High order entropy stable schemes for the quasi-one-dimensional shallow water and compressible Euler equations

High order schemes are known to be unstable in the presence of shock discontinuities or under-resolved solution features for nonlinear conservation laws. Entropy stable schemes address this instability by ensuring that physically relevant solutions satisfy a semi-discrete entropy inequality independently of discretization parameters. This work extends high order entropy stable schemes to the quasi-1D shallow water equations and the quasi-1D compressible Euler equations, which model one-dimensional flows through channels or nozzles with varying width. We introduce new non-symmetric entropy conservative finite volume fluxes for both sets of quasi-1D equations, as well as a generalization of the entropy conservation condition to non-symmetric fluxes. When combined with an entropy stable interface flux, the resulting schemes are high order accurate, conservative, and semi-discretely entropy stable. For the quasi-1D shallow water equations, the resulting schemes are also well-balanced

Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction

Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-based surgical systems due to the use of monocular endoscopy. In this paper, we present a novel framework that combines robot kinematics and monocular endoscope images with deep unsupervised learning into a single network for metric depth estimation and then achieve 3D reconstruction of complex anatomy. Specifically, we first obtain the relative depth maps of surgical scenes by leveraging a brightness-aware monocular depth estimation method. Then, the corresponding endoscope poses are computed based on non-linear optimization of geometric and photometric reprojection residuals. Afterwards, we develop a Depth-driven Sliding Optimization (DDSO) algorithm to extract the scaling coefficient from kinematics and calculated poses offline. By coupling the metric scale and relative depth data, we form a robust ensemble that represents the metric and consistent depth. Next, we treat the ensemble as supervisory labels to train a metric depth estimation network for surgeries (i.e., MetricDepthS-Net) that distills the embeddings from the robot kinematics, endoscopic videos, and poses. With accurate metric depth estimation, we utilize a dense visual reconstruction method to recover the 3D structure of the whole surgical site. We have extensively evaluated the proposed framework on public SCARED and achieved comparable performance with stereo-based depth estimation methods. Our results demonstrate the feasibility of the proposed approach to recover the metric depth and 3D structure with monocular inputs

Stereo Dense Scene Reconstruction and Accurate Localization for Learning-Based Navigation of Laparoscope in Minimally Invasive Surgery

Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a challenge, and the online laparoscopic tracking primarily relies on external sensors, which increases system complexity. Methods: Here, we propose a learning-driven framework, in which an image-guided laparoscopic localization with 3D reconstructions of complex anatomical structures is obtained. To reconstruct the 3D structure of the whole surgical environment, we first fine-tune a learning-based stereoscopic depth perception method, which is robust to the texture-less and variant soft tissues, for depth estimation. Then, we develop a dense visual reconstruction algorithm to represent the scene by surfels, estimate the laparoscope poses and fuse the depth maps into a unified reference coordinate for tissue reconstruction. To estimate poses of new laparoscope views, we achieve a coarse-to-fine localization method, which incorporates our reconstructed 3D model. Results: We evaluate the reconstruction method and the localization module on three datasets, namely, the stereo correspondence and reconstruction of endoscopic data (SCARED), the ex-vivo phantom and tissue data collected with Universal Robot (UR) and Karl Storz Laparoscope, and the in-vivo DaVinci robotic surgery dataset, where the reconstructed 3D structures have rich details of surface texture with an accuracy error under 1.71 mm and the localization module can accurately track the laparoscope with only images as input. Conclusions: Experimental results demonstrate the superior performance of the proposed method in 3D anatomy reconstruction and laparoscopic localization. Significance: The proposed framework can be potentially extended to the current surgical navigation system

Baseline elevated Lp-PLA2 is associated with increased risk for re-stenosis after stent placement

