Hand gesture guided robot-assisted surgery based on a direct augmented reality interface

Radiofrequency (RF) ablation is a good alternative to hepatic resection for treatment of liver tumors. However, accurate needle insertion requires precise hand-eye coordination and is also affected by the difficulty of RF needle navigation. This paper proposes a cooperative surgical robot system, guided by hand gestures and supported by an augmented reality (AR)-based surgical field, for robot-assisted percutaneous treatment. It establishes a robot-assisted natural AR guidance mechanism that incorporates the advantages of the following three aspects: AR visual guidance information, surgeon's experiences and accuracy of robotic surgery. A projector-based AR environment is directly overlaid on a patient to display preoperative and intraoperative information, while a mobile surgical robot system implements specified RF needle insertion plans. Natural hand gestures are used as an intuitive and robust method to interact with both the AR system and surgical robot. The proposed system was evaluated on a mannequin model. Experimental results demonstrated that hand gesture guidance was able to effectively guide the surgical robot, and the robot-assisted implementation was found to improve the accuracy of needle insertion. This human–robot cooperative mechanism is a promising approach for precise transcutaneous ablation therapy.     

偏心钢支撑混凝土框架结构的节点加固研究

采取偏心钢支撑与混凝土框架结构之间的可靠连接,充分发挥偏心钢支撑耗能优的特点,是实现钢支撑有效加固钢筋混凝土框架的关键所在.对钢支撑与混凝土框架连接采用了U型外包钢方式,利用ABAQUS有限元软件建立模型通过对实验试件加以验证,得出结构的极限承载力、耗能破坏模式、抗侧刚度和延性系数.同时还对U型外包钢长度、底板厚度等设计参数进行了进一步分析,得到了各自对结构性能的影响规律.     

阶梯铰刀的应用

为提高孔的加工质量,将铰刀的结构改为阶梯式。通过选用合理的铰削参数,大大提高了孔的加工精度,同时简化了工艺过程,既提高了工作效率,也提高了产品质量。     

带加劲肋的复杂截面薄壁柱的试验研究

进行了带加劲肋的复杂截面管柱的一系列试验研究。测量了试件的初始几何缺陷和材料特性。加劲肋能有效增强薄壁构件的局部稳定性。将试验强度与采用北美、澳大利亚、新西兰规范中针对冷弯型钢结构的直接强度法计算的设计强度进行对比,结果表明,采用有线条法确定屈曲荷载的直接强度法非常保守。因此,采用有限元法确定弹性屈曲荷载,结果表明,采用此直接强度法计算的设计强度与试验结果吻合较好。     

婴幼儿配方乳粉及婴幼儿米粉中的蜡样芽胞杆菌流行情况、耐药性及分子特征研究

目的 了解流通环节市售婴幼儿配方乳粉和婴幼儿米粉中的蜡样芽胞杆菌流行情况、抗生素耐药性和毒力基因等分子特征。方法 采用GB 4789.14—2014《食品卫生微生物学检验 蜡样芽胞杆菌检验》对样品中的蜡样芽胞杆菌进行检测与生化鉴定。进一步通过抗生素敏感实验和全基因组测序对11株代表性分离株进行研究,获得耐药表型及耐药、毒力基因等分子特征信息。结果 婴幼儿配方乳粉和婴幼儿米粉中蜡样芽胞杆菌的检出率分别为11.97%（56/468）和20.74%（28/135）。11株代表性蜡样芽胞杆菌均为多重耐药菌株,全基因组测序结果发现11株分离株共携带8个耐药基因和14个毒力基因,其中主要携带磷霉素、β-内酰胺类抗生素抗性基因,以及肠毒素基因（hbl和nhe）,另发现1株携带ces基因簇蜡样芽胞杆菌菌株。11株分离株具有遗传多样性,11株分离株分属10个ST型。结论 婴幼儿配方乳粉和婴幼儿米粉中的蜡样芽胞杆菌检出率较低,但代表菌株的耐药谱和遗传特征具有多样性,应进一步加强监测及采取有效措施进行控制,以保障相关食品的安全性。     

