Surgical Robotics: An Introduction

Surgical robots assisting surgeons during operations are being used in selected medical fields like neurosurgery, orthopaedics and endoscopy. In an introductory part, the authors present a workflow for robot assisted surgery, which includes the steps: image data acquisition, image processing, surgical planning and the actual robot assisted intraoperative transposition. Each step of the workflow comprises different computer aided methods and apparatuses, which are presented in this paper. The following part focuses on different mechanical set-ups and various application fields for surgical robots. They include neurosurgery, orthopaedic surgery, radiosurgery and radiotherapy, prostatectomy, endoscopy, laparoscopy, cardiac surgery and craniofacial surgery.     

How causal knowledge simplifies decision-making

Making decisions can be hard, but it can also be facilitated. Simple heuristics are fast and frugal but nevertheless fairly accurate decision rules that people can use to compensate for their limitations in computational capacity, time, and knowledge when they make decisions [Gigerenzer, G., Todd, P. M., & the ABC Research Group (1999). Simple Heuristics That Make Us Smart. New York: Oxford University Press.]. These heuristics are effective to the extent that they can exploit the structure of information in the environment in which they operate. Specifically, they require knowledge about the predictive value of probabilistic cues. However, it is often difficult to keep track of all the available cues in the environment and how they relate to any relevant criterion. This problem becomes even more critical if compound cues are considered. We submit that knowledge about the causal structure of the environment helps decision makers focus on a manageable subset of cues, thus effectively reducing the potential computational complexity inherent in even relatively simple decision-making tasks. We review experimental evidence that tested this hypothesis and report the results of a simulation study. We conclude that causal knowledge can act as a meta-cue for identifying highly valid cues, either individual or compound, and helps in the estimation of their validities.     

Improving metastable impact electron spectroscopy and ultraviolet photoelectron spectroscopy signals by means of a modified time-of-flight separation

The separation of ultraviolet photoelectron spectroscopy (UPS) and metastable impact electron spectroscopy (MIES) is usually performed by a time-of-flight (ToF) separation using pre-set ToF for both types of signal. In this work, we present a new, improved ex situ signal separation method for the separation of MIES and UPS for every single measurement. Signal separation issues due to changes of system parameters can be overcome by changing the ToF separation and therefore allowing for the application of a wider range of measuring conditions. The method also enables to identify and achieve separation of the two signals without any time consuming calibration and the use of any special material for the calibration. Furthermore, changes made to the discharge source are described that enable to operate an existing MIES/UPS source over a broader range of conditions. This allows for tuning of the yield of UV photons and metastable rare gas atoms leading to an improved signal to noise ratio. First results of this improved setup are well in agreement with spectra reported in literature and show increased resolution and higher signal intensities for both MIE and UP spectra compared to the previous, non-optimized setup.     

A single-solenoid pulsed-magnet system for single-crystal scattering studies

We present a pulsed-magnet system that enables x-ray single-crystal diffraction in addition to powder and spectroscopic studies with the magnetic field applied on or close to the scattering plane. The apparatus consists of a single large-bore solenoid, cooled by liquid nitrogen. A second independent closed-cycle cryostat is used for cooling samples near liquid helium temperatures. Pulsed magnetic fields close to ~30 T with a zero-to-peak-field rise time of ~2.9 ms are generated by discharging a 40 kJ capacitor bank into the magnet coil. The unique characteristic of this instrument is the preservation of maximum scattering angle (~23.6°) on the entrance and exit sides of the magnet bore by virtue of a novel double-funnel insert. This instrument will facilitate x-ray diffraction and spectroscopic studies that are impractical, if not impossible, to perform using split-pair and narrow-opening solenoid magnets. Furthermore, it offers a practical solution for preserving optical access in future higher-field pulsed magnets.     

Lieferantenportfolio-Management für IT-Services unter Berücksichtigung von Diversifikationseffekten

By means of service-oriented architectures the IT support of processes can be designed as a portfolio of individual IT services provided by different suppliers. The processes are designed based on selection decisions between IT services that potentially have to be included. Many companies formulate a multitude of requirements for investments in IT services at ever shorter intervals. However, the scope of the desired investments usually exceeds the available budget. Thus, companies face the challenge of allocating the limited budget to investments in the most promising combination of IT services. This is hardly possible without methodical support. In addition, the allocation is often done intuitively and subject to the decision-makers?? affinity with IT. Therefore, this paper develops a quantitative, multi-period procedure model for the purpose of maximizing the enterprise value in accordance with value based management, which considers the dependencies of the periodical selection decisions. In the following, a decision logic for the heuristic solution to the selection problem is presented and its application is demonstrated by means of an illustrative case example.     

Rigidly connected overlapping spherical particles: a versatile grain model

This paper describes a method to simulate the dynamics of granular systems consisting of irregularly shaped grains. This method is a simplification and partial improvement of a method that has been developed and employed earlier in simulating the toning process in electro-photographic copiers. Here, grains are modeled as rigidly connected overlapping spherical particles. For each grain a bounding sphere around the center-of-mass is known. Therefore, it can efficiently be decided whether two particles intersect and thus exert contact forces upon each other. A second order time stepping algorithm for such grains is given which needs only one evaluation of the interparticle forces in a time step. In a ten grain example system a favorable but poorly understood phenomenon of energy restoration is exemplified.U. Mutze retired from R&D for a subsidiary of Heidelberger Druckmaschinen AG, after R&D work for a subsidiary of Eastman Kodak Company.     

New approach in depositing thick, layered cubic boron nitride coatings by oxygen addition—structural and compositional analysis

Cubic boron nitride (c-BN) can be produced by PVD and PA-CVD techniques by intensive ion bombardment leading to highly stressed films limiting its use in industrial applications. Various attempts have been undertaken to reduce the compressive stress of c-BN thin films. A significant reduction in compressive stress and a substantially improved adhesion was achieved by a new coating concept consisting of a two-step adhesion-promoting base layer, a compositional-graded nucleation layer obtained by a stepwise decrease of the oxygen content in the Ar/N₂/O₂ atmosphere and a low-stressed c-BN:O top layer with controlled oxygen addition. The four-layer c-BN:O film with a thickness of 3 μm was deposited by unbalanced radio frequency magnetron sputtering of a hot-pressed hexagonal boron nitride target on silicon substrates. The adhesion layer was deposited in a mixed Ar/O₂ atmosphere of 0.26 Pa with a stepwise increased nitrogen gas flow and a subsequent increase of the ion energy by increasing the substrate bias from 0 to − 250 V. The c-BN nucleation was gradually initiated by decreasing the O₂ gas flow. The present study was focused on the investigation of the morphology, the microstructure on the nanoscale, and the bonding structure using scanning electron microscopy (SEM), Fourier-Transmission infra-red spectroscopy (FTIR), high-resolution transmission electron microscopy (HRTEM) and electron energy loss spectroscopy (EELS) employing analytical scanning transmission electron microscopy (ASTEM). The HRTEM images revealed a four-layer coating consisting of a gradual nucleation of t-BN, on which a gradual nucleation of c-BN was achieved by decreasing the oxygen gas flow.     

Biblio service

Shapiro’s most recent finance textbook represents an introductory overview of the capital budgeting problem, i.e. the selection and management of real investments. The book combines a general treatment of basic valuation techniques with capital budgeting principles. It heavily draws on the author’s other publications, in particular Multinational Financial Management, for many years the standard reference for the international dimension of corporate finance.