Abstract: Method, system, medium, and implementation for robot-guided instrument insertion. A preplanned path between a three-dimensional (3D) entry pose on skin of a patient to a 3D pose of a target is generated for a surgery with a target inside the patient. The preplanned path is used by a robot as guidance to insert a surgical instrument from the 3D entry pose to reach the 3D pose of the target. During the surgery, a next pose is determined based on a current pose of the surgical instrument and the preplanned path as well as spatial relationship to surrounding anatomical structures and is used to move the surgical instrument thereto. An updated current pose of the instrument is then obtained via tracking when the robot is advancing the surgical instrument to the next pose. The process repeats until the instrument reaches the target pose.

Abstract: The present teaching relates to automated trocar/robot base location determination. An input related to a surgical operation includes a three-dimensional (3D) model for an organ with cut points on the organ forming a surgical trajectory. A surgical instrument is controlled by a robot to reach the cut points to carry out the operation. An insertion location for inserting the surgical instrument is identified. Based on the identified insertion location, a robot base location is determined with respect to the identified insertion location to deploy the robot for controlling the surgical instrument to reach the cut points. Signals for configuring the surgical setting are then generated based on the insertion location for the surgical instrument and the base location for the robot.

Abstract: The present invention provides polypeptide modulators of complement activity, including cyclic polypeptide modulators. Also provided are methods of utilizing such modulators as therapeutics.

Abstract: A correction method for a scatter signal caused by a wedge filter includes: S10: performing an air scan by using CT equipment, and calculating a relative intensity Wair of a scatter signal caused by a wedge filter in the air scan according to an air scan result, S20: performing an object scan on a plurality of experimental objects by using the CT equipment, and calculating theoretical scatter signal intensities Wtheo of the experimental objects in the object scan in combination with the result of S10, S30: fitting Wtheo of the experimental objects in the object scan and scatter signal intensity estimations Wact of the experimental objects in the object scan, and S40: correcting the scan results according to a difference between a scatter signal intensity estimation Wact of an actual object in the object scan and a theoretical scatter signal intensity Wtheo of the actual object in the object scan.

Abstract: Embodiments of the disclosure include compositions and methods that stabilize a injection fluid when exposed to reservoir conditions, reducing formation damage and increasing the amount of hydrocarbon recovered. Specifically, the formulation is a single-phase liquid surfactant package which comprises a surfactant and optionally one or more secondary surfactants. Also provided are methods of using the stabilized injection fluids in stimulation operations.

Abstract: An outlet structure for an encoder includes: an encoder case, a metal ring, a fixing member, and two O-shaped rings. A first cable through-hole is disposed in the encoder case. The metal ring is disposed in the first cable through-hole to clasp a shielding layer of a cable. The fixing member includes a second cable through-hole, and the fixing member fits with interference into the first cable through-hole from an outer side of the encoder case. The first O-shaped ring fits onto the fixing member to seal a slit between the fixing member and the encoder case. The second O-shaped ring in the second cable through hole seals a slit between the fixing member and the cable, and the second O-shaped ring applies an elastic force to the metal ring such that the metal ring remains abutting against the encoder case.

Abstract: The present teaching relates to automated generation of a surgical tool-based visual guide. Two-dimensional (2D) images capturing anatomical structures and a surgical instrument therein are provided during a surgery. The type and pose of a tool attached to the surgical instrument are detected based on the 2D images. Focused information is determined based on the type and pose of the detected tool and is used to generate a visual guide to assist a user to perform a surgical task using the tool.

Abstract: The present teaching relates to automatic surgical tool based model fusion. Two-dimensional (2D) images are received, capturing a surgical instrument. A 2D location of a surgical tool attached to the instrument is detected. Specific type of focused information for is determined based on the surgical tool for assisting a surgical task using the surgical tool. 2D/3D corresponding focused regions are identified via model fusion. A visual guide is created based on the type of focused information from the 3D focused region of a 3D model for an organ and surrounding anatomical structures by projecting it onto the 2D focused region.

Abstract: Embodiments of the disclosure include compositions and methods that stabilize a injection fluid when exposed to reservoir conditions, reducing formation damage and increasing the amount of hydrocarbon recovered. Specifically, the formulation is a single-phase liquid surfactant package which comprises a non-ionic surfactant and optionally one or more secondary surfactants.

Abstract: Disclosed are techniques for performing CT beam hardening correction. The CT beam hardening correction includes scanning a phantom to obtain measured projection data of the phantom and calculating corrected projection data of a measured object according to a calculated beam hardening correction factor, measured projection data of the measured object, a corrected projection data of the measured object, and a relationship among expected projection data of a scanned object.

Abstract: Embodiments of the disclosure include compositions and methods that stabilize a injection fluid when exposed to reservoir conditions, reducing formation damage and increasing the amount of hydrocarbon recovered. Specifically, the formulation is a single-phase liquid surfactant package which comprises an anionic surfactant and optionally one or more secondary surfactants.

