NOViSE: a virtual natural orifice transluminal endoscopic surgery simulator

Purpose: Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a novel technique in minimally invasive surgery whereby a flexible endoscope is inserted via a natural orifice to gain access to the abdominal cavity, leaving no external scars. This innovative use of flexible endoscopy creates many new challenges and is associated with a steep learning curve for clinicians. Methods: We developed NOViSE - the first force-feedback enabled virtual reality simulator for NOTES training supporting a flexible endoscope. The haptic device is custom built and the behaviour of the virtual flexible endoscope is based on an established theoretical framework – the Cosserat Theory of Elastic Rods. Results: We present the application of NOViSE to the simulation of a hybrid trans-gastric cholecystectomy procedure. Preliminary results of face, content and construct validation have previously shown that NOViSE delivers the required level of realism for training of endoscopic manipulation skills specific to NOTES Conclusions: VR simulation of NOTES procedures can contribute to surgical training and improve the educational experience without putting patients at risk, raising ethical issues or requiring expensive animal or cadaver facilities. In the context of an experimental technique, NOViSE could potentially facilitate NOTES development and contribute to its wider use by keeping practitioners up to date with this novel surgical technique. NOViSE is a first prototype and the initial results indicate that it provides promising foundations for further development

Fully Anisotropic String Cosmologies, Maxwell Fields and Primordial Shear

We present a class of exact cosmological solutions of the low energy string effective action in the presence of a homogeneous magnetic fields. We discuss the physical properties of the obtained (fully anisotropic) cosmologies paying particular attention to their vacuum limit and to the possible isotropization mechanisms. We argue that quadratic curvature corrections are able to isotropize fully anisotropic solutions whose scale factors describe accelerated expansion. Moreover, the degree of isotropization grows with the duration of the string phase. We follow the fate of the shear parameter in a decelerated phase where, dilaton, magnetic fields and radiation fluid are simultaneously present. In the absence of any magnetic field a long string phase immediately followed by radiation is able to erase large anisotropies. Conversely, if a short string phase is followed by a long dilaton dominated phase the anisotropies can be present, in principle, also at later times. The presence of magnetic seeds after the end of the string phase can induce further anisotropies which can be studied within the formalism reported in this paper.Comment: 19 pages in Revtex style, 14 Encapsulated figure

Homogeneous magnetic fields in fully anisotropic string cosmological backgrounds

We present new solutions of the string cosmological effective action in the presence of a homogeneous Maxwell field with pure magnetic component. Exact solutions are derived in the case of space-independent dilaton and vanishing torsion background. In our examples the four dimensional metric is either of Bianchi-type III and VI$_{-1}$ or Kantowski-Sachs.Comment: 4 page

The Dominant Balance at Cosmological Singularities

We define the notion of a finite-time singularity of a vector field and then discuss a technique suitable for the asymptotic analysis of vector fields and their integral curves in the neighborhood of such a singularity. Having in mind the application of this method to cosmology, we also provide an analysis of the time singularities of an isotropic universe filled with a perfect fluid in general relativity.Comment: 13 pages, to appear in the Proceedings of the Greek Relativity Meeting NEB12, June 29-July 2, 2006, Nauplia, Greec

Diseases of winter linseed : occurrence, effects and importance

In 1998, a survey of the incidence and severity of diseases was carried out on 30 crops of winter linseed at early flowering and again at crop maturity. Five crops each were selected in south west, east, east Midlands, west Midlands and north of England and from Scotland. Crops were predominantly cv. Oliver (90% crops), grown from certified seed (83%) and sown in September (97%). Pasmo (Mycosphaerella) was the most important disease, affecting leaves of 73% crops at early flowering and 90% crops at maturity. Powdery mildew (70% crops), Alternaria (30% crops) on leaves and Botrytis on capsules (70% crops) were also common. Regional differences were apparent for powdery mildew, which was present in all regions except the southwest, whilst Alternaria predominated in the Midlands. Half of the crops surveyed had received fungicide sprays, but this appeared to have made limited impact on disease severity. Pasmo is a new threat to UK linseed crops and this raises concerns about the threat it poses to spring linsee

Quantum fields and "Big Rip" expansion singularities

The effects of quantized conformally invariant massless fields on the evolution of cosmological models containing a ``Big Rip'' future expansion singularity are examined. Quantized scalar, spinor, and vector fields are found to strengthen the accelerating expansion of such models as they approach the expansion singularity.Comment: 7 pages; REVTeX

Plane-symmetric inhomogeneous Brans-Dicke cosmology with an equation of state p=γρp=\gamma \rho

We present a new exact solution in Brans-Dicke theory. The solution describes inhomogeneous plane-symmetric perfect fluid cosmological model with an equation of state $p=\gamma \rho$. Some main properties of the solution are discussed.Comment: 6 pages, Late

The Power of General Relativity

We study the cosmological and weak-field properties of theories of gravity derived by extending general relativity by means of a Lagrangian proportional to $R^{1+\delta}$. This scale-free extension reduces to general relativity when $\delta \to 0$. In order to constrain generalisations of general relativity of this power class we analyse the behaviour of the perfect-fluid Friedmann universes and isolate the physically relevant models of zero curvature. A stable matter-dominated period of evolution requires $\delta >0$ or $\delta <-1/4$. The stable attractors of the evolution are found. By considering the synthesis of light elements (helium-4, deuterium and lithium-7) we obtain the bound $-0.017<\delta <0.0012.$ We evaluate the effect on the power spectrum of clustering via the shift in the epoch of matter-radiation equality. The horizon size at matter--radiation equality will be shifted by $\sim 1$ for a value of $\delta \sim 0.0005.$ We study the stable extensions of the Schwarzschild solution in these theories and calculate the timelike and null geodesics. No significant bounds arise from null geodesic effects but the perihelion precession observations lead to the strong bound $\delta =2.7\pm 4.5\times 10^{-19}$ assuming that Mercury follows a timelike geodesic. The combination of these observational constraints leads to the overall bound $0\leq \delta <7.2\times 10^{-19}$ on theories of this type.Comment: 26 pages and 5 figures. Published versio

Cosmological dynamics of exponential gravity

We present a detailed investigation of the cosmological dynamics based on $\exp (-R/{\Lambda})$ gravity. We apply the dynamical system approach to both the vacuum and matter cases and obtain exact solutions and their stability in the finite and asymptotic regimes. The results show that cosmic histories exist which admit a double de-Sitter phase which could be useful for describing the early and the late-time accelerating universe.Comment: 17 pages LaTeX, 3 figure

Covariant and locally Lorentz-invariant varying speed of light theories

We propose definitions for covariance and local Lorentz invariance applicable when the speed of light $c$ is allowed to vary. They have the merit of retaining only those aspects of the usual definitions which are invariant under unit transformations, and which can therefore legitimately represent the outcome of an experiment. We then discuss some possibilities for invariant actions governing the dynamics of such theories. We consider first the classical action for matter fields and the effects of a changing $c$ upon quantization. We discover a peculiar form of quantum particle creation due to a varying $c$. We then study actions governing the dynamics of gravitation and the speed of light. We find the free, empty-space, no-gravity solution, to be interpreted as the counterpart of Minkowksi space-time, and highlight its similarities with Fock-Lorentz space-time. We also find flat-space string-type solutions, in which near the string core $c$ is much higher. We label them fast-tracks and compare them with gravitational wormholes. We finally discuss general features of cosmological and black hole solutions, and digress on the meaning of singularities in these theories.Comment: To be published in Physical Review