Navigation

摘要： A brain-computer interface (BCI) facilitates bypassing the peripheral nervous system and directly communicating with surrounding devices. Navigation technology using BCI has developed-from exploring the prototype paradigm in the virtual environment (VE) to accurately completing the locomotion intention of the operator in the form of a powered wheelchair or mobile robot in a real environment. This paper summarizes BCI navigation applications that have been used in both real and VEs in the past 20 years. Horizontal comparisons were conducted between various paradigms applied to BCI and their unique signal-processing methods. Owing to the shift in the control mode from synchronous to asynchronous, the development trend of navigation applications in the VE was also reviewed. The contrast between high level commands and low-level commands is introduced as the main line to review the two major applications of BCI navigation in real environments: mobile robots and unmanned aerial vehicles (UAVs). Finally, applications of BCI navigation to scenarios outside the laboratory;research challenges, including human factors in navigation application interaction design;and the feasibility of hybrid BCI for BCI navigation are discussed in detail.

摘要： Any seafarer or mariner that uses the sea knows that navigation without correct charts is impossible and hazardous because nautical charts are the most essential and indispensable tools for vessels to sail safely at sea.For vessels to safely sail at sea,the seas and the oceans ought to be charted and this falls within the domain of hydrography.However,the seas cannot be charted effectively in the absence of the deployment of human resources and adequate tools like satellite and aerial imagery,survey boats and other equipment that will facilitate the hydrographic operations.The acquisition of data and information about the sea depths,nature of sea bed,waterways,navigational hazards and navigational objects among others,basically falls within the sphere of hydrography which is primarily known as survey at sea.The paper offers a review of geospatial technologies in hydrographic practice for enhanced safety of navigation at sea.The review is important to both the mariners,shipping industry and the government in order to explore the potentials provided by Geographic Information System,Remote Sensing,cloud GIS,big data GIS and Global Positioning System to enhance the practice of hydrography.The data and materials used for the review were obtained from literature in the internet and other published works.The paper looked at hydrography as a profession,roles of geospatial technologies in hydrographic practice,benefits of hydrography to national development and finally,the weaknesses of geospatial technologies in hydrographic practice were equally examined.

摘要： BACKGROUND Most complex renal stones are managed primarily with percutaneous nephrolithotomy(PCNL).However,PCNL is still a great challenge for surgeons because of poor comprehension on complex adjacent structures.Novel techniques are required to assist in planning and navigation.AIM To apply and evaluate the Hisense computer-assisted surgery(CAS)system in PCNL.METHODS A total of 60 patients with complex renal stones were included.Thirty patients in the CAS group had three-dimensional(3 D)virtual models constructed with the CAS system.The model assisted in planning and navigating in the CAS system.Thirty patients in the control group planned and navigated as standard PCNL,without the application of the CAS system.Success rate of one attempt,operation time,initial stone-free rate,decrease in hemoglobin,and complications were collected and analyzed.RESULTS There were no statistically significant differences in the baseline characteristics or planning characteristics.The success rate of one puncturing attempt(90%vs 67%,P=0.028)and the initial stone-free rate(87%vs 63%,P=0.037)were significantly higher in the CAS group.However,there were no statistically significant differences in the operation time(89.20±29.60 min vs 92.33±33.08 min,P=0.859)or in the decrease in hemoglobin(11.07±8.32 g/L vs 9.03±11.72 g/L,P=0.300)between the CAS group and the control group.No statistically significant differences in the incidence of complications(Clavien-Dindo grade≥2)were found.CONCLUSION Compared with standard PCNL,CAS-assisted PCNL had advantages in terms of the puncturing success rate and stone-free rate.The Hisense CAS System was recommended to assist in preoperative planning and intraoperative navigation for an intuitive,precise and convenient PCNL.

摘要： The development of intelligent algorithms for controlling autonomous mobile robots in real-time activities has increased dramatically in recent years.However,conventional intelligent algorithms currently fail to accurately predict unexpected obstacles involved in tour paths and thereby suffer from inefficient tour trajectories.The present study addresses these issues by proposing a potential field integrated pruned adaptive resonance theory(PPART)neural network for effectively managing the touring process of autonomous mobile robots in real-time.The proposed system is implemented using the AlphaBot platform,and the performance of the system is evaluated according to the obstacle prediction accuracy,path detection accuracy,time-lapse,tour length,and the overall accuracy of the system.The proposed system provide a very high obstacle prediction accuracy of 99.61%.Accordingly,the proposed tour planning design effectively predicts unexpected obstacles in the environment and thereby increases the overall efficiency of tour navigation.

