Telerobotic system concept for real-time soft-tissue imaging during radiotherapy beam delivery

2010 ◽  
Vol 37 (12) ◽  
pp. 6357-6367 ◽  
Author(s):  
Jeffrey Schlosser ◽  
Kenneth Salisbury ◽  
Dimitre Hristov
Keyword(s):  
Soft Tissue ◽  
Real Time ◽  
Tissue Imaging ◽  
System Concept ◽  
Beam Delivery

WE-A-BRA-04: Real-Time Telerobotic 3D Ultrasound for Soft-Tissue Guidance Concurrent with Beam Delivery

2012 ◽  
Vol 39 (6Part25) ◽  
pp. 3934-3935
Author(s):  
D Hristov ◽  
J Schlosser ◽  
C Kirmizibayrak ◽  
V Shamdasani ◽  
K Salisbury ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Real Time ◽  
3D Ultrasound ◽  
Beam Delivery

scholarly journals SP-0632: Real-time telerobotic 3D ultrasound for soft-tissue guidance concurrent with beam delivery

2013 ◽  
Vol 106 ◽  
pp. S244
Author(s):  
D. Hristov ◽  
J. Schlosser ◽  
V. Shamdasani ◽  
K. Salisbury ◽  
S. Metz
Keyword(s):  
Soft Tissue ◽  
Real Time ◽  
3D Ultrasound ◽  
Beam Delivery

scholarly journals Real-time observation of tetrapyrrole binding to an engineered bacterial phytochrome

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Yusaku Hontani ◽  
Mikhail Baloban ◽  
Francisco Velazquez Escobar ◽  
Swetta A. Jansen ◽  
Daria M. Shcherbakova ◽  
...  
Keyword(s):  
Real Time ◽  
Rational Design ◽  
Near Infrared ◽  
Fluorescent Proteins ◽  
Covalent Bond ◽  
Binding Pocket ◽  
Tissue Imaging ◽  
Covalent Attachment ◽  
Time Resolved

AbstractNear-infrared fluorescent proteins (NIR FPs) engineered from bacterial phytochromes are widely used for structural and functional deep-tissue imaging in vivo. To fluoresce, NIR FPs covalently bind a chromophore, such as biliverdin IXa tetrapyrrole. The efficiency of biliverdin binding directly affects the fluorescence properties, rendering understanding of its molecular mechanism of major importance. miRFP proteins constitute a family of bright monomeric NIR FPs that comprise a Per-ARNT-Sim (PAS) and cGMP-specific phosphodiesterases - Adenylyl cyclases - FhlA (GAF) domain. Here, we structurally analyze biliverdin binding to miRFPs in real time using time-resolved stimulated Raman spectroscopy and quantum mechanics/molecular mechanics (QM/MM) calculations. Biliverdin undergoes isomerization, localization to its binding pocket, and pyrrolenine nitrogen protonation in <1 min, followed by hydrogen bond rearrangement in ~2 min. The covalent attachment to a cysteine in the GAF domain was detected in 4.3 min and 19 min in miRFP670 and its C20A mutant, respectively. In miRFP670, a second C–S covalent bond formation to a cysteine in the PAS domain occurred in 14 min, providing a rigid tetrapyrrole structure with high brightness. Our findings provide insights for the rational design of NIR FPs and a novel method to assess cofactor binding to light-sensitive proteins.

A study of real-time simulation of liver of virtual surgical robot based on biologically position-based dynamic model

2021 ◽  
pp. 1-16
Author(s):  
Dan Luo ◽  
Yu Zhang ◽  
Jia Li ◽  
Jisheng Li
Keyword(s):  
Soft Tissue ◽  
Real Time ◽  
Surgical Instruments ◽  
Organic Polymer ◽  
Tetrahedral Mesh ◽  
Virtual Surgery ◽  
Constraint Force ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Spring Force

Virtual surgery robot can accurately modeling of surgical instruments and human organs, and realistic simulation of various surgical phenomena such as deformation of organic tissues, surgery simulation system can provide operators with reusable virtual training and simulation environment. To meet the requirement of virtual surgery robot for the authenticity and real-time of soft tissue deformation and surgical simulation in liver surgery, a new method is proposed to simulate the deformation of soft tissue. This method combines the spring force, the external force of the system, and the constraint force produced by the constraint function of the position-based dynamics. Based on the position-based dynamics, an improved three-parameter mass-spring model is added. In the calculation of the elastic force, the nonlinearity and viscoelasticity of the soft tissue are introduced, and the joint force of the constraint projection process and the constraint force of the position-based dynamics is used to modify mass points movement. The method of position-based dynamics based on biological characteristics, not only considers the biomechanical properties of biological soft tissue as an organic polymer such as viscoelasticity, nonlinearity, and incompressibility but also retains the rapidity and stability of the position based dynamic method. Through the simulation data, the optimal side length of tetrahedral mesh in the improved three-parameter model is obtained, and the physical properties of the model are proved. The real-time simulation of the liver and other organs is completed by using the Geomagic touch force feedback device, which proves the practicability and effectiveness of this method.

Principles of bone and soft tissue imaging

Hand Clinics ◽  
2004 ◽  
Vol 20 (2) ◽  
pp. 147-166 ◽  
Author(s):  
Jeffrey J Peterson ◽  
Laura W Bancroft ◽  
Mark J Kransdorf
Keyword(s):  
Soft Tissue ◽  
Tissue Imaging
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