An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours quickly; however, needle insertion is still performed by hand. This system is mounted to a fully active gantry superior to the patient's head and teleoperated by a radiologist. Unlike other similar robots, this robot's fully serial-link approach uses a unique combination of belt and cable drives for high-transparency and minimal-backlash, allowing for an expansive working area and numerous approach angles to targets all while maintaining a small in-bore cross-section of less than $16cm^2$. Simulations verified the system's expansive collision free work-space and ability to hit targets across the entire chest, as required for lung cancer biopsy. Targeting error is on average $<1mm$ on a teleoperated accuracy task, illustrating the system's sufficient accuracy to perform biopsy procedures. The system is designed for lung biopsies due to the large working volume that is required for reaching peripheral lung lesions, though, with its large working volume and small in-bore cross-sectional area, the robotic system is effectively a general-purpose CT-compatible manipulation device for percutaneous procedures. Finally, with the considerable development time undertaken in designing a precise and flexible-use system and with the desire to reduce the burden of other researchers in developing algorithms for image-guided surgery, this system provides open-access, and to the best of our knowledge, is the first open-hardware image-guided biopsy robot of its kind.Comment: 8 pages, 9 figures, final submission to IROS 201

Leases and licences in Scots law: an historical-doctrinal analysis

For commercial landlords and tenants in Scotland, the common law, rather than legislation, provides most rules for the regulation of their agreement. Yet, despite its widespread practical importance, the Scottish law of landlord and tenant law is riddled with uncertainty due to being severely under-researched. This thesis sheds light for the first time on some of the most fundamental unanswered questions in the area: it evaluates which occupancy agreements can be validly created in Scots law, and how their formation requirements differ. This is important because different occupancy agreements have different implications for parties. Only leases which have become real rights provide security of tenure for tenants. However, as nominate contracts, any lease (whether it creates a real right or operates purely as a contract) contains implied terms (e.g. repairing obligations, notice requirements). Conversely, licences to occupy are easily terminable and incorporate no implied terms. If all the above types of occupancy agreement exist, it is imperative for the smooth operation of modern Scots law that the requirements for constitution of each are clearly delineated. This ensures parties know their rights and obligations from the outset. This thesis has three main parts. The first analyses what is meant by the term “lease”. Although the existence of a lease conferring a real right on the tenant is undisputed, an ongoing debate questions the survival of a purely contractual lease, alongside, and distinct from, the real right of lease. This research contributes an historical analysis, exploring for the first time the development of the lease’s cardinal elements. Through this detailed analysis, it is argued that the contract of lease does continue to exist, evidenced by stark differences in the formation requirements between the real right of lease and the contract of lease. The clarity provided by this discussion will be particularly important for tenants: contractual leases would provide access to the lease’s protective implied terms without the additional onerous requirements needed to create real rights. Only when the scope of the lease is known can the role of licence to occupy be fully understood. The licence to occupy is the focus of the second part of this thesis. Some, such as the Property Standardisation Group, doubt whether the licence exists in Scots law at all. Yet, commercial parties, drawn by the flexibility and simple termination of licences, have used them extensively (e.g. for “pop-up shops”). However, the current uncertainty means that parties risk their licences being unenforceable. My historical research identifies the introduction and extent of the acceptance of the licence in Scots Law. This is important because we cannot fully understand the law in this area without understanding its historical underpinnings, including the extent to which Scots law has been influenced by English law. Unclear formation requirements create additional problems when creating a licence. This research provides much-needed clarification of issues including the definition of exclusive possession and the role of intention as methods of distinguishing the lease from the licence. A detailed study defining these differences has never been previously attempted in Scots law. The third and final part of the thesis draws together the two previous strands. It considers the way in which the law distinguishing the real right of lease, the contract of lease and the licence to occupy could be improved. Ultimately, this research will provide an essential exposé of a practically important area of modern commercial law, recently highlighted by the Law Society of Scotland as requiring exploration and clarity. It provides a scheme which ensures parties know precisely which contract they have created and its implications