BACKGROUND: Lipoprotein associated phospholipase A2 (Lp-PLA2) is a novel biomarker for cardiovascular risk prediction. Whether increased Lp-PLA2 level is associated with re-stenosis after stent-placement is unclear. METHODS: Totally 326 participants eligible for stent-placement were enrolled and divided into two groups according to baseline Lp-PLA2 levels (named normal and elevated groups). Baseline characteristics and clinical outcomes were compared between normal and elevated groups. The relationships between Lp-PLA2 and other risk factors with re-stenosis were evaluated. RESULTS: Only the between-group difference of Lp-PLA2 was significant (123.2 ± 33.6 ng/mL vs 336.8 ± 85.4 ng/mL, P < 0.001) while other demographic and clinical characteristics between these two groups were comparable. Approximately 55.1% and 58.5% of participants in normal and elevated groups presented with acute coronary syndrome, and the percentage of tri-vessels stenoses was significantly higher in elevated group (40.8% vs 32.1%, P = 0.016). Nearly 96.0% and 94.0% of participants in normal and elevated Lp-PLA2 groups were placed with drug-eluting stents, and the others were with bare-metal stents. After 1 year’s follow-up, the incidence of clinical end-points was comparable (13.3% vs 15.4%, P = 0.172). Nevertheless, the incidence of re-stenosis was marginally higher in elevated Lp-PLA2 group (8.5% versus 4.6%, P = 0.047). With multivariate analysis, after adjustment for other risk factors, Lp-PLA2 remained an independent predictor for re-stenosis with a hazard ratio of 1.140. No synergistic effect between Lp-PLA2 and other risk factors for re-stenosis was found. CONCLUSION: Increased Lp-PLA2 level is associated with an increased risk of re-stenosis. Lp-PLA2 assessment may be useful in predicting subjects who are at increased risk for re-stenosis

Expression and purification of soluble single-chain Fv against human fibroblast growth factor receptor 3 fused with Sumo tag in Escherichia coli

Background: Overexpression or mutated activation of Fibroblast growth factor receptor 3 (FGFR3) is involved in the pathogenesis of many tumors. More and more studies focus on the potential usage of therapeutic antibodies against FGFR3. Results: In this study, a novel single-chain Fv (ScFv) against FGFR3 was prepared and characterized. To achieve the soluble expression, ScFv was fused with Sumo (Small ubiquitin-related modifier) by polymerase chain reaction (PCR), and cloned into pET-20b. The recombinant bacteria were induced by 0.5 mM Isopropyl-\u3b2-D-thiogalactopyranoside (IPTG) for 16 h at 20\ub0C, and the supernatant liquid of Sumo-ScFv was harvested and purified by Ni-NTA chromatography. After being cleaved by the Sumo protease, the recombinant ScFv was released from the fusion protein, and further purified by Ni-NTA chromatography. The purity of ScFv was shown to be higher than 95% and their yield reached 4 mg per liter of bacterial culture. In vitro data showed that ScFv can significantly attenuate FGF9-induced phosphorylation of FGFR3. Conclusion: We provide a novel method to produce soluble expression and bioactive functions of ScFv in Escherichia coli

The Serine/Threonine-Protein Phosphatase 1 From Haemonchus contortus Is Actively Involved in Suppressive Regulatory Roles on Immune Functions of Goat Peripheral Blood Mononuclear Cells

Serine/threonine-protein phosphatases (STPs), as integral constituents of parasitic excretory/secretory proteins, are assumed to be released during the host–parasite interactions. However, knowledge about these phosphatases and their immunoregulatory and immune protective efficiencies with host peripheral blood mononuclear cells (PBMCs) is scant. In this study, an open reading frame of STP from Haemonchus contortus designated as HcSTP-1 was amplified and cloned using reverse-transcription-polymerase chain reaction (RT-PCR) method. The 951-bp nucleotides sequence was encoded to a protein of 316 amino acid residues, conserved in characteristics motifs GDXHG, GDYVDRG, GNHE, HGG, RG, and H. The HcSTP-1 protein was detected at approximately 35 kDa as recombinant protein fused in an expression vector system and resolved on sodium dodecyl sulfate-polyacrylamide gel electrophoresis. Immunohistochemically, HcSTP-1 was found to be localized in both male and female adult worm sections. Using immunofluorescence assay, the binding activity of rHcSTP-1 was confirmed on surface of goat PBMCs, which resulted in expression of multiple cytokines and various immunoregulatory activities in vitro. The RT-PCR results showed that mRNA level of interleukin-2, TGF-β1, IFN-γ, and IL-17 (with 10 µg/ml) was upregulated and IL-10 was decreased. However, IL-6 showed no change after PBMCs incubated with rHcSTP-1 protein. Further functional analysis showed that migratory activity of cells, intracellular nitrite production (NO), and apoptotic efficiency of PBMCs were elevated at significant level, whereas the proliferation of goat PBMCs and monocytes-associated major histocompatibility complex (MHC)-I and MHC-II expressions were decreased significantly at concentration-dependent fashion. Our results showed that the HcSTP-1 protein engaged in vital suppressive regulatory roles on host immune cells, which might represent a potential molecular target for controlling H. contortus infection in future