Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy

In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments.     

柔性针穿刺路径规划综述

针对斜尖柔性针穿刺路径规划问题,全面、系统地总结了路径规划的研究现状.根据柔性针穿刺路径的特点,将路径分为5种形式,并定义了名称.将路径规划研究按照路径维数、路径形式、规划方向和规划算法进行分类,并分别给出定义.详细总结了4种规划算法的实现及其特点,并提出了路径规划当前存在的问题和未来的发展趋势.     

超声引导下肝细胞癌穿刺组织中Ezrin表达的临床意义

探讨Ezrin表达及超声引导下穿刺活检对肝细胞癌（HCC）的应用价值,实验方法如下：36例经超声引导下穿刺所得的HCC组织作肝穿癌组;45例手术切除的HCC组织作手术癌组,同时取12个癌旁肝组织作癌旁组;用免疫组化方法检测两组标本的Ezrin蛋白表达,并与临床病理学参数做统计学分析。得出结果：肝穿癌组Ezrin阳性表达率为80．6％,手术癌组为86．7％,差异无统计学意义（P=0．459）;手术癌组与肝穿癌组的Ezrin表达均高于癌旁组织（P值分别为0．003和0．024）;手术癌组Ezrin的表达与肿块大小、有无癌栓、分化程度密切相关（P均〈0．05）;肝穿癌组Ezfin的表达与肿块大小、有无门脉癌栓密切相关（P均〈0．05）,且随着TMN分期增加有增高趋势,但无统计学意义（P=0．155）。结论：HCC组织中Ezrin基因的表达对HCC诊断、治疗及判断预后具有指导意义,超声引导下HCC穿刺活检组织中Ezrin基因的表达与HCC手术切除标本中Ezrin基因表达意义相近。     

埋地煤气管道局部腐蚀原因分析

为了延缓埋地煤气管道的腐蚀速度,延长管道使用寿命,分析了埋地碳钢煤气管道通常所受的腐蚀,主要是受化学腐蚀和电化学腐蚀.管道外壁的防腐保护层被破坏,又使外壁腐蚀速度加快,造成穿孔.提出了几点防护措施.     

一种删余卷积编解码的RTL实现

提出了一种应用于基于退役通讯卫星的浮标定位信息回传通讯系统的删余卷积编解码方案.给出了RTL代码的功能仿真结果和性能分析,并且已经成功应用于实际系统.该方案利用对存储器的乒乓读写来完成路径和节点权重的更新,大大降低了硬件资源的占用,同时还巧妙的使用了帧尾,降低了设计复杂度.     

盘形悬式玻璃绝缘子空气中冲击击穿试验分析和对策

基于盘型悬式玻璃绝缘子在经受空气中冲击击穿试验和实际在线路上运行时所表现的特性,分析了玻璃绝缘子在抽样试验中经受冲击击穿试验时有损坏的原因,并对绝缘子在制造工艺和国标(GB/T 20642-2006)中可能存在的问题提出了商榷意见。指出稳定绝缘子在制造过程中的管理水平、正确选择较大尺寸产品的试验电压和在标准范围内尽可能缩短冲击的波前时间,是可采取的有效对策。     

Randomized clinical trial of local anesthetic versus a combination of local anesthetic with self-hypnosis in the management of pediatric procedure-related pain.

A prospective controlled trial was conducted to compare the efficacy of an analgesic cream (eutectic mixture of local anesthetics, or EMLA) with a combination of EMLA with hypnosis in the relief of lumbar puncture-induced pain and anxiety in 45 pediatric cancer patients (age 6-16 years). The study also explored whether young patients can be taught and can use hypnosis independently as well as whether the therapeutic benefit depends on hypnotizability. Patients were randomized to 1 of 3 groups: local anesthetic, local anesthetic plus hypnosis, and local anesthetic plus attention. Results confirmed that patients in the local anesthetic plus hypnosis group reported less anticipatory anxiety and less procedure-related pain and anxiety and that they were rated as demonstrating less behavioral distress during the procedure. The level of hypnotizability was significantly associated with the magnitude of treatment benefit, and this benefit was maintained when patients used hypnosis independently. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Postharvest Ozone Treatment of Cucumber as a Method for Prolonging the Suitability of the Fruit for Processing

Ground cucumber, as a nutrient, is a product highly valued by consumers in both fresh and processed form. The aim of the research was to develop a technology for extending the shelf life of ground cucumbers stored at room temperature before further processing. For this purpose, ozone treatment was utilized and the changes in the mesocarp and the peel puncture strength of the ozonated and the control cucumbers during storage were measured. Ozonation extended the shelf life of ground cucumber fruit making them useful for longer time for further processing.     

线圈长度对针织物顶破和穿刺性能的影响

文章研究了纬平针和双面集圈组织的顶破强力和准静态抗穿刺性能。实验结果显示:顶破强力和穿刺力均随着针织物线圈长度的减小而增大,两者有显著的线性相关;织物组织结构的差异影响织物的顶破和穿刺性能。