High-Performance Photodetector and Angular-Dependent Random Lasing from Long-Chain Organic Diammonium Sandwiched 2D Hybrid Perovskite Non-Linear Optical Single Crystal

3D organic-inorganic metal halide perovskites are excellent materials for optoelectronic applications due to their exceptional properties, solution processability, and cost-effectiveness. However, the lack of environmental stability highly restricts them from practical applications. Herein, a stable centimeter-long 2D hybrid perovskite (N-MPDA)[PbBr₄] single crystal using divalent N1-methylpropane-1,3-diammonium (N-MPDA) cation as an organic spacer, is reported. The as-grown single crystal exhibits stable optoelectronic performance, low threshold random lasing, and multi-photon luminescence/multi-harmonic generation. A photoconductive device fabricated using (N-MPDA)[PbBr₄] single crystal exhibits an excellent photoresponsivity (≈124 AW⁻¹ at 405 nm) that is ≈4 orders of magnitudes higher than that of monovalent organic spacer-assisted 2D perovskites, such as (BA)₂PbBr₄ and (PEA)₂PbBr₄, and large specific detectivity (≈10¹² Jones). As an optical gain media, the (N-MPDA)[PbBr₄] single crystal exhibits a low threshold random lasing (≈6.5 µJ cm⁻²) with angular dependent narrow linewidth (≈0.1 nm) and high-quality factor (Q ≈ 2673). Based on these results, the outstanding optoelectronic merits of (N-MPDA)[PbBr₄] single crystal will offer a high-performance device and act as a dynamic material to construct stable future electronics and optoelectronic-based applications.     

纳米粒子的特性、应用及制备方法

叙述了纳米材料和纳米技术在社会发展及科学领域中的重要地位、研究的意义和发展的前景,扼要地介绍了纳米粒子所具有的4个基本特性表面效应、体积效应、量子尺寸效应和宏观量子隧道效应,介绍了由纳米材料在化工、轻工、功能材料以及生物医学等方面的应用现状和前景,叙述了纳米材料在科学技术发展和社会进步中所起到的重要作用。按照制备原料状态将纳米粒子的制备方法归纳为固相法、液相法和气相法3大类,并列举出大量国内外文献对各类制备方法、方法特点及应用范围作了进一步的阐述。对纳米材料在未来科学发展的憧憬进行了展望。     

N阶色散媒质的FDTD法与数字信号处理技术

提出了一种新的N阶色散媒质的时域分析方法,并将其表征为一组无限冲击响应滤波器,将色散媒质在FDTD中的表述问题转化为数字滤波器(IIR)的设计问题.改进FDTD能分析处理与频率有关的电磁场问题.为验证此方法的有效性和可靠性,用此方法计算了高斯平面波脉冲入射N阶色散媒质的情况,计算结果与解析值非常吻合.     

Optimization in thermal friction drilling for SUS 304 stainless steel

The main purpose of this research is to develop a new type of thermal friction drill made of sintered carbide. In addition, to optimize the machining process of the thermal friction drilling using Taguchi method is explored. The experiments were conducted on a 30?×?30?×?2?mm SUS 304 stainless steel plate. The effects of friction angles (FA), friction contact area ratio (FCAR), feed rate (FR), and spindle speed (SS) on the two quality characteristics, surface roughness (SR) and bushing length (BL), were also investigated. After conducting all the experimental trials, the analysis procedure followed. Firstly, the significance of the four parameters on the two quality characteristics was examined by ANOVA. Then the optimal combination levels of parameters for SR and BL were determined based on the S/N ratios. Finally, confirmation experiments were conducted to verify the experimental findings. Results showed that FA and SS were the significant machining parameters that most intensively affect SR while FCAR was the only significant parameter for BL. Specially, the SR and BL were greatly improved when used in the optimized parameters settings. More importantly, the performance of the friction drill was conducted 60 runs. The thermal friction drill demonstrated a smoother, mirror-like surface and showed less wear. This proved that thermal friction drilling provided the better machining performance and longer tool life.