Fast and adaptive fractal tree-based path planning for programmable bevel tip steerable needles

© 2016 IEEE. Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgical scenarios, a real-time path planning algorithm with high update frequency would be advantageous. Real-time path planning for nonholonomic systems is commonly used in a broad variety of fields, ranging from aerospace to submarine navigation. In this letter, we propose to take advantage of the architecture of graphics processing units (GPUs) to apply fractal theory and thus parallelize real-time path planning computation. This novel approach, termed adaptive fractal trees (AFT), allows for the creation of a database of paths covering the entire domain, which are dense, invariant, procedurally produced, adaptable in size, and present a recursive structure. The generated cache of paths can in turn be analyzed in parallel to determine the most suitable path in a fraction of a second. The ability to cope with nonholonomic constraints, as well as constraints in the space of states of any complexity or number, is intrinsic to the AFT approach, rendering it highly versatile. Three-dimensional (3-D) simulations applied to needle steering in neurosurgery show that our approach can successfully compute paths in real-time, enabling complex brain navigation

Task-based approach for students of third year of Primary Education

En este libro se presenta una propuesta didáctica para la enseñanza de la lengua extranjera-inglés mediante un enfoque basado en tareas en el segundo ciclo de Educación Primaria

Task-based syllabus in second language teaching

En este libro se presenta una programación con 8 unidades didácticas, basadas y construidas desde un enfoque task-based en la enseñanza de la lengua extranjera (inglés) para el primer ciclo de Educación Primaria

English syllabus for students of 3rd year of Primary Education

The book deals with all the general elements that must be considered when designing a syllabus including the legal framework, the teaching context and a justification of the design. It includes the general and specific objectives, basic competences, contents, methodology, evaluation, attention to diversity, the fourteen didactic units, as well as a comprehensive bibliography and a final conclusion

Augmented-reality within computer assisted orthopaedic surgery workflows: a proof of concept study

The integration of augmented-reality (AR) in medical robotics has been shown to reduce cognitive burden and improve information management in the typically cluttered environment of computer-assisted surgery. A key benefit of such systems is the ability to generate a composite view of medical-informatics and the real environment, streamlining the pathway for delivering patient-specific data. Consequently, AR was integrated within an orthopaedic setting by designing a system that captured and replicated the user- interface of a commercially available surgical robot onto a commercial head mounted see through display. Thus, a clinician could simultaneously view the operating-site and real- time informatics when carrying out an assisted patellofemoral-arthroplasty (PFA). The system was tested with 10 surgeons to examine its usability and impact on procedure- completion times when conducting simulated PFA on sawbone models. A statistically insignificant mean increase in procedure completion-time (+23.7s, p=0.240) was found, and the results of a post-operative qualitative-evaluation indicated a strongly positive consensus on the system, with a large majority of subjects agreeing the system provided value to the procedure without incurring noticeable physical discomfort. Overall, this study provides an encouraging insight into the high levels of engagement AR has with a clinical audience as well as its ability to enhance future generations of medical robotics

A long short-term memory network for vessel reconstruction based on laser doppler flowmetry via a steerable needle

Hemorrhage is one risk of percutaneous intervention in the brain that can be life-threatening. Steerable needles can avoid blood vessels thanks to their ability to follow curvilinear paths, although knowledge of vessel pose is required. To achieve this, we present the deployment of laser Doppler flowmetry (LDF) sensors as an in-situ vessel detection method for steerable needles. Since the perfusion value from an LDF system does not provide positional information directly, we propose the use of a machine learning technique based on a Long Short-term Memory (LSTM) network to perform vessel reconstruction online. Firstly, the LSTM is used to predict the diameter and position of an approaching vessel based on successive measurements of a single LDF probe. Secondly, a "no-go" area is predicted based on the measurement from four LDF probes embedded within a steerable needle, which accounts for the full vessel pose. The network was trained using simulation data and tested on experimental data, with 75 % diameter prediction accuracy and 0.27 mm positional Root Mean Square (RMS) Error for the single probe network, and 77 % vessel volume overlap for the 4-probe setup

Towards a systematic design of isotropic bulk magnetic metamaterials using the cubic point groups of symmetry

In this paper a systematic approach to the design of bulk isotropic magnetic metamaterials is presented. The role of the symmetries of both the constitutive element and the lattice are analyzed. For this purpose it is assumed that the metamaterial is composed by cubic SRR resonators, arranged in a cubic lattice. The minimum symmetries needed to ensure an isotropic behavior are analyzed, and some particular configurations are proposed. Besides, an equivalent circuit model is proposed for the considered cubic SRR resonators. Experiments are carried out in order to validate the proposed theory. We hope that this analysis will pave the way to the design of bulk metamaterials with strong isotropic magnetic response, including negative permeability and left-handed metamaterials.Comment: Submitted to Physical Review B, 23 page