目的:探讨库柏特(Cobot)自动扫查超声机器人在甲状腺检查中的影像获取能力与应用可行性。方法:回顾并纳入在2024年8月—2024年12月于复旦大学附属中山医院厦门医院进行甲状腺检查的患者。患者先后采用人工超声和自动超声机器人进行甲状...目的:探讨库柏特(Cobot)自动扫查超声机器人在甲状腺检查中的影像获取能力与应用可行性。方法:回顾并纳入在2024年8月—2024年12月于复旦大学附属中山医院厦门医院进行甲状腺检查的患者。患者先后采用人工超声和自动超声机器人进行甲状腺扫查,比较两种扫查方式的甲状腺径线测量值和甲状腺最大结节的长径测量值、检查耗时、影像质量评分、诊断结果一致性,以及对患者针对机器人检查进行问卷调查。采用SPSS 31.0软件进行统计学分析;符合正态分布的计量资料采用配对t检验,非正态资料采用Wilcoxon符号秩检验;采用组内相关系数与Kappa系数评估一致性;双侧检验以P<0.05为差异有统计学意义。结果:共36例患者均安全顺利地完成两组检查,人工扫查组和自动机器人扫查组的甲状腺径线测量值及甲状腺最大结节的长径测量值一致性高(组内相关系数为0.74~0.99);在检查耗时方面,机器人组均显著长于人工组[(222.6±58.9)s vs(123.3±66.8)s,P<0.05];在影像评分方面,机器人组略低于人工组(4.6±0.7 vs 4.9±0.4),差异有统计学意义(P=0.001);在影像诊断方面,人工组与机器人组甲状腺结节诊断和分类高度一致(Kappa值0.90~1.00);问卷调查显示患者对机器人检查接受度高。结论:库柏特(Cobot)自动扫查超声机器人具有良好的安全性和较高的患者接受度。在甲状腺超声扫查方面,与人工扫查相比,虽然自动机器人的扫查耗时较长,图像质量评分略低于人工组,但其图像评分均较高,且在甲状腺腺体测量、病灶测量及诊断效能方面与人工扫查具有较高一致性。该机器人系统在减轻医师负担和标准化甲状腺筛查方面展现出高度的临床可行性和良好的应用前景。展开更多
Four types of volcanic rock samples,i.e.breccia,andesite,tuff,and dacite,selected from the Carboniferous in the Junggar Basin were characterized through experiments such as X-ray diffraction(XRD),scanning electron mic...Four types of volcanic rock samples,i.e.breccia,andesite,tuff,and dacite,selected from the Carboniferous in the Junggar Basin were characterized through experiments such as X-ray diffraction(XRD),scanning electron microscopy(SEM)and nuclear magnetic resonance(NMR)for identifying the acid imbibition and ion diffusion behaviors during fracture acidizing in volcanic rock reservoirs.The results demonstrate that the invaded acid dissolves the minerals and alters the pore structure in the reservoir.Volcanic rocks of different lithologies exhibit substantial variations in their acidification and dissolution effects.Breccia and andesite,which contain abundant calcite and other soluble minerals,show markedly improved pore connectivity after acidizing.In addition,pronounced differences are observed between the acid-induced dissolution responses of oil-rich and water-rich pores within volcanic rocks.In water-rich pores,acid-induced dissolution is dominated by H^(+)diffusion,whereas in oil-rich pores,imbibition-driven dissolution is the primary mechanism.The hydrated hydrogen-ion network formed in water-rich pores enhances H^(+)diffusion,facilitating uniform dissolution across pore scales.As a result,the pore structure becomes more homogenized,leading to a reduction in fractal dimension.In oil-rich pores,acid imbibition driven by capillary pressure is the predominant mechanism,enabling small pores to be dissolved preferentially,followed by medium to large pores.Consequently,the overall extent of acid erosion remains limited,and pore heterogeneity persists at a high level.Both the acid-imbibition and ion-diffusion processes exhibit a three-stage evolution:linear-transitional-stable.In the linear stage,the acid imbibition and H^(+)diffusion distances scale proportionally with the square root of time.In the transitional stage,the H^(+)diffusion rate decreases due to pore-throat blockage induced by the hydration and precipitation of clay minerals.Concurrently,acid imbibition and mineral dissolution enhance the fluid flow capacity,partially offsetting the attenuation of capillary pressure,and sustaining the increase in imbibition rate.In the stable stage,both acid imbibition and ion diffusion approach equilibrium.展开更多
文摘目的:探讨库柏特(Cobot)自动扫查超声机器人在甲状腺检查中的影像获取能力与应用可行性。方法:回顾并纳入在2024年8月—2024年12月于复旦大学附属中山医院厦门医院进行甲状腺检查的患者。患者先后采用人工超声和自动超声机器人进行甲状腺扫查,比较两种扫查方式的甲状腺径线测量值和甲状腺最大结节的长径测量值、检查耗时、影像质量评分、诊断结果一致性,以及对患者针对机器人检查进行问卷调查。采用SPSS 31.0软件进行统计学分析;符合正态分布的计量资料采用配对t检验,非正态资料采用Wilcoxon符号秩检验;采用组内相关系数与Kappa系数评估一致性;双侧检验以P<0.05为差异有统计学意义。结果:共36例患者均安全顺利地完成两组检查,人工扫查组和自动机器人扫查组的甲状腺径线测量值及甲状腺最大结节的长径测量值一致性高(组内相关系数为0.74~0.99);在检查耗时方面,机器人组均显著长于人工组[(222.6±58.9)s vs(123.3±66.8)s,P<0.05];在影像评分方面,机器人组略低于人工组(4.6±0.7 vs 4.9±0.4),差异有统计学意义(P=0.001);在影像诊断方面,人工组与机器人组甲状腺结节诊断和分类高度一致(Kappa值0.90~1.00);问卷调查显示患者对机器人检查接受度高。结论:库柏特(Cobot)自动扫查超声机器人具有良好的安全性和较高的患者接受度。在甲状腺超声扫查方面,与人工扫查相比,虽然自动机器人的扫查耗时较长,图像质量评分略低于人工组,但其图像评分均较高,且在甲状腺腺体测量、病灶测量及诊断效能方面与人工扫查具有较高一致性。该机器人系统在减轻医师负担和标准化甲状腺筛查方面展现出高