A sensory-guided surgical micro-drill

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2010 The Authors.This article describes a surgical robotic device that is able to discriminate tissue interfaces and other controlling parameters ahead of the drill tip. The advantage in such a surgery is that the tissues at the interfaces can be preserved. A smart tool detects ahead of the tool point and is able to control the interaction with respect to the flexing tissue, to avoid penetration or to control the extent of protrusion with respect to the position of the tissue. For surgical procedures, where precision is required, the tool offers significant benefit. To interpret the drilling conditions and the conditions leading up to breakthrough at a tissue interface, a sensing scheme is used that discriminates between the variety of conditions posed in the drilling environment. The result is a fully autonomous system, which is able to respond to the tissue type, behaviour, and deflection in real-time. The system is also robust in terms of disturbances encountered in the operating theatre. The device is pragmatic. It is intuitive to use, efficient to set up, and uses standard drill bits. The micro-drill, which has been used to prepare cochleostomies in the theatre, was used to remove the bone tissue leaving the endosteal membrane intact. This has enabled the preservation of sterility and the drilling debris to be removed prior to the insertion of the electrode. It is expected that this technique will promote the preservation of hearing and reduce the possibility of complications. The article describes the device (including simulated drill progress and hardware set-up) and the stages leading up to its use in the theatre.Queen Elizabeth Hospital, Birmingham, U

Reduction of mm-Regular Noncrossing Partitions

In this paper, we present a reduction algorithm which transforms $m$-regular partitions of $[n]=\{1, 2, ..., n\}$ to $(m-1)$-regular partitions of $[n-1]$. We show that this algorithm preserves the noncrossing property. This yields a simple explanation of an identity due to Simion-Ullman and Klazar in connection with enumeration problems on noncrossing partitions and RNA secondary structures. For ordinary noncrossing partitions, the reduction algorithm leads to a representation of noncrossing partitions in terms of independent arcs and loops, as well as an identity of Simion and Ullman which expresses the Narayana numbers in terms of the Catalan numbers

Uniqueness of Nash equilibria in quantum Cournot duopoly game

A quantum Cournot game of which classical form game has multiple Nash equilibria is examined. Although the classical equilibria fail to be Pareto optimal, the quantum equilibrium exhibits the following two properties, (i) if the measurement of entanglement between strategic variables chosen by the competing firms is sufficiently large, the multiplicity of equilibria vanishes, and, (ii) the more strongly the strategic variables are entangled, the more closely the unique equilibrium approaches to the optimal one.Comment: 7 pages, 2 figure

Rotating system for four-dimensional transverse rms-emittance measurements

Knowledge of the transverse four-dimensional beam rms-parameters is essential for applications that involve lattice elements that couple the two transverse degrees of freedom (planes). Of special interest is the removal of inter-plane correlations to reduce the projected emittances. A dedicated ROtating System for Emittance measurements (ROSE) has been proposed, developed, and successfully commissioned to fully determine the four-dimensional beam matrix. This device has been used at the High Charge injector (HLI) at GSI using a beam line which is composed of a skew quadrupole triplet, a normal quadrupole doublet, and ROSE. Mathematical algorithms, measurements, and results for ion beams of 83Kr13+ at 1.4 MeV/u are reported in this paper.Comment: 11 pages, 10 figure

Feasibility study of a hand guided robotic drill for cochleostomy

The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design