Abstract: The present teaching relates to automated trocar/robot base location determination. An input relates to a surgical operation with a 3D model for an organ including cut points thereon forming a surgical trajectory. A surgical instrument is controlled by a robot to reach the cut points to carry out the surgical operation. Candidate combinations of insertion location for inserting the surgical instrument and base location for deploying the robot are generated. One of the candidate combinations is identified based on evaluation vectors associated therewith. Each evaluation vector provides assessment information on characteristics and spatial relationships of the respective candidate locations. The selected combination of locations is used for the surgical operation.

Abstract: The present teaching relates to surgical position marking. A 3D model for an organ includes cut points forming a surgical trajectory. Each cut point has a 3D coordinate and a surface norm in the model space. When projected into a workspace, a mapped cut point is created with a mapped 3D coordinate and a mapped surface norm in the workspace. With a surgical instrument with a tip and a force sensor attached thereto, some mapped cut points are marked along a direction determined based on a reaction force sensed by the force sensor when the tip touches the cut point.

Abstract: The present teaching relates to automated trocar/robot base location determination. An input related to a surgical operation includes a three-dimensional (3D) model for an organ with cut points on the organ forming a surgical trajectory. A surgical instrument is controlled by a robot to reach the cut points to carry out the operation. An insertion location for inserting the surgical instrument is identified. Based on the identified insertion location, a robot base location is determined with respect to the identified insertion location to deploy the robot for controlling the surgical instrument to reach the cut points. Signals for configuring the surgical setting are then generated based on the insertion location for the surgical instrument and the base location for the robot.

Abstract: The present teaching relates to automated robot base location determination. An instrument access map is obtained with respect to a surgical instrument for performing a surgical operation on an organ and defines a surface area on the organ with cut points that form a surgery trajectory. Information about a robot and a surgical environment is received and used to generate a robot access map with multiple robot base locations. The robot is for controlling the surgical instrument to perform the surgical operation along the surgery trajectory. A robot base location is selected based on evaluation parameters derived for each of the robot base locations. Control signals are generated for configuring the robot at the selected robot base location to facilitate the surgical operation.

Abstract: The present teaching relates to method, system, medium, and implementations for region boundary identification and overlay display. An input associated with a 3D object is received. A 3D volumetric model is obtained for the 3D object with multiple regions, each of which includes multiple labeled voxels. A mesh representation is generated for the surface of the 3D object. Region boundaries on surface of the 3D object are identified based on the 3D volumetric model and the mesh representation. The 3D object is rendered, and the region boundaries are overlaid on the rendered 3D object.

Abstract: A method, system, medium, and implementations for computer-aided preoperative surgical planning are described. Input data acquired with respect to a part of a patient is received by the system. The part corresponds to an organ, e.g., lung, of the patient to be operated on and includes one or more lesions to be removed during an operation. Then, an anatomic 3D model of the part of the patient is generated. Based on the generated anatomic 3D model, a preoperative plan for linear-cutting stapler resection of the one or more lesions from the organ to be carried out during the operation is obtained. The stapler cartridge size and the staple length are estimated based on the preoperative plan. Further, the resection based on the preoperative plan is visualized.

Abstract: Various embodiments of the teachings herein include a signal cable connection device comprising: a cable with a sleeve and multiple loose wires extending out from an extremity of the sleeve; a conductive metal ring crimped at the extremity so the ring and the sleeve are fixed to each other, one end of the conductive metal ring having an outward-turned flange, and a shielding wire connected to the conductive metal ring; and a housing with a cable channel defining an outer opening located at an outer side of the housing and an inner opening located at an inner side of the housing, and a threaded hole at an edge of the inner opening. When a screw is screwed into the threaded hole, the outward-turned flange of the conductive metal ring is clamped between a head of the screw and a sidewall of the inner opening.

Abstract: The present teaching relates to method, system, medium, and implementations for fusing a 3D virtual model with a 2D image associated with an organ of a patient. A key-pose is determined as an approximate position and orientation of a medical instrument with respect to the patient's organ. Based on the key-pose, an overlay is generated on a 2D image of the patient's organ, acquired by the medical instrument, by projecting the 3D virtual model on to the 2D image. A pair of feature points includes a 2D feature point from the 2D image and a corresponding 3D feature point from the 3D virtual model. The 3D coordinate of the 3D feature point is determined based on the 2D coordinate of the 2D feature point. The depth of the 3D coordinate is on a line of sight of the 2D feature point and is determined so that the projection of the 3D virtual model from the depth creates an overlay approximately matching the organ observed in the 2D image.

Abstract: The present invention provides polypeptide modulators of complement activity, including cyclic polypeptide modulators. Also provided are methods of utilizing such modulators as therapeutics.