The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is currently often challenging or infeasible due to the presence of anatomical obstacles in the tissue, high levels of uncertainty, and natural tissue motion (e.g., due to breathing). Medical robots capable of automating needle-based procedures in vivo have the potential to overcome these challenges and enable an enhanced level of patient care and safety. In this paper, we show the first medical robot that autonomously navigates a needle inside living tissue around anatomical obstacles to an intra-tissue target. Our system leverages an aiming device and a laser-patterned highly flexible steerable needle, a type of needle capable of maneuvering along curvilinear trajectories to avoid obstacles. The autonomous robot accounts for anatomical obstacles and uncertainty in living tissue/needle interaction with replanning and control and accounts for respiratory motion by defining safe insertion time windows during the breathing cycle. We apply the system to lung biopsy, which is critical in the diagnosis of lung cancer, the leading cause of cancer-related death in the United States. We demonstrate successful performance of our system in multiple in vivo porcine studies and also demonstrate that our approach leveraging autonomous needle steering outperforms a standard manual clinical technique for lung nodule access.

通用数据模型解决了标准化电子健康记录（EHR）数据的许多挑战，但无法将其集成深度表型所需的资源。开放的生物学和生物医学本体论（OBO）铸造本体论提供了可用于生物学知识的语义计算表示，并能够整合多种生物医学数据。但是，将EHR数据映射到OBO Foundry本体论需要大量的手动策展和域专业知识。我们介绍了一个框架，用于将观察性医学成果合作伙伴关系（OMOP）标准词汇介绍给OBO铸造本体。使用此框架，我们制作了92,367条条件，8,615种药物成分和10,673个测量结果的映射。域专家验证了映射准确性，并且在24家医院进行检查时，映射覆盖了99％的条件和药物成分和68％的测量结果。最后，我们证明OMOP2OBO映射可以帮助系统地识别可能受益于基因检测的未诊断罕见病患者。

量子计算硬件的功能增加，并实现深量子电路的挑战需要完全自动化和有效的工具来编译量子电路。要以一系列与特定量子计算机体系结构有关的天然大门表达任意电路，对于使算法在量子硬件提供商的整个景观中可移植。在这项工作中，我们提出了一个能够转换和优化量子电路的编译器，针对基于穿梭的捕获离子量子处理器。它由剑桥量子计算机的量子电路框架pytket上的自定义算法组成。评估了广泛的量子电路的性能，与标准Pytket相比，与标准Qiskit汇编相比，栅极计数可以降低到3.6倍，最高为2.2，而我们获得的栅极计数与相似的栅极计数相比相比，针对AQT线性静态捕获离子地址架构的Pytket扩展。