Preoperative Motion Planner for Steerable Needles Using Cost Map Based on Repulsive Field and Empirical Model of Needle Deflection

Needle insertion is a common procedure in percutaneous puncture. A motion planner for a steerable needle that considers the risk level of the path in anatomical environment and the actual deflection of clinical needle is necessary. A novel preoperative motion planner for a steerable needle controlled by robot is proposed. Our method utilizes sampling-based planner to compute candidate path in the reachable region, the path solutions are optimized by calculating the cost of a path based on a cost map. The cost-map, which is built based on repulsive field theory from CT image, encodes the information of the obstacle locations and the criticality of the anatomical environment. The empirical formula that can predict needle trajectory is obtained by insertion experiments. Experiments shown that positioning error in gelatin phantom under the guidance of our planner is less than 1.1mm. Comparing with the straight-line insertion method, the positioning error was reduced by 80%. The results indicate that the motion planner has the potential to provide effective guidance for robot-assisted puncture surgery while enhancing the position precision and patient safety.

Partial Eruption, Confinement, and Twist Buildup and Release of a Double-decker Filament

We investigate the failed partial eruption of a filament system in NOAA AR 12104 on 2014 July 5, using multiwavelength EUV, magnetogram, and Hα observations, as well as magnetic field modeling. The filament system consists of two almost co-spatial segments with different end points, both resembling a C shape. Following an ejection and a precursor flare related to flux cancellation, only the upper segment rises and then displays a prominent twisted structure, while rolling over toward its footpoints. The lower segment remains undisturbed, indicating that the system possesses a double-decker structure. The erupted segment ends up with a reverse-C shape, with material draining toward its footpoints, while losing its twist. Using the flux rope insertion method, we construct a model of the source region that qualitatively reproduces key elements of the observed evolution. At the eruption onset, the model consists of a flux rope atop a flux bundle with negligible twist, which is consistent with the observational interpretation that the filament possesses a double-decker structure. The flux rope reaches the critical height of the torus instability during its initial relaxation, while the lower flux bundle remains in stable equilibrium. The eruption terminates when the flux rope reaches a dome-shaped quasi-separatrix layer that is reminiscent of a magnetic fan surface, although no magnetic null is found. The flux rope is destroyed by reconnection with the confining overlying flux above the dome, transferring its twist in the process.

Modified Seldinger technique for neonatal epicutaneo-caval catheter insertion: A non-randomised retrospective study

Background: Epicutaneo-Caval Catheters (ECCs) are critical for good neonatal care. No previous studies have evaluated which insertion method provides the highest likelihood of success. Methods: This study aimed to compare the success rates and cost of modified Seldinger technique (MST) and split needle technique (SNT). MST was introduced to St Michael’s Neonatal Unit, SNT was already in use. Routinely documented data on ECC insertion was retrospectively collected from the clinical notes. Practitioners were able to use their preferred insertion method. A sub-group analysis of success rates in patients born at ⩾35-weeks GA was performed. Results: There was a significantly higher first pass (53% vs 26%; p = 0.014) and overall (72% vs 40%; p = 0.0046) successful ECC insertion rate with fewer venipunctures per successful ECC with MST (2.5 vs 6.5; p = 0.002). Logrank test demonstrated a significantly higher successful ECC insertion with MST for patients of all GA ( p = 0.003) and for neonates born at ⩾35 weeks ( p = 0.015). The cost per successful MST ECC was £156.41 versus £152.51 for SNT. Conclusion: In this uncontrolled retrospective study, there was a higher chance of successful ECC insertion with MST, with a reduced number of venipunctures and similar costs per successful ECC. Further work in randomised studies is needed to verify this finding and should focus on other clinical outcomes, including rates in central line associated blood stream infections.

Least Significant Bit (LSB) Modification Analysis With Alternate Insertion Message Technique On Image Media

