbc76fb42

Aliases

arxiv: 2605.12790 · arxiv_version: 2605.12790v1 · doi: 10.48550/arxiv.2605.12790 · pith_short_12: 75RCJ6CE4ZXS · pith_short_16: 75RCJ6CE4ZXS6GOR · pith_short_8: 75RCJ6CE

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/75RCJ6CE4ZXS6GORX424F35ZJH \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: ff6224f844e66f2f19d1bf35c2efb949dba7b84ef02f122c0555453cbc76fb42

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "91bd453e3d71381f79bbc3e4bd550bb4ef49626b659ec79dcd0d0782d180ac02",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-12T22:07:53Z",
    "title_canon_sha256": "54f998a85d2a52d74d47958b5bc0b472c4cb77ff377962f06f88e761b059afcd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.12790",
    "kind": "arxiv",
    "version": 1
  }
}