Few-Human-Interaction Reinforcement Learning for Autonomous Transbronchial Intervention.

The transbronchial interventional surgery presents challenges with winding and convoluted pathways, prone to compression and friction. Current autonomous planning struggles to reach deeper bronchial positions, and hard to consider multiple conflicting goals simultaneously. This article introduces an innovative planning scheme with preference weights to achieve smooth, frictionless, and collision-free autonomous transbronchial intervention with continuum robot (CR).

Cloning and expression in Escherichia coli of a new gene of Schistosoma japonicum encoding casein kinase II beta subunit.

Background: Nowadays it is now a focus topic in schistosomiasis research to find ideal vaccine candidates and new drug targets for developing anti-schistosomiasis vaccine. We cloned a new gene, casein kinase II beta subunit, of Schistosoma japonicum (S. japonicum) and express it in Escherichia coli (E.