One aspect of success in data communication is security. Data security can be done by using steganography. Steganography is a way to hide messages in the media in such a way that other people do not realize there is a message in the media. Many of the algorithms used in steganography one of which is the Least Significant Bit. In this research, the authors modify Least Significant Bit algorithms with Alternate Insertion method. Modification is doing of embedding and extracting messages process by changing the RGB values ??at each pixel of image data with confidential file by inserting message alternately and insertionly until the all message inserted. This steganography applications have input password that is used as the key of a message can't be opened in addition to the addressee so that the data will be kept confidential. The parameters used to measure the performance of the Least Significant Bit and Alternate Insertion are using runtime program and analysist algorithms of Big . The message insertion applications built by using C# (C Sharp) programming language. From the results of research that extracting process messages work faster than the embedding process. More larger of image in used it will be spend longer time to process the inserting message. Time complexity of algorithms (Big ) embedding and extracting processes obtained in testing the system is T (n) = (xy). From the results of research that extracting process messages work faster than the embedding process. More larger of image in used it will be spend longer time to process the inserting message. Time complexity of algorithms (Big ) embedding and extracting processes obtained in testing the system is T (n) = (xy). From the results of research that extracting process messages work faster than the embedding process. More larger of image in used it will be spend longer time to process the inserting message. Time complexity of algorithms (Big ) embedding and extracting processes obtained in testing the system is T (n) = (xy).

A novel method for producing functionalized vesicles that efficiently deliver oligonucleotides in vitro and in vivo in mice

Nano-based delivery systems have greatly enhanced our ability to administer and target drugs and macromolecules to their therapeutic targets. Oligonucleotide drugs have great therapeutic potential but have off-target effects and stability issues, so they are often encapsulated in functionalized vesicles with targeting ligands such as antibodies (Ab). Herein, we describe a novel, scalable and straightforward approach to produce functionalized vesicles called the “Functionalized Lipid Insertion Method.” This method differs significantly from an older approach referred to as the “Detergent-Dialysis Method.” The older method requires excess detergent and extensive dialysis over many hours to produce the functionalized vesicles. With the “Functionalized Lipid Insertion Method,” only the functionalized lipid is detergent-solubilized during the formation of the functionalized vesicle. The approach reduces the dialysis time, keeps the vesicle intact, and orients the functionalized lipid to improve targeting compared to the older method. The dynamic light scattering (DLS) technique demonstrated that vesicle size is sensitive to the initial detergent-solubilized component mixture by the older method. In contrast, functionalized vesicle size increases are consistent with functionalized lipid insertion into the vesicle. In vitro, functionalized vesicles using our approach are able to deliver oligonucleotides selectively and can functionally affect liver cancer HepG2 cells. Functionalized vesicles produced by this method can also achieve targeted delivery of oligonucleotides in mice without inducing a significant immune response through cytokine production or showing physical signs of an immune response. The industrial and therapeutic significance and implications of functionalized vesicles produced by our method are also discussed.

Covalent functionalization of polypropylene filters with diazirine–photosensitizer conjugates producing visible light driven virus inactivating materials

The SARS-CoV-2 pandemic has highlighted the weaknesses of relying on single-use mask and respirator personal protective equipment (PPE) and the global supply chain that supports this market. There have been no major innovations in filter technology for PPE in the past two decades. Non-woven textiles used for filtering PPE are single-use products in the healthcare environment; use and protection is focused on preventing infection from airborne or aerosolized pathogens such as Influenza A virus or SARS-CoV-2. Recently, C–H bond activation under mild and controllable conditions was reported for crosslinking commodity aliphatic polymers such as polyethylene and polypropylene. Significantly, these are the same types of polymers used in PPE filtration systems. In this report, we take advantage of this C–H insertion method to covalently attach a photosensitizing zinc-porphyrin to the surface of a melt-blow non-woven textile filter material. With the photosensitizer covalently attached to the surface of the textile, illumination with visible light was expected to produce oxidizing 1O2/ROS at the surface of the material that would result in pathogen inactivation. The filter was tested for its ability to inactivate Influenza A virus, an enveloped RNA virus similar to SARS-CoV-2, over a period of four hours with illumination of high intensity visible light. The photosensitizer-functionalized polypropylene filter inactivated our model virus by 99.99% in comparison to a control.

Penentuan Rute Transportasi Kendaraan Umum Kota Medan Dengan Menggunakan Nearest Neighbor Method Dan Closed Insertion Method

ABSTRACT The purpose of this research to arrange the route of the Medan public transportation system into a graph and find the closest route using a graph. The data used are data on travel routes and travel times public transportation for Terminal Pinang Baris to Terminal Amplas. The results obtained are Medan City Public Transport system namely KPUM 64, RMC 120 and U-MORINA 138 can be represented in graph with terminal as a vertex and the walk to connecting each terminal as edge. The calculation results using the nearest neighbor method and closed insertion method can produce different routes between KPUM 48, RMC 120 and U-MORINA 138 which have been operating now. Determining the shortest route by considering the shortest distance does not get jammed. Keywords: Public Transportation, Routing Graph, Nearest Neighbor Method, Closed Insertion Method.