Intraoperative laparoscopic photoacoustic image guidance system in the da Vinci surgical system.

This paper describes a framework allowing intraoperative photoacoustic (PA) imaging integrated into minimally invasive surgical systems. PA is an emerging imaging modality that combines the high penetration of ultrasound (US) imaging with high optical contrast. With PA imaging, a surgical robot can provide intraoperative neurovascular guidance to the operating physician, alerting them of the presence of vital substrate anatomy invisible to the naked eye, preventing complications such as hemorrhage and paralysis. Our proposed framework is designed to work with the da Vinci surgical system: real-time PA images produced by the framework are superimposed on the endoscopic video feed with an augmented reality overlay, thus enabling intuitive three-dimensional localization of critical anatomy. To evaluate the accuracy of the proposed framework, we first conducted experimental studies in a phantom with known geometry, which revealed a volumetric reconstruction error of 1.20 ± 0.71 mm. We also conducted an ex vivo study by embedding blood-filled tubes into chicken breast, demonstrating the successful real-time PA-augmented vessel visualization onto the endoscopic view. These results suggest that the proposed framework could provide anatomical and functional feedback to surgeons and it has the potential to be incorporated into robot-assisted minimally invasive surgical procedures.

Stacking transfer of wafer-scale graphene-based van der Waals superlattices.

High-quality graphene-based van der Waals superlattices are crucial for investigating physical properties and developing functional devices. However, achieving homogeneous wafer-scale graphene-based superlattices with controlled twist angles is challenging. Here, we present a flat-to-flat transfer method for fabricating wafer-scale graphene and graphene-based superlattices. The aqueous solution between graphene and substrate is removed by a two-step spinning-assisted dehydration procedure with the optimal wetting angle. Proton-assisted treatment is further used to clean graphene surfaces and interfaces, which also decouples graphene and neutralizes the doping levels. Twist angles between different layers are accurately controlled by adjusting the macroscopic stacking angle through their wafer flats. Transferred films exhibit minimal defects, homogeneous morphology, and uniform electrical properties over wafer scale. Even at room temperature, robust quantum Hall effects are observed in graphene films with centimetre-scale linewidth. Our stacking transfer method can facilitate the fabrication of graphene-based van der Waals superlattices and accelerate functional device applications.

High temperatures and urban entrepreneurship levels: Evidence from China.

This paper performed as a frontier try to investigate the effect of high temperatures on entrepreneurship, assessed from an urban perspective. This paper estimated the impact of high temperatures on urban entrepreneurship levels using data from 281 prefecture cities in China, during the period 2000-2017. This paper found that a single day with a temperature of above 30 °C led to a decrease of 0.47 % in urban entrepreneurship levels, compared with a single day recording comfortable temperatures. Following a series of robustness tests, the results were found to be significant. Next, this paper conducted a series of heterogeneity analyses and discovered that cities with advanced industrial structures, larger sizes and more essential hierarchies were less affected by high temperatures. Finally, this paper further analyzed the potential influence mechanisms of high temperatures on entrepreneurship. This paper found that high temperature affects urban entrepreneurship levels by worsening the entrepreneurial environment, especially by reducing human capital, hindering innovation, decreasing the financial support available to enterprises, and hindering economic development. The results of our study have thus enriched the literature on entrepreneurship by exploring the impact of climate change on entrepreneurship.

A sEMG Proportional Control for the Gripper of Patient Side Manipulator in da Vinci Surgical System.

There is a large community of people with hand disabilities, and these disabilities can be a barrier to those looking to retain or pursue surgical careers. With the development of surgical robotics technologies, it may be possible to develop user interfaces to accommodate these individuals. This paper proposes a hand-free control method for the gripper of a patient side manipulator (PSM) in the da Vinci surgical system. Using electromyography (EMG) signals, a proportional control method was tested on its ability to grasp a pressure sensor. These preliminary results demonstrate that the user can reliably control the grasping motion of the da Vinci PSM using this system. There is a strong correlation between grasping force and normalized EMG signal (r= 0.874). Moreover, the gripper can generate a step grasping force output when feeding in a generated step signal. The results in this paper demonstrate the system integration of a research EMG system with the da Vinci surgical system and are a step towards developing accessible teleoperation systems for surgeons with disabilities. Hand-free control for remaining degrees of freedom in the PSM is under development using additional input from the motion capture system.

A-SEE: Active-Sensing End-effector Enabled Probe Self-Normal-Positioning for Robotic Ultrasound Imaging Applications.

Conventional manual ultrasound (US) imaging is a physically demanding procedure for sonographers. A robotic US system (RUSS) has the potential to overcome this limitation by automating and standardizing the imaging procedure. It also extends ultrasound accessibility in resource-limited environments with the shortage of human operators by enabling remote diagnosis. During imaging, keeping the US probe normal to the skin surface largely benefits the US image quality. However, an autonomous, real-time, low-cost method to align the probe towards the direction orthogonal to the skin surface without pre-operative information is absent in RUSS. We propose a novel end-effector design to achieve self-normal-positioning of the US probe. The end-effector embeds four laser distance sensors to estimate the desired rotation towards the normal direction. We then integrate the proposed end-effector with a RUSS system which allows the probe to be automatically and dynamically kept to normal direction during US imaging. We evaluated the normal positioning accuracy and the US image quality using a flat surface phantom, an upper torso mannequin, and a lung ultrasound phantom. Results show that the normal positioning accuracy is 4.17 ± 2.24 degrees on the flat surface and 14.67 ± 8.46 degrees on the mannequin. The quality of the RUSS collected US images from the lung ultrasound phantom was equivalent to that of the manually collected ones.

New evidence confirming the CD genomic constitutions of the tetraploid Avena species in the section Pachycarpa Baum.

The tetraploid Avena species in the section Pachycarpa Baum, including A. insularis, A. maroccana, and A. murphyi, are thought to be involved in the evolution of hexaploid oats; however, their genome designations are still being debated. Repetitive DNA sequences play an important role in genome structuring and evolution, so understanding the chromosomal organization and distribution of these sequences in Avena species could provide valuable information concerning genome evolution in this genus. In this study, the chromosomal organizations and distributions of six repetitive DNA sequences (including three SSR motifs (TTC, AAC, CAG), one 5S rRNA gene fragment, and two oat A and C genome specific repeats) were investigated using non-denaturing fluorescence in situ hybridization (ND-FISH) in the three tetraploid species mentioned above and in two hexaploid oat species. Preferential distribution of the SSRs in centromeric regions was seen in the A and D genomes, whereas few signals were detected in the C genomes. Some intergenomic translocations were observed in the tetraploids; such translocations were also detected between the C and D genomes in the hexaploids. These results provide robust evidence for the presence of the D genome in all three tetraploids, strongly suggesting that the genomic constitution of these species is DC and not AC, as had been thought previously.