Median Position Research Articles

Measuring Multidimensional Poverty of the Population of the Regions of Russia: A Hybrid Approach

The research paper is devoted to the measurement of poverty (and its depth) of the population of Russian regions on the basis of a hybrid approach. This approach involves both an objective assessment of the phenomenon under study (according to Rosstat data) and taking into account the subjective perception of poverty by the population. In the first case, the index method is used in combination with the method of self-organising maps by T. Kohonen and an ensemble of multilayer perseptrons of various configurations. Artificial intelligence allows not only to deepen the results of retrospective assessment of multidimensional poverty through cluster analysis, but also to realise the predictive function. In the second case, a sociological survey is conducted on the example of a certain region of Russia (the Republic of Bashkortostan). According to the results of the cluster analysis, taking into account the earlier retrospective assessment, we can conclude that there is a high degree of polarisation of Russian regions based on the actual level of ‘multidimensional poverty’. ‘Oases’ (St. Petersburg, Moscow and the Republic of Tatarstan) contrast with “centres” (the Republic of Ingushetia, the Republic of Tyva, the Karachay-Cherkess Republic and the Republic of Altai) of multidimensional poverty. At the same time, the Republic of Bashkortostan (one of the old-industrial regions with a rich mineral and raw material base) in the formed rating regularly occupied the median position among other constituent entities of the Russian Federation. The main (key) problems in the sphere of poverty for this region of Russia are specified based on the results of sociological research. Such a study also makes it possible to deepen the retrospective assessment of ‘multidimensional poverty’, since not all the necessary data for a comprehensive analysis of the phenomenon under study are generated by Rosstat on a regular basis. The results obtained in the framework of the study can be used in the actualisation of the most important direction of the state social policy of modern Russia – the fight against poverty. In the long term, the top management of the country needs to ensure a significant reduction in the poverty level of the population regardless of the territorial factor (constituent entity of the Russian Federation).

Gait planning and adjustment for a hexapod walking robot with one leg failure

ABSTRACT Gait adjusting is an effective way to solve leg failure problems and is also the foundation of intelligent self-adjustment. This paper takes a hexagonal type of robot as a prototype and proposes a ‘2-2-1’ gait grouping and gait sequence for the one leg failure case based on the ‘4 + 2’ gait. The longitudinal stability margin is used to evaluate the FLF-A and FLF-B gaits with left front leg failure and FLM-A and FLM-B gait with left middle leg failure. The foothold positions are adjusted by changing the median angle of the stance phase of the body-coxa joint in each leg in order to make sure the centre of gravity is in a stable support polygon. The experiments of the robot walking show that the FLF-A gait and the FLM-B gait are more stable than the FLF-B and FLM-A after adjustment. The pitch and roll angles are maintained within − 3° to 3°, which verify the effectiveness of the stance phase leg median position adjustment strategy. This study could be used to do forward pre-adjustment in the case of one leg failure.

The impact of predators and vegetation on shoaling in wild zebrafish.

In their natural habitats, animals experience multiple ecological factors and regulate their social responses accordingly. To unravel the impact of two ecological factors on the immediate behavioural response of groups, we conducted experiments on wild zebrafish shoals in arenas with vegetation, predator cues, and both factors simultaneously or neither (control treatments). Analysis of 297 trials revealed that while shoals formed significantly larger subgroups in the presence of predator cues, their subgroup size was comparable to control treatments when they faced predator cues and vegetation. Shoals were highly polarized in open arenas, in the absence of either ecological factors and in the presence of predator cues (with/without vegetation). The presence of vegetation alone, however, significantly reduced shoal polarization. Furthermore, food intake was significantly reduced when predator cues and/or vegetation were present. Tracking individuals revealed that (i) individuals within shoals receiving predator cues had a significantly higher probability to continue being in a group compared with control treatments and (ii) individuals occupying the front positions deviated less from their median position within a shoal as compared with other individuals regardless of predator cues. The adaptability of animals depends on behavioural responses to changing environments, making this study significant in the context of environmental changes.

An unreported variant of palmaris longus muscle.

