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.     

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.     

Ultrasound-guided cutaneous nerve chemo-ablation for severe access site neuropathic pain—A case report

Neuropathic pain at the cannulation site is challenging, both for the patient and the dialysis team. We present a case of a middle-aged man on chronic hemodialysis, who developed excruciating pain at the cannulation area without incident, limiting his dialysis sessions. Multidisciplinary collaboration allowed identification of the cutaneous nerve—the inferior lateral cutaneous nerve of the arm, relaying his pain. Subsequent ultrasound-guided phenol chemoablation resulted in the complete resolution of his pain and allowed continued use of the well-functioning fistula for dialysis.     

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。     

基于力流等效的环形网顶破力学行为解析方法

该文提出了一种基于力流等效的环形网片解析计算方法,用于防护系统环形网拦截单元的顶破力学行为解析。考虑钢丝圈数影响,采用液压作动器控制的球冠形顶头对柔性钢丝网片进行位移加载,开展了8种规格共24张环形网片试件的拟静态顶破试验,明确了环形网片在顶破作用下的力-位移关系。根据试验结果,开展了力流分析,发现环形网片顶破极限状态的承载力主要受若干径向分布的环链影响,据此将力流路径上的环链等效为直线纤维,构建了基于力流等效的网片分析模型。采用Python程序求解获得模型的力与位移解,经与试验结果对比分析,验证了该方法的可靠性,同时,该模型可以揭示网片承载的薄弱区分布特征,并能反映网片顶破极限状态下的径向环链受拉特征。