Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation

Background: Focused ultrasound surgery (FUS) is a technique that does not need invasive access to the patient while allowing precise targeted therapy. Magnetic resonance (MR) guided FUS provides capabilities for monitoring treatments. Considering that the targeted tumours are distributed at different positions, focus repositioning becomes necessary.Methods: We used an MR compatible robot to increase the operational range of FUS application. Active tracking was developed to detect the robotic arm in regards to the MR coordinate system. The purpose of this study was to construct active tracking to allow a wide spatial range of repositioning the FUS transducer that is fast and accurate. The technique was characterised and validated by a series of positioning tests to prove its efficiency for guiding the robot.Results: In the calibration range, the tracking could achieve an accuracy of RMS=0.63 mm. Results of phantom ablation showed a focal scanning precision of Δx=0.4±0.37 mm, Δy=0.4±0.28 mm and Δz=0.7±0.66 mm.Conclusions: The active tracking localisation can be considered as a feasible approach for the MR guided FUS system positioned by a robot

Metabolism within the tumor microenvironment and its implication on cancer progression: an ongoing therapeutic target

Since reprogramming energy metabolism is considered a new hallmark of cancer, tumor metabolism is again in the spotlight of cancer research. Many studies have been carried out and many possible therapies have been developed in the last years. However, tumor cells are not alone. A series of extracellular components and stromal cells, such as endothelial cells, cancer-associated fibroblasts, tumor-associated macrophages and tumor-infiltrating T cells, surround tumor cells in the so-called tumor microenvironment. Metabolic features of these cells are being studied in deep in order to find relationships between metabolism within the tumor microenvironment and tumor progression. Moreover, it cannot be forgotten that tumor growth is able to modulate host metabolism and homeostasis, so that tumor microenvironment is not the whole story. Importantly, the metabolic switch in cancer is just a consequence of the flexibility and adaptability of metabolism and should not be surprising. Treatments of cancer patients with combined therapies including anti-tumor agents with those targeting stromal cell metabolism, anti-angiogenic drugs and/or immunotherapy are being developed as promising therapeutics.Mª Carmen Ocaña is recipient of a predoctoral FPU grant from the Spanish Ministry of Education, Culture and Sport. Supported by grants BIO2014-56092-R (MINECO and FEDER), P12-CTS-1507 (Andalusian Government and FEDER) and funds from group BIO-267 (Andalusian Government). The "CIBER de Enfermedades Raras" is an initiative from the ISCIII (Spain). The funders had no role in the study design, data collection and analysis, decision to publish or preparation of the manuscript

Avalanche Statistics of Driven Granular Slides in a Miniature Mound

We examine avalanche statistics of rain- and vibration-driven granular slides in miniature sand mounds. A crossover from power-law to non power-law avalanche-size statistics is demonstrated as a generic driving rate $\nu$ is increased. For slowly-driven mounds, the tail of the avalanche-size distribution is a power-law with exponent $-1.97\pm 0.31$, reasonably close to the value previously reported for landslide volumes. The interevent occurrence times are also analyzed for slowly-driven mounds; its distribution exhibits a power-law with exponent $-2.670\pm 0.001$.Comment: 4 pages, 3 figures, 1 tabl