Palmaris longus is a highly variable muscle of the forearm. Knowledge of its variability is of importance to plastic surgeons, hand surgeons and radiologists. During our routine dissection classes for undergraduate medical students, a peculiar palmaris longus muscle was noted in the left upper limb of an adult male cadaver. The muscle had a fleshy belly in the middle and two tendons: a proximal and distal. The distal tendon of palmaris longus gave origin to a variant fleshy slip of muscle which was inserted partly to the pisiform bone and partly merged with the hypothenar muscles. The ulnar nerve and artery passed deep to this variant fleshy slip. The ulnar artery was tortuous both proximal and distal to this slip. The distal loop of the ulnar artery was very superficial and was in the median position. Both the palmaris longus and the variant fleshy slip were innervated by median nerve.

Safety assessment of coronary arteries during left bundle branch area pacing.

This study aimed to assess the safety of left bundle branch area pacing (LBBAP) by measuring the distance from the tip of the electrode to the nearby coronary artery with anine-partition grid method. From January 2019 to October 2020, patients who underwent LBBAP and postoperative coronary angiography in the Second Affiliated Hospital of Nanchang University were included in the study. The patients' fluoroscopic images of LBBAP and coronary angiography were collected and analyzed. Changes in the ST‑T segment in the electrocardiogram (ECG), serum troponin, and myocardial enzyme profiles were observed before and after the LBBAP procedure. Atotal of 50patients were included in this study, of whom 46patients underwent implantation with apacemaker and 4patients received an implantable cardioverter defibrillator (ICD). The pacing electrodes were confined to the posterior-middle (PM), median (M), Posterior inferior (PI), and middle inferior (MI) positions of the two-dimensional nine-square grid or in the junction area of the above positions, and were concentrated in the rectangle formed by the line of the center points of the four positions. The average vertical distances from the electrode tip to the left anterior descending branch artery (LAD), posterior descending branches (PD) and the left posterior ventricular branches (PL) were 19.69 ± 8.72 mm, 26.09 ± 8.02 mm, and 21.11 ± 7.86 mm, respectively; the minimum was 5.28 mm, 9.51 mm, and 8.69 mm, respectively. Coronary angiography in all patients showed no significant injury to the ventricular septal branch; however, we observed elevated serum troponin and changes in ST‑T segment in ECG. The study demonstrates that pacing electrodes in LBBAP can be safely implanted over awide range. Coronary arteries are likely to be safe when the pacing electrodes are located within the rectangle formed by the line connecting the PM, M, PI, and MI zone centroids. The left bundle branch can be quickly captured and the safety of the coronary artery can be improved by locating the electrode in the posterior-mid zone. The potential risk of injury to the LAD from the electrode is greater compared with the PD.

Porezna autonomija lokalne samouprave

The paper measures the total (two-tier) local tax autonomy (cities/municipalities and counties combined) in Croatia applying the OECD methodology in terms of the definition and scope of taxes and their classification according to taxing power and autonomy. First, it follows the methodology of previous studies for Croatia, which considered only nominal taxes. This results in a relatively small share of autonomous taxes in local tax revenues. The change from a formal recording of taxes to an effective one based on the OECD definition of taxes leads to more than a doubling of local autonomous taxes. However, compared to other OECD unitary countries (countries with only the local level), Croatia still lags significantly behind the OECD average and also behind the average of EU member countries that are also OECD member countries. The weighting of different categories, despite the risk of arbitrariness, and the resulting tax autonomy index show an additional improvement of the Croatian situation. Further calculation of the tax autonomy index and, in particular, the composite indicator of tax autonomy (share of autonomous local taxes in total general government taxes), as well as the composite tax autonomy index (local tax autonomy index divided by total general government taxes), lead to a further improvement of the Croatian position. Although the country is still below the OECD average, it has improved to an almost median position. The indicators suggest that the taxing powers of local governments need to be further strengthened.

