Accurate multi-robot targeting for keyhole neurosurgery based on external sensors monitoring

Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align the probe onto a desired planned trajectory. The probe is then inserted in the brain, towards the planned target, by means of a haptic interface. This paper presents a new iterative targeting approach to be used in surgical robotic navigation, where the multi-robot chain is used to align the surgical probe to the planned pose, and an external sensor is used to decrease the alignment errors. The iterative targeting was tested in an operating room environment using a skull phantom, and the targets were selected on magnetic resonance images. The proposed targeting procedure allows about 0.3 mm to be obtained as the residual median Euclidean distance between the planned and the desired targets, thus satisfying the surgical accuracy requirements (1 mm), due to the resolution of the diffused medical images. The performances proved to be independent of the robot optical sensor calibration accuracy

Fractional ac Josephson effect in unconventional superconductors

For certain orientations of Josephson junctions between two p_x-wave or two d-wave superconductors, the subgap Andreev bound states produce a 4pi-periodic relation between the Josephson current I and the phase difference phi: I ~ sin(phi/2). Consequently, the ac Josephson current has the fractional frequency eV/h, where V is the dc voltage. In the tunneling limit, the Josephson current is proportional to the first power (not square) of the electron tunneling amplitude. Thus, the Josephson current between unconventional superconductors is carried by single electrons, rather than by Cooper pairs. The fractional ac Josephson effect can be observed experimentally by measuring frequency spectrum of microwave radiation from the junction.Comment: 8 pages, 3 figures, RevTEX 4; v2. - minor typos corrected in proof

Phase Fluctuations and Vortex Lattice Melting in Triplet Quasi-One-Dimensional Superconductors at High Magnetic Fields

Assuming that the order parameter corresponds to an equal spin triplet pairing symmetry state, we calculate the effect of phase fluctuations in quasi-one-dimensional superconductors at high magnetic fields applied along the y (b') axis. We show that phase fluctuations can destroy the theoretically predicted triplet reentrant superconducting state, and that they are responsible for melting the magnetic field induced Josephson vortex lattice above a magnetic field dependent melting temperature Tm.Comment: 4 pages (double column), 1 eps figur

Magnetic-Field Variations of the Pair-Breaking Effects of Superconductivity in (TMTSF)2ClO4

We have studied the onset temperature of the superconductivity Tc_onset of the organic superconductor (TMTSF)2ClO4, by precisely controlling the direction of the magnetic field H. We compare the results of two samples with nearly the same onset temperature but with different scattering relaxation time tau. We revealed a complicated interplay of a variety of pair-breaking effects and mechanisms that overcome these pair-breaking effects. In low fields, the linear temperature dependences of the onset curves in the H-T phase diagrams are governed by the orbital pair-breaking effect. The dips in the in-plane field-angle phi dependence of Tc_onset, which were only observed in the long-tau sample, provides definitive evidence that the field-induced dimensional crossover enhances the superconductivity if the field direction is more than about 19-degrees away from the a axis. In the high-field regime for H//a, the upturn of the onset curve for the long-tau sample indicates a new superconducting state that overcomes the Pauli pair-breaking effect but is easily suppressed by impurity scatterings. The Pauli effect is also overcome for H//b' by a realization of another state for which the maximum of Tc_onset(phi) occurs in a direction different from the crystalline axes. The effect on Tc_onset of tilting the applied field out of the conductive plane suggests that the Pauli effect plays a significant role in determining Tc_onset. The most plausible explanation of these results is that (TMTSF)2ClO4 is a singlet superconductor and exhibits Fulde-Ferrell-Larkin-Ovchinnikov (FFLO) states in high fields.Comment: 12 pages, 10 figures. To be published in J. Phys. Soc. Jpn. (vol.77, 2008

Josephson effect in quasi one-dimensional unconventional superconductors

Josephson effect in junctions of quasi one-dimensional triangular lattice superconductors is discussed, where the theoretical model corresponds to organic superconductors (TMTSF)_2PF_6. We assume the quarter-filling electron band and p, d and f wave like pairing symmetries in organic superconductors. To realize the electronic structures in organic superconductors, we introduce the asymmetric hopping integral, (t') among second nearest lattice sites. At t'=0, the Josephson current in the d wave symmetry saturates in low temperatures, whereas those in the p and the f wave symmetries show the low-temperature anomaly due to the zero-energy state at the junction interfaces. The low-temperature anomaly appears even in the d wave symmetry in the presence of t', whereas the anomaly is suppressed in the f wave symmetry. The shape of the Fermi surface is an important factor for the formation of the ZES in the quarter-filling electron systems.Comment: 10 page

Spin-Triplet Superconductivity Mediated by Phonons in Quasi-One-Dimensional Systems

We investigate the spin-triplet superconductivity mediated by phonons in quasi-one-dimensional (Q1D) systems with open Fermi surfaces. We obtain the ground state phase diagrams. It is found that spin-triplet superconductivity occurs for weak screening and strong on-site Coulomb interaction, even in the absence of any additional nonphonon pairing interactions. We find that the nodeless spin-triplet state is more favorable than the spin-triplet state with line nodes, for the parameter values of the Q1D superconductors (TMTSF)_2X. We also find that Q1D open Fermi surface, which is the specific feature of this system, plays an essential role in the pairing symmetry. We discuss the compatibility of the present results with the experimental results in these compounds.Comment: 8 pages, 15 figures, with jpsj2.cl