Cerebral Collateral Circulation in Carotid Artery Disease

Carotid artery disease is common and increases the risk of stroke. However, there is wide variability on the severity of clinical manifestations of carotid disease, ranging from asymptomatic to fatal stroke. The collateral circulation has been recognized as an important aspect of cerebral circulation affecting the risk of stroke as well as other features of stroke presentation, such as stroke patterns in patients with carotid artery disease. The cerebral circulation attempts to maintain constant cerebral perfusion despite changes in systemic conditions, due to its ability to autoregulate blood flow. In case that one of the major cerebral arteries is compromised by occlusive disease, the cerebral collateral circulation plays an important role in preserving cerebral perfusion through enhanced recruitment of blood flow. With the advent of techniques that allow rapid evaluation of cerebral perfusion, the collateral circulation of the brain and its effectiveness may also be evaluated, allowing for prompt assessment of patients with acute stroke due to involvement of the carotid artery, and risk stratification of patients with carotid stenosis in chronic stages. Understanding the cerebral collateral circulation provides a basis for the future development of new diagnostic tools, risk stratification, predictive models and new therapeutic modalities. In the present review we discuss basic aspects of the cerebral collateral circulation, diagnostic methods to assess collateral circulation, and implications in occlusive carotid artery disease

Operational Radiology Recovery in Academic Radiology Departments After the COVID-19 Pandemic: Moving Toward Normalcy

This article presents a current snapshot in time, describing how radiology departments around the country are planning recovery from the baseline of the coronavirus disease 2019 pandemic, with a focus on different domains of recovery such as managing appointment availability, patient safety and workflow changes, and operational data and analytics. An e-mail survey was sent through the Society of Chairs of Academic Radiology Departments list server to 114 academic radiology departments. On the basis of data reported by the 38 survey respondents, best practices and shared experience are described for three key areas: (1) planning for recovery, (2) creating a new normal, and (3) measuring and forecasting. Radiology practices should be aware of the common approaches and preparations academic radiology departments have taken to reopening imaging in the post-coronavirus disease 2019 world. This should all be done when maintaining a safe and patient-centric environment and preparing to minimize the impact of future outbreaks or pandemics

Intra-Arterial Treatment Methods in Acute Stroke Therapy

Acute revascularization is associated with improved outcomes in ischemic stroke patients. It is unclear which method of intra-arterial intervention, if any, is ideal. Promising approaches in acute stroke treatment are likely a combination of intravenous and endovascular revascularization efforts, combining early treatment initiation with direct clot manipulation and/or PTA/stenting. In this review, we will discuss available thrombolytic therapies and endovascular recanalization techniques, beginning with chemical thrombolytic agents, followed by mechanical devices, and a review of ongoing trials. Further randomized studies comparing medical therapy, intravenous and endovascular treatments are essential, and their implementation will require the wide support and enthusiasm from the neurologic, neuroradiologic, and neurosurgical stroke communities

Door‐to‐Puncture: A Practical Metric for Capturing and Enhancing System Processes Associated With Endovascular Stroke Care, Preliminary Results From the Rapid Reperfusion Registry

Background: In 2011, the Brain Attack Coalition proposed door‐to‐treatment times of 2 hours as a benchmark for patients undergoing intra‐arterial therapy (IAT). We designed the Rapid Reperfusion Registry to capture the percentage of stroke patients who meet the target and its impact on outcomes. Methods and Results: This is a retrospective analysis of anterior circulation patients treated with IAT within 9 hours of symptom onset. Data was collected from December 31, 2011 to December 31, 2012 at 2 centers and from July 1, 2012 to December 31, 2012 at 7 centers. Short “Door‐to‐Puncture” (D2P) time was hypothesized to be associated with good patient outcomes. A total of 478 patients with a mean age of 68±14 years and median National Institutes of Health Stroke Scale (NIHSS) of 18 (IQR 14 to 21) were analyzed. The median times for IAT delivery were 234 minutes (IQR 163 to 304) for “last known normal‐to‐groin puncture” time (LKN‐to‐GP) and 112 minutes (IQR 68 to 176) for D2P time. The overall good outcome rate was 39.7% for the entire cohort. In a multivariable model adjusting for age, NIHSS, hypertension, diabetes, reperfusion status, and symptomatic hemorrhage, both short LKN‐to‐GP (OR 0.996; 95% CI [0.993 to 0.998]; P<0.001) and short D2P times (OR 0.993, 95% CI [0.990 to 0.996]; P<0.001) were associated with good outcomes. Only 52% of all patients in the registry achieved the targeted D2P time of 2 hours. Conclusions: The time interval of D2P presents a clinically relevant time frame by which system processes can be targeted to streamline the delivery of IAT care nationally. At present, there is much opportunity to enhance outcomes through reducing D2P

Comprehensive analysis of epigenetic clocks reveals associations between disproportionate biological ageing and hippocampal volume

The concept of age acceleration, the difference between biological age and chronological age, is of growing interest, particularly with respect to age-related disorders, such as Alzheimer’s Disease (AD). Whilst studies have reported associations with AD risk and related phenotypes, there remains a lack of consensus on these associations. Here we aimed to comprehensively investigate the relationship between five recognised measures of age acceleration, based on DNA methylation patterns (DNAm age), and cross-sectional and longitudinal cognition and AD-related neuroimaging phenotypes (volumetric MRI and Amyloid-β PET) in the Australian Imaging, Biomarkers and Lifestyle (AIBL) and the Alzheimer’s Disease Neuroimaging Initiative (ADNI). Significant associations were observed between age acceleration using the Hannum epigenetic clock and cross-sectional hippocampal volume in AIBL and replicated in ADNI. In AIBL, several other findings were observed cross-sectionally, including a significant association between hippocampal volume and the Hannum and Phenoage epigenetic clocks. Further, significant associations were also observed between hippocampal volume and the Zhang and Phenoage epigenetic clocks within Amyloid-β positive individuals. However, these were not validated within the ADNI cohort. No associations between age acceleration and other Alzheimer’s disease-related phenotypes, including measures of cognition or brain Amyloid-β burden, were observed, and there was no association with longitudinal change in any phenotype. This study presents a link between age acceleration, as determined using DNA methylation, and hippocampal volume that was statistically significant across two highly characterised cohorts. The results presented in this study contribute to a growing literature that supports the role of epigenetic modifications in ageing and AD-related phenotypes

The genetic architecture of the human cerebral cortex

The cerebral cortex underlies our complex cognitive capabilities, yet little is known about the specific genetic loci that influence human cortical structure. To identify genetic variants that affect cortical structure, we conducted a genome-wide association meta-analysis of brain magnetic resonance imaging data from 51,665 individuals. We analyzed the surface area and average thickness of the whole cortex and 34 regions with known functional specializations. We identified 199 significant loci and found significant enrichment for loci influencing total surface area within regulatory elements that are active during prenatal cortical development, supporting the radial unit hypothesis. Loci that affect regional surface area cluster near genes in Wnt signaling pathways, which influence progenitor expansion and areal identity. Variation in cortical structure is genetically correlated with cognitive function, Parkinson's disease, insomnia, depression, neuroticism, and attention deficit hyperactivity disorder

Brain multiplexes reveal morphological connectional biomarkers fingerprinting late brain dementia states

Accurate diagnosis of mild cognitive impairment (MCI) before conversion to Alzheimer’s disease (AD) is invaluable for patient treatment. Many works showed that MCI and AD affect functional and structural connections between brain regions as well as the shape of cortical regions. However, ‘shape connections’ between brain regions are rarely investigated -e.g., how morphological attributes such as cortical thickness and sulcal depth of a specific brain region change in relation to morphological attributes in other regions. To fill this gap, we unprecedentedly design morphological brain multiplexes for late MCI/AD classification. Specifically, we use structural T1-w MRI to define morphological brain networks, each quantifying similarity in morphology between different cortical regions for a specific cortical attribute. Then, we define a brain multiplex where each intra-layer represents the morphological connectivity network of a specific cortical attribute, and each inter-layer encodes the similarity between two consecutive intra-layers. A significant performance gain is achieved when using the multiplex architecture in comparison to other conventional network analysis architectures. We also leverage this architecture to discover morphological connectional biomarkers fingerprinting the difference between late MCI and AD stages, which included the right entorhinal cortex and right caudal middle frontal gyrus