摘要： Ivane S. Beritashvili’s doctrine of image-driven behavior was established in the late 1920s and finally extended in his books in English (1965;1971). It bears a strong resemblance to the concepts of purposive behavior and “cognitive maps” developed in parallel by Edward C. Tolman (1932;1948) and significantly anticipated respective modern concepts. John O’Keefe and his disciples May-Britt Moser and Edvard I. Moser received the Nobel Prize in 2014 for their discoveries of cells that constitute a navigation system in the brain. The latter fact brings us to the pioneers of the study of the spatial orientation of animals that figuratively speaking, provided the giant’s shoulders on which O’Keefe and the Mosers stood to receive their award. Beritashvili and Tolman upheld the holistic and goal-directed nature of spatial behavior. A major contribution of Beritashvili to the science of animal behavior was the demonstration of the universality of learning following a single presentation of an object vitally important to the animal: either a food object or a noxious signal. Beritashvili showed that such “image-driven” behavior has a strong spatial component, i.e., the image is projected into a definite point in space. Thus, he came to maintain that there is a class of behavior that is image-driven that does not require a repetition of associations. Tolman made several significant contributions to the field of experimental psychology. He thought of learning as developing from bits of knowledge and cognitions about the environment and how the organism relates to it. He examined the role that reinforcement plays in the way that rats learn their way through complex mazes. These experiments eventually led to the theory of latent learning which describes learning that occurs in the absence of an obvious reward. Tolman also strongly advocated the theory that rats learn the place where they have been rewarded rather than the particular movements required to get there. To a great extent, Tolman’s work determined the direction of American psychology in the 1930s-1950s. The contribution of Beritashvili and Tolman, thus, is the groundwork of modern studies of spatial cognitive processes in human and nonhuman animals.

摘要： A precise knowledge of intra-parenchymal vascular and biliary architecture and the location of lesions in relation to the complex anatomy is indispensable to perform liver surgery.Therefore,virtual three-dimensional(3D)-reconstruction models from computed tomography/magnetic resonance imaging scans of the liver might be helpful for visualization.Augmented reality,mixed reality and 3Dnavigation could transfer such 3D-image data directly into the operation theater to support the surgeon.This review examines the literature about the clinical and intraoperative use of these image guidance techniques in liver surgery and provides the reader with the opportunity to learn about these techniques.Augmented reality and mixed reality have been shown to be feasible for the use in open and minimally invasive liver surgery.3D-navigation facilitated targeting of intraparenchymal lesions.The existing data is limited to small cohorts and description about technical details e.g.,accordance between the virtual 3D-model and the real liver anatomy.Randomized controlled trials regarding clinical data or oncological outcome are not available.Up to now there is no intraoperative application of artificial intelligence in liver surgery.The usability of all these sophisticated image guidance tools has still not reached the grade of immersion which would be necessary for a widespread use in the daily surgical routine.Although there are many challenges,augmented reality,mixed reality,3Dnavigation and artificial intelligence are emerging fields in hepato-biliary surgery.

摘要： Endoscopic submucosal dissection(ESD)represents an organ-preserving alternative to surgical resection of early gastric cancer.However,even with ESD yielding en-bloc resection specimens,there are concerns regarding tumor spread such as with larger lesions,ulcerated lesions,undifferentiated pathology and submucosal invasion.Sentinel node navigational surgery(SNNS)when combined with ESD offers a minimally invasive alternative to the traditional extended gastrectomy and lymphadenectomy if lack of lymph node spread can be confirmed.This would have a clear advantage in terms of potential complications and quality of life.However,SNNS,though useful in other malignancies such as breast cancer and melanoma,may not have a sufficient sensitivity for malignancy and negative predictive value in EGC to justify this as standard practice after ESD.The results of SNNS may improve with greater standardization and more involved dissection,technological innovations and more experience and validation such that the paradigm for post-ESD resection of EGC may change and include SNNS.

摘要： Globally,cancer care delivery is marked by inequalities,where some economic,demographic,and sociocultural groups have worse outcomes than others.In this review,we sought to identify patient-facing interventions designed to reduce disparities in cancer care in both high-and low-income countries.We found two broad categories of interventions that have been studied in the current literature:Patient navigation and telehealth.Navigation has the strongest evidence base for reducing disparities,primarily in cancer screening.Improved outcomes with navigation interventions have been seen in both high-and low-income countries.Telehealth interventions remain an active area of exploration,primarily in high income countries,with the best evidence being for the remote delivery of palliative care.Ongoing research is needed to identify the most efficacious,costeffective,and scalable interventions to reduce barriers to the receipt of cancer care globally.