Background: Deep brain stimulation (DBS) trajectory planning is mostly based on standard 3-D T1-weighted gadolinium-enhanced MRI sequences (T1-Gd). Susceptibility-weighted MRI sequences (SWI) show neurovascular structures without the use of contrast agents. The aim of this study was to investigate whether SWI might be useful in DBS trajectory planning.
Methods: We performed bilateral DBS planning using conventional T1-Gd images of 10 patients with different kinds of movement disorders. Afterwards, we matched SWI sequences and compared the visibility of vascular structures in both imaging modalities.
Results: By analyzing 100 possible trajectories, we found a potential vascular conflict in 13 trajectories based on T1-Gd in contrast to 53 in SWI. Remarkably, all vessels visible in T1-Gd were also depicted in SWI, whereas SWI showed many additional vascular structures which could not be identified in T1-Gd.
Conclusion/discussion: The sensitivity for detecting neurovascular structures for DBS planning seems to be significantly higher in SWI. As SWI does not require a contrast agent, we suggest that SWI may be a valuable alternative to T1-Gd MRI for DBS trajectory planning. Furthermore, the data analysis suggests that vascular interactions of DBS trajectories might be more frequent than expected from the very low incidence of symptomatic bleedings. The explanation for this is currently the subject of debate and merits further studies.
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http://dx.doi.org/10.1159/000433445 | DOI Listing |
Anesthesiology
January 2025
Department of Anesthesiology, Perioperative and Pain Medicine, Stanford University School of Medicine, Stanford, CA.
Background: Longitudinal Milestones data reported to the Accreditation Council for Graduate Medical Education (ACGME) provide a structured framework for assessing the developmental progression of residents in key competencies and subcompetencies. This study aims to investigate the previously underexplored longitudinal reliability of Milestones data, with the goal of identifying patterns in learning trajectories that can inform targeted interventions for residents and programs.
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Sensors (Basel)
January 2025
National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081, China.
With advancements in autonomous driving technology, the coupling of spatial paths and temporal speeds in complex scenarios becomes increasingly significant. Traditional sequential decoupling methods for trajectory planning are no longer sufficient, emphasizing the need for spatio-temporal joint trajectory planning. The Constrained Iterative LQR (CILQR), based on the Iterative LQR (ILQR) method, shows obvious potential but faces challenges in computational efficiency and scenario adaptability.
View Article and Find Full Text PDFSensors (Basel)
January 2025
Department of Product & Systems Design Engineering, University of the Aegean, 84100 Syros, Greece.
This paper addresses the complex problem of multi-goal robot navigation, framed as an NP-hard traveling salesman problem (TSP), in environments with both static and dynamic obstacles. The proposed approach integrates a novel path planning algorithm based on the Bump-Surface concept to optimize the shortest collision-free path among static obstacles, while a Genetic Algorithm (GA) is employed to determine the optimal sequence of goal points. To manage static or dynamic obstacles, two fuzzy controllers are developed: one for real-time path tracking and another for dynamic obstacle avoidance.
View Article and Find Full Text PDFSensors (Basel)
January 2025
Department of Automation, Tsinghua University, Beijing 100084, China.
Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot.
View Article and Find Full Text PDFJ Clin Med
January 2025
Department of Neurosurgery, University Medical Centre Maribor, 2000 Maribor, Slovenia.
Stereotactic biopsy of posterior fossa lesions, which are often inoperable, enables a safe trajectory and provides tissue samples for accurate diagnosis, which is crucial for correct treatment since the latest World Health Organization Classification of Tumors of the Central Nervous System from 2021 places immense emphasis on molecular diagnostics. Stereotactic biopsy using the Leksell Vantage headframe is, due to its rigid design, extremely accurate, but stiffer, making the procedure more challenging and the learning curve steeper. This retrospective analysis demonstrates the introduction of the new Leksell Vantage headframe in day-to-day practice at the University Medical Center in Maribor, Slovenia, in demanding procedures of posterior fossa biopsies, and also provides a review of the literature available on the topic with emphasis on the technical aspect of posterior fossa biopsy using the Leksell Vantage headframe in adults.
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