Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field

Cancer represents a major threat to human health. Magnetic resonance imaging (MRI) provides superior performance to other imaging-based examination methods in the detection of tumors and offers distinct advantages in biopsy and seed implantation. However, because of the MRI environment, the material requirements for actuating devices for the medical robots used in MRI are incredibly demanding. This paper describes a novel double tendon-sheath transmission device for use in MRI applications. LeBus grooves are used in the original transmission wheels, thus enabling the system to realize long-distance and large-stroke transmission with improved accuracy. The friction model of the transmission system and the transmission characteristics model of the novel tendon-sheath structure are then established. To address the problem that tension sensors cannot be installed in large-stroke transmission systems, a three-point force measurement method is used to measure and set an appropriate preload in the novel tendon-sheath transmission system. Additionally, experiments are conducted to verify the accuracy of the theoretical model and multiple groups of tests are performed to explore the transmission characteristics. Finally, the novel tendon-sheath transmission system is compensated to improve its accuracy and the experimental results acquired after compensation show that the system satisfies the design requirements

The fidelity of general bosonic channels with pure state input

We first derive for the general form of the fidelity for various bosonic channels. Thereby we give the fidelity of different quantum bosonic channel, possibly with product input and entangled input respectively, as examples. The properties of the fidelity are carefully examined.Comment: 3 pages, comments welcom

Structure of liquid and glassy methanol confined in cylindrical pores

We present a neutron scattering analysis of the density and the static structure factor of confined methanol at various temperatures. Confinement is performed in the cylindrical pores of MCM-41 silicates with pore diameters D=24 angstrom and D=35 angstrom. A change of the thermal expansivity of confined methanol at low temperature is the signature of a glass transition, which occurs at higher temperature for the smallest pore. This is an evidence of a surface induced slowing down of the dynamics of the fluid. The structure factor presents a systematic evolution with the pore diameter, which has been analyzed in terms of excluded volume effects and fluid-matrix cross-correlation. Conversely to the case of Van der Waals fluids, it shows that stronger fluid-matrix correlations must be invoked most probably in relation with the H-bonding character of both methanol and silicate surface.Comment: version March 12 200

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

Assessing and Mapping Forest Landscape Quality in China

Forest landscape plays a critical role in the resource management and recreational planning of forest destinations. An assessment of forest landscape quality (FLQ) could reflect the distribution of landscape resources, hence identifying the hotpots and areas with high visual quality and protection values. The objective of this study is to propose, for the first time, a methodology for assessing FLQ at the national level. Based on China’s forestry inventory database, the paper identified landform patterns and vegetative patterns as determinants (including 12 indicators) to establish an evaluation index system, and further implemented and mapped FLQ using the ArcGIS Engine platform. Results show high mountain ranges and tropical areas in China often have a high-quality forest landscape, while low FLQ scores are found in low mountains and foothills. The distribution of the four FLQ levels indicates most forest areas are featured with mediocre- or low- quality landscape values, and the differences of FLQ among different forest types are obvious. Furthermore, there is a relatively low correlation between the total forest area and the area of high-quality forest landscape. Overall, this study could contribute to enriching the existing assessment system for FLQ and to guiding the planning, policy development, and decision-making for China’s forestry administration