Determination of Arsenic, Mercury and Barium in herbarium mount paper using dynamic ultrasound-assisted extraction prior to atomic fluorescence and absorption spectrometry

A dynamic ultrasound-assisted extraction method using Atomic Absorption and Atomic Flourescence spectrometers as detectors was developed to analyse mercury, arsenic and barium from herbarium mount paper originating from the herbarium collection of the National Museum of Wales. The variables influencing extraction were optimised by a multivariate approach. The optimal conditions were found to be 1% HNO3 extractant solution used at a flow rate of 1 mL min-1. The duty cycle and amplitude of the ultrasonic probe was found to be 50% in both cases with an ultrasound power of 400 W. The optimal distance between the probe and the top face of the extraction chamber was found to be 0 cm. Under these conditions the time required for complete extraction of the three analytes was 25 min. Cold vapour and hydride generation coupled to atomic fluorescence spectrometry was utilized to determine mercury and arsenic, respectively. The chemical and instrumental conditions were optimized to provide detection limits of 0.01ng g-1 and 1.25 ng g-1 for mercury and arsenic, respectively. Barium was determined by graphite-furnace atomic absorption spectrometry, with a detection limit of 25 ng g-1. By using 0.5 g of sample, the concentrations of the target analytes varied for the different types of paper and ranged between 0.4–2.55 µg g-1 for Ba, 0.035–10.47 µg g-1 for As and 0.0046–2.37 µg g-1 for Hg

Automated pick-up of suturing needles for robotic surgical assistance

Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with the urethra. The procedure is called urethrovesical anastomosis and is one of the most dexterity demanding tasks during RALP. Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis. While robotic instruments provide enhanced dexterity to perform the anastomosis, it is still highly challenging and difficult to learn. In this paper, we presents a vision-guided needle grasping method for automatically grasping the needle that has been inserted into the patient prior to anastomosis. We aim to automatically grasp the suturing needle in a position that avoids hand-offs and immediately enables the start of suturing. The full grasping process can be broken down into: a needle detection algorithm; an approach phase where the surgical tool moves closer to the needle based on visual feedback; and a grasping phase through path planning based on observed surgical practice. Our experimental results show examples of successful autonomous grasping that has the potential to simplify and decrease the operational time in RALP by assisting a small component of urethrovesical anastomosis

Acoustic Vector-Corrected Impedance Meter

We describe the development of a novel instrument intended for the measurement of the acoustical reflection coefficient of materials. The instrument effectively implements a one-port vector-corrected network analyzer in the acoustic, rather than the electromagnetic, domain. Employing the well-documented methods of error correction familiar to microwave engineers, this instrument permits automated measurement of an acoustic impedance presented to a waveguide port. A dual-directional coupler allows a working frequency range of well over an octave. In principle, a set of six couplers would allow measurement from 100 to 50000 Hz

Freehand 2D Ultrasound Probe Calibration for Image Fusion with 3D MRI/CT

The aim of this work is to implement a simple freehand ultrasound (US) probe calibration technique. This will enable us to visualize US image data during surgical procedures using augmented reality. The performance of the system was evaluated with different experiments using two different pose estimation techniques. A near-millimeter accuracy can be achieved with the proposed approach. The developed system is cost-effective, simple and rapid with low calibration erro

Recent trends, technical concepts and components of computer-assisted orthopedic surgery systems: A comprehensive review

Computer-assisted orthopedic surgery (CAOS) systems have become one of the most important and challenging types of system in clinical orthopedics, as they enable precise treatment of musculoskeletal diseases, employing modern clinical navigation systems and surgical tools. This paper brings a comprehensive review of recent trends and possibilities of CAOS systems. There are three types of the surgical planning systems, including: systems based on the volumetric images (computer tomography (CT), magnetic resonance imaging (MRI) or ultrasound images), further systems utilize either 2D or 3D fluoroscopic images, and the last one utilizes the kinetic information about the joints and morphological information about the target bones. This complex review is focused on three fundamental aspects of CAOS systems: their essential components, types of CAOS systems, and mechanical tools used in CAOS systems. In this review, we also outline the possibilities for using ultrasound computer-assisted orthopedic surgery (UCAOS) systems as an alternative to conventionally used CAOS systems.Web of Science1923art. no. 519

A tracker alignment framework for augmented reality

To achieve accurate registration, the transformations which locate the tracking system components with respect to the environment must be known. These transformations relate the base of the tracking system to the virtual world and the tracking system's sensor to the graphics display. In this paper we present a unified, general calibration method for calculating these transformations. A user is asked to align the display with objects in the real world. Using this method, the sensor to display and tracker base to world transformations can be determined with as few as three measurements

Improving Rigid 3-D Calibration for Robotic Surgery

Autonomy is the next frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this article, we propose a novel calibration technique for a surgical scenario with a da Vinci Research Kit (dVRK) robot. Camera and robotic arms calibration are necessary to precise position and emulate expert surgeon. The novel calibration technique is tailored for RGB-D cameras. Different tests performed on relevant use cases prove that we significantly improve precision and accuracy with respect to state of the art solutions for similar devices on a surgical-size setups. Moreover, our calibration method can be easily extended to standard surgical endoscope used in real surgical scenario