A vocal cord palsy caused by the uterine cancer metastatic tumor in the mediastinum revealed in a patient with a thyroid lesion: a case report and review of the literature

BackgroundThe main cause of vocal cord palsy (VCP) is idiopathic impairment of the recurrent laryngeal nerve (RLN). However, solid tumors along the pathway of the RLN can also impact the nerve’s function. We presented a patient with a thyroid lesion and VCP due to a bulky metastatic mass (uterine cancer) on the aortic arch field in the mediastinum. The report aims to show the significance of comorbid tumors in thyroid pathology and the importance of additional diagnostic methods in avoiding unnecessary surgeries. A patient’s lifetime and the outcome of the disease were also presented.Case presentationA 58-year-old Ukrainian woman with a hoarse voice, intermittent dry cough, and weakness was presented to an endocrine surgeon. Thyroid pathology included signs of hypothyroidism treated with Thyroxine 112.5 µg and a nodule in the left lobe. The lesion is located on the posterior aspect of the lobe, which could probably be a cause of RLN involvement. Fine needle aspiration biopsy (FNAB) was performed twice with Bethesda category 2 result. Fibrolaryngoscopy (FLS) revealed the median position of the left vocal cord. Idiopathic, laryngeal, and thyroid causes of the VCP were excluded. Additionally, the patient displayed her anamnesis of the endometrial clear cell carcinoma following hysterectomy, external beam radiation therapy, and chemotherapy. The mediastinal metastasis was revealed sixteen years later. A chest computed tomography (CT) with intravenous contrast was done. A bulky tumor was found right under the aortic arch. Subsequently, the voice complaints reduced significantly after 4 chemotherapy courses. Cancer progression had led to the appearance of lymph node metastases on the supraclavicular region. Following six months the 60-year-old patient had passed away.ConclusionA history of the disease should always be kept in mind when assessing a patient’s complaints. VCP in case of thyroid pathology and previous secondary malignancy may be caused by metastatic tumor anywhere along the RLN pathway. Such a rare case shows the importance of additional methods of examination which may avoid unnecessary thyroid surgeries.

Perceptions of policy responsiveness: the effects of egocentric and sociotropic congruence

While policy responsiveness is a central criterion for successful democratic representation, little is known about citizens’ perceptions of whether governments are responsive to citizens’ preferences. This article asks how citizens’ perceptions of policy responsiveness are affected by egocentric and sociotropic congruence, that is, how distant the government is from their own and the median citizen’s position. Studying this question with cross-national European data, it is found that citizens consistently perceive governments that are close to their own positions as more responsive. In contrast, a significant effect of sociotropic congruence emerges only for the left-right scale but not for specific policy issues. Moreover, citizens react negatively to the government being distant from the median left-right position only when they themselves are also distant from the government. Overall, these findings indicate that citizens’ perceptions of policy responsiveness crucially hinge on whether they are personally well represented by government policy.

Chromosome counts and karyotype features of different ecotypes of Allium L. species (Amaryllidaceae – Subg. Melanocrommyum) in Iran

This study aimed to investigate the karyotypes of five Allium species, which belong to three sections of the subgenus Melanocrommyum. Bulbs from these species were collected from natural habitats in Iran, and their somatic chromosomes were analysed. The results revealed that all examined members of subg. Melanocrommyum had a basic chromosome number of x=8 and were diploid (2n=2x=16). Chromosomal data for A. saralicum and A. shatakiense are reported here for the first time. The karyotypes exhibited a variety of chromosome types and sizes, including variations observed among different accessions of the same species. In particular, A. saralicum showed satellite chromosomes ranging in size from 2.2 to 3.71 µm, located on the short arm. Seven accessions of A. saralicum, A. stipitatum, and A. haemanthoides demonstrated the presence of 1-3 B chromosomes with centromeres located in the median or subterminal position. Notably, the number of B chromosomes varied even among different accessions of the same species. Based on various indices, the karyotypes of the species were classified into symmetric and asymmetric groups. All karyotype asymmetry methods consistently identified A. stipitatum as the species with the most asymmetric chromosomes, while A. ubipetrense was recognized as the most symmetric species. This study contributes to the karyological knowledge of the genus Allium and provides valuable data for future taxonomic research. It emphasizes the significance of chromosomal characteristics in understanding plant evolution and species diversity within the Allium genus.

