3D Dynamic Motion Planning for Robot-Assisted Cannula Flexible Needle Insertion into Soft Tissue

In robot-assisted needle-based medical procedures, insertion motion planning is a crucial aspect. 3D dynamic motion planning for a cannula flexible needle is challenging with regard to the nonholonomic motion of the needle tip, the presence of anatomic obstacles or sensitive organs in the needle path, as well as uncertainties due to the dynamic environment caused by the movements and deformations of the organs. The kinematics of the cannula flexible needle is calculated in this paper. Based on a rapid and robust static motion planning algorithm, referred to as greedy heuristic and reachability-guided rapidly-exploring random trees, a 3D dynamic motion planner is developed by using replanning. Aiming at the large detour problem, the convergence problem and the accuracy problem that replanning encounters, three novel strategies are proposed and integrated into the conventional replanning algorithm. Comparisons are made between algorithms with and without the strategies to verify their validity. Simulations showed that the proposed algorithm can overcome the above-noted problems to realize real-time replanning in a 3D dynamic environment, which is appropriate for intraoperative planning. © 2016 Author

Muti-Scale And Token Mergence: Make Your ViT More Efficient

Since its inception, Vision Transformer (ViT) has emerged as a prevalent model in the computer vision domain. Nonetheless, the multi-head self-attention (MHSA) mechanism in ViT is computationally expensive due to its calculation of relationships among all tokens. Although some techniques mitigate computational overhead by discarding tokens, this also results in the loss of potential information from those tokens. To tackle these issues, we propose a novel token pruning method that retains information from non-crucial tokens by merging them with more crucial tokens, thereby mitigating the impact of pruning on model performance. Crucial and non-crucial tokens are identified by their importance scores and merged based on similarity scores. Furthermore, multi-scale features are exploited to represent images, which are fused prior to token pruning to produce richer feature representations. Importantly, our method can be seamlessly integrated with various ViTs, enhancing their adaptability. Experimental evidence substantiates the efficacy of our approach in reducing the influence of token pruning on model performance. For instance, on the ImageNet dataset, it achieves a remarkable 33% reduction in computational costs while only incurring a 0.1% decrease in accuracy on DeiT-S

When greediness and self-confidence meet in a social dilemma

A greedy personality is usually accompanied by arrogance and confidence. This work investigates the cooperation success condition in the context of biased payoff allocation and self-confidence. The first component allows the organizer in a spatial public goods game to receive a different proportion of goods than other participants. The second aspect influences the micro-level dynamics of strategy updates, wherein players can maintain their strategy with a certain weight. Analytical results are obtained on square lattices under the weak selection limit. If the organizer attempts to monopolize the public goods, cooperation becomes more attainable. If the confidence increases, cooperation is inhibited. Consequently, these elements have conflicting effects on cooperation, and their simultaneous presence can result in a heterogeneous change of the critical synergy factor. Our theoretical findings underscore the subtle implications of a mutual trait that may manifest as greediness or self-confidence under different circumstances, which are validated through Monte Carlo simulations.Comment: 15 pages, 7 figures, accepted for publication in Physica

The conflict between self-interaction and updating passivity in the evolution of cooperation

In social dilemmas under weak selection, the capacity for a player to exhibit updating passivity or interact with its own strategy can lead to conflicting outcomes. The central question is which effect is stronger and how their simultaneous presence influences the evolution of cooperation. We introduce a model that considers both effects using different weight factors. We derive theoretical solutions for the conditions of cooperation success and the cooperation level under weak selection, scanning the complete parameter space. When the weight factors are equally strong, the promoting effect of self-interaction to cooperation surpasses the inhibitory effect of updating passivity. Intriguingly, however, we identify non-monotonous cooperation-supporting effects when the weight of updating passivity increases more rapidly. Our findings are corroborated by Monte Carlo simulations and demonstrate robustness across various game types, including the prisoner's dilemma, stag-hunt, and snowdrift games.Comment: 17 two-column pages, 7 figures, accepted for publication in Chaos, Solitons and Fractal