Path tracking control of a steerable catheter in transcatheter cardiology interventions

PurposeIntracardiac transcatheter interventions allow for reducing trauma and hospitalization stays as compared to standard surgery. In the treatment of mitral regurgitation, the most widely adopted transcatheter approach consists in deploying a clip on the mitral valve leaflets by means of a catheter that is run through veins from a peripheral access to the left atrium. However, precise manipulation of the catheter from outside the body while copying with the path constraints imposed by the vessels remains challenging.MethodsWe proposed a path tracking control framework that provides adequate motion commands to the robotic steerable catheter for autonomous navigation through vascular lumens. The proposed work implements a catheter kinematic model featuring nonholonomic constraints. Relying on the real-time measurements from an electromagnetic sensor and a fiber Bragg grating sensor, a two-level feedback controller was designed to control the catheter.ResultsThe proposed method was tested in a patient-specific vessel phantom. A median position error between the center line of the vessel and the catheter tip trajectory was found to be below 2 mm, with a maximum error below 3 mm. Statistical testing confirmed that the performance of the proposed method exhibited no significant difference in both free space and the contact region.ConclusionThe preliminary in vitro studies presented in this paper showed promising accuracy in navigating the catheter within the vessel. The proposed approach enables autonomous control of a steerable catheter for transcatheter cardiology interventions without the request of calibrating the intuitive parameters or acquiring a training dataset.

Characterization of Research Mentorship During Medical School for Future Radiation Oncology Trainees

Medical student access to radiation oncology (RO) research opportunities is important for stimulating interest in the specialty. The purpose of this study was to assess the publication record during medical school of students who ultimately matched in RO, to characterize the source(s) of their RO mentorship relative to other specialties. We performed web-based searches to identify manuscripts published during medical school (defined as being published from January 2016 to December 2019) for all RO residents with postgraduate year 2 status in 2020 to 2021. Students with a PhD degree and international graduates were excluded. Characteristics of these publications, the student, and the primary mentor, were assessed. A total of 435 publications were authored by the 148 included residents. In total, 115 (78%) attended a medical school with an affiliated RO residency program. The median number of publications per student was 2 (interquartile range, 1-4), and students' median byline author position was 2 (interquartile range, 1-4). In total, 351 publications (80.7%) were on a cancer-related topic, with 234 (53.8%) published in oncology-oriented journal, and 96 (22.0%) published in RO-oriented journals. There were 294 unique mentors, with 70 mentors (24%) on 2 or more student publications. Most mentors (n = 187, 64%) shared the same institution as the student. Mentors were most commonly radiation oncologists/radiation biologists/medical physicists (n = 153, 52.6%), surgical subspecialists (n = 53, 21%), and medical oncologists (n = 18, 6.2%). Students working with primary RO mentors were more likely to publish in an oncology-oriented journal (79.1% vs 18.2%, P < .01) or RO-oriented journal (36.2% vs 2.2%, P < .01), compared with students working with non-RO mentors, respectively. A higher percentage of publications with RO mentors occurred in the last 2 years of medical school compared with the first 2 years (64.0% vs 40.9%, respectively, P < .01). Approximately one-half of student publications among future RO residents are published in nononcology journals, and result from mentoring relationships with non-RO physicians.

Bladder Cancer Detected Incidentally by Cystoscopy before Radical Prostatectomy

Radical prostatectomy is the treatment of choice for localized prostate cancer. In our institution, preoperative cystoscopy is performed routinely to clarify the prostate anatomy, including the median lobe and position of ureteral orifices. We conducted a retrospective analysis of 721 patients, from January 2008 to December 2022, our aim being to assess the clinical course of bladder cancer discovered incidentally through cystoscopy prior to radical prostatectomy. We found that bladder cancer was detected in eight of these patients (1.1%), seven of whom had low-grade, non-invasive, papillary urothelial carcinomas ; the remaining patient had a high-grade lesion. Notably, the pathological stage was Ta in all cases. The median duration of follow-up of patients with bladder cancer was initially set at 21 months (12-24 months). During the follow-up period, bladder cancer recurrence was identified in three patients. Patients who remained recurrence-free beyond the follow-up period underwent radical therapy. Importantly, no evidence of prostate cancer progression was detected throughout the follow-up period. Thus, incidental bladder cancer detected prior to radical prostatectomy is predominantly non-invasive, ensuring safe treatment of both the bladder and prostate cancers. Our findings suggest that cystoscopy could be omitted.

MaNGA AGN dwarf galaxies (MAD) – I. A new sample of AGNs in dwarf galaxies with spatially-resolved spectroscopy

ABSTRACT The finding of active galactic nuclei (AGNs) in dwarf galaxies has important implications for galaxy evolution and supermassive black hole formation models. Yet, how AGNs in dwarf galaxies form is still debated, in part due to scant demographics. We use the MaNGA survey, comprising ∼10 000 galaxies at z &amp;lt; 0.15, to identify AGN dwarf galaxies using a spaxel-by-spaxel classification in three spatially-resolved emission-line diagnostic diagrams (the [N ii]-, [S ii]-, and [O i]-BPT) and the WHAN diagram. This yields a sample of 664 AGN dwarf galaxies, the largest to date, and an AGN fraction of $\sim 20~{{\ \rm per\ cent}}$ that is significantly larger than that of single-fibre-spectroscopy studies (i.e. $\sim 1~{{\ \rm per\ cent}}$). This can be explained by the lower bolometric luminosity (&amp;lt;1042 erg s−1) and accretion rate (sub-Eddington) of the MaNGA AGN dwarf galaxies. We additionally identify 1176 SF-AGNs (classified as star-forming in the [N ii]-BPT but as AGNs in the [S ii]- and [O i]-BPT), 122 Composite, and 173 LINER sources. The offset between the optical centre of the galaxy and the median position of the AGN spaxels is more than 3 arcsec for ∼62% of the AGNs, suggesting that some could be off-nuclear. We also identify seven new broad-line AGNs with log MBH = 5.0–5.9 M⊙. Our results show how integral-field spectroscopy is a powerful tool for uncovering faint and low-accretion AGNs and better constraining the demographics of AGNs in dwarf galaxies.

Members of the class Candidatus Ordosarchaeia imply an alternative evolutionary scenario from methanogens to haloarchaea.

The origin of methanogenesis can be traced to the common ancestor of non-DPANN archaea, whereas haloarchaea (or Halobacteria) are believed to have evolved from a methanogenic ancestor through multiple evolutionary events. However, due to the accelerated evolution and compositional bias of proteins adapting to hypersaline habitats, Halobacteria exhibit substantial evolutionary divergence from methanogens, and the identification of the closest methanogen (either Methanonatronarchaeia or other taxa) to Halobacteria remains a subject of debate. Here, we obtained five metagenome-assembled genomes with high completeness from soda-saline lakes on the Ordos Plateau in Inner Mongolia, China, and we proposed the name Candidatus Ordosarchaeia for this novel class. Phylogenetic analyses revealed that Ca. Ordosarchaeia is firmly positioned near the median position between the Methanonatronarchaeia and Halobacteria-Hikarchaeia lineages. Functional predictions supported the transitional status of Ca. Ordosarchaeia with the metabolic potential of nonmethanogenic and aerobic chemoheterotrophy, as did remnants of the gene sequences of methylamine/dimethylamine/trimethylamine metabolism and coenzyme M biosynthesis. Based on the similarity of the methyl-coenzyme M reductase genes mcrBGADC in Methanonatronarchaeia with the phylogenetically distant methanogens, an alternative evolutionary scenario is proposed, in which Methanonatronarchaeia, Ca. Ordosarchaeia, Ca. Hikarchaeia, and Halobacteria share a common ancestor that initially lost mcr genes. However, certain members of Methanonatronarchaeia subsequently acquired mcr genes through horizontal gene transfer from distantly related methanogens. This hypothesis is supported by amalgamated likelihood estimation, phylogenetic analysis, and gene arrangement patterns. Altogether, Ca. Ordosarchaeia genomes clarify the sisterhood of Methanonatronarchaeia with Halobacteria and provide new insights into the evolution from methanogens to haloarchaea.

Relationship between the impacted mandibular third molar and adjacent second molar' external root resorption by cone-bean computed tomography analysis.

The relationship between the impacted mandibular third molar (IMTM) and the external root resorption (ERR) of the mandibular second molar (MSM) was analysed with cone-beam computed tomography (CBCT). The risk factors affecting the ERR of the MSM were examined to provide a reference. A total of 327 patients (total: 578 teeth) admitted to the Affiliated Hospital of Yanbian University for IMTM extraction from January 2017 to December 2019 was chosen and divided according to gender and age. The correlation between the IMTM and ERR of MSM was analysed, including inclination angle, impaction direction and depth. The relationship of mandibular ascending ramus classification with ERR of MSM was also analysed. In addition, the correlation between the MTM impaction type and the severity of ERR was analysed. The incidence of ERR of MSM in male patients was higher than in females (27.9% vs.17.6%, p = 0.018). The occurrence and the site of ERR showed statistical differences in the inclination angle [(≤20°, 3.6%) vs. (21°-40°, 27.1%) vs. (41°-60°, 27.6%) vs. (61°-80°, 25.6%) vs. (>80°, 31.7%), p <0.001], impaction direction [(Vertical, 1.1%) vs. (Mesial, 32.7%) vs. (Horizontal, 25.3%), p <0.001] and depth of MTM [(Low position, 38.6%) vs. (Median position, 32.0%) vs. (High position, 13.7%), p <0.001]. Also, there was a significant difference in the mandibular ascending ramus type [(Class I, 17.4%) vs. (Class II, 32.3%) vs. (Class III, 44.9%), p <0.001]. In addition, the severity of ERR showed statistical differences in the mesial (40.9%, p<0.05), lower impaction (54.5%, p<0.05) depth of MTM and type III of mandibular ascending ramus (63.6%, p<0.05). The inclination angle, impaction direction, and depth of MTM were the influencing factors for the occurrence and site of ERR. Also, mandibular ascending ramus type was the impact fact. For MTM with mesioangular, lower impaction, and mandibular ascending ramus with type III, the ERR of the MSM was severer.

Morphometric Assessment of Sellar Turcica: Tertiary Neurocenter study from Nepal.

Introduction: The sella turcica (ST) is a vital structure located in the median position within the middle cranial fossa and is frequently utilized in cephalometric for assessing craniofacial features. However, there is limited literature available regarding cephalometry of the ST in Nepal. Consequently, this study aimed to establish the normal dimensions of the ST in the Nepalese population and explore the potential difference in radio-morphometric measurement among sexes. Materials &amp; Methods: This study encompassed a descriptive, cross-sectional chart review conducted at the Upendra Devkota Memorial National Institute of Neurological and Allied Sciences over a three-month period. Morphometric assessment of the ST was performed using computed tomography scans. A single radiologist employed an EV Insite DICOM viewer to measure and record the length, depth, and antero-posterior diameter of the ST. Independent-Samples t-test was employed to compare the means between sexes, and a significance level of p &lt; 0.05 was considered statistically significant. Results: Among the 385 cases analyzed, 199 were male (51.8%) and 185 were female (48.2%), resulting in a male-to-female ratio of 1.07:1. The age range of the patients was 20 to 87 years, with a mean age of 44.5 ± 18.5 years. The mean dimensions of the sella turcica were determined as 9.32 mm for length, 7.07 mm for depth, and 10.29 mm for the antero-posterior diameter. Conclusions: The findings of this study indicate that the ST dimensions in the Nepalese population are relatively smaller compared to those reported in various other countries. Additionally, no statistically significant differences were observed in ST dimensions between males and females within the Nepalese population. These results emphasize the importance of considering populationspecific variations when utilizing cephalometric measurements and provide valuable reference standards for future studies and accurate assessment of craniofacial morphology in the Nepalese population.

Consolidation nations: Public attitudes, electoral institutions, and fiscal rules in the European Union

We know relatively little about democratic responsiveness on fiscal policy, an area in which both bond markets and European Union (EU) rules constrain European governments' freedom of action. Has their adoption of fiscal responsibility laws (FRLs)—a politically appealing mechanism to restrain deficit spending—in recent decades been the result of their heeding public opinion or ignoring it? Our analysis finds a mixed picture: the strengthening of FRLs generally occurred in the presence of public support for debt reduction, but this public opinion effect is stronger in countries with more majoritarian electoral systems than those with more proportional systems. And although elections induce attentiveness to public attitudes, election proximity did not have a meaningful effect on governments' responsiveness to the public's fiscal preferences. Our explanation for this finding emphasizes the durability of support for debt reduction and political parties' greater sensitivity to median voter positions in more majoritarian electoral systems. These findings deepen our understanding of both austerity politics and democratic performance in Europe, affirming a degree of responsiveness that would be tested in the event of a future debt crisis.

EEG electrode localization with 3D iPhone scanning using point-cloud electrode selection (PC-ES)

Objective. Electroencephalography source imaging (ESI) is a valuable tool in clinical evaluation for epilepsy patients but is underutilized in part due to sensitivity to anatomical modeling errors. Accurate localization of scalp electrodes is instrumental to ESI, but existing localization devices are expensive and not portable. As a result, electrode localization challenges further impede access to ESI, particularly in inpatient and intensive care settings. Approach. To address this challenge, we present a portable and affordable electrode digitization method using the 3D scanning feature in modern iPhone models. This technique combines iPhone scanning with semi-automated image processing using point-cloud electrode selection (PC-ES), a custom MATLAB desktop application. We compare iPhone electrode localization to state-of-the-art photogrammetry technology in a human study with over 6000 electrodes labeled using each method. We also characterize the performance of PC-ES with respect to head location and examine the relative impact of different algorithm parameters. Main Results. The median electrode position variation across reviewers was 1.50 mm for PC-ES scanning and 0.53 mm for photogrammetry, and the average median distance between PC-ES and photogrammetry electrodes was 3.4 mm. These metrics demonstrate comparable performance of iPhone/PC-ES scanning to currently available technology and sufficient accuracy for ESI. Significance. Low cost, portable electrode localization using iPhone scanning removes barriers to ESI in inpatient, outpatient, and remote care settings. While PC-ES has current limitations in user bias and processing time, we anticipate these will improve with software automation techniques as well as future developments in iPhone 3D scanning technology.

Development and Evaluation of a Markerless 6 DOF Pose Tracking Method for a Suture Needle from a Robotic Endoscope

Remarkable progress has been made in the field of robot-assisted surgery in recent years, particularly in the area of surgical task automation, though many challenges and opportunities still exist. Among these topics, the detection and tracking of surgical tools play a pivotal role in enabling autonomous systems to plan and execute procedures effectively. For instance, accurate estimation of a needle’s position and posture is essential for surgical systems to grasp the needle and perform suturing tasks autonomously. In this paper, we developed image-based methods for markerless 6 degrees of freedom (DOF) suture needle pose estimation using keypoint detection technique based on Deep Learning and Point-to-point Registration, we also leveraged multi-viewpoint from a robotic endoscope to enhance the accuracy. The data collection and annotation process was automated by utilizing a simulated environment, enabling us to create a dataset with 3446 evenly distributed needle samples across a suturing phantom space for training and to demonstrate more convincing and unbiased performance results. We also investigated the impact of training set size on the keypoint detection accuracy. Our implemented pipeline that takes a single RGB image achieved a median position error of 1.4 mm and a median orientation error of 2.9∘, while our multi-viewpoint method was able to further reduce the random errors.

Time-varying changes in median nerve deformation and position in response to quantified pinch and grip forces.

The ability of the median nerve (MN) to adapt in response to altered carpal tunnel conditions is important to mitigate compressive stress on the nerve. We assessed changes in MN deformation and position throughout the entire time course of hand force exertions. Fourteen right-handed participants ramped up force from 0% to 50% of maximal voluntary force (MVF) before ramping force back down in three different hand force exertion tasks (pulp pinch, chuck pinch, power grip). Pinch and grip forces were measured with a digital dynamometer, which were time synchronized with transverse carpal tunnel images obtained via ultrasound. Ultrasound images were extracted in 10% increments between 0% and 50% MVF while ramping force up (loading phase) and down (unloading phase). MN deformation and position relative to the flexor digitorum superficialis tendon of the long finger were assessed in concert. During loading, the nerve became more circular while displacing dorsally and ulnarly. These changes primarily occurred at the beginning of the hand force exertions while ramping force up from 0% to 20%, with very little change between 20% and 50% MVF. Interestingly, deformation and position changes during loading were not completely reversed during unloading while ramping force down. These findings indicate an initial reorganization of carpal tunnel structures. Mirrored changes in nerve deformation and position may also reflect strain-related characteristics of adjoining subsynovial connective tissue. Regardless, time-varying changes in nerve deformation and position appear to be an important accommodative mechanism in the healthy carpal tunnel in response to gripping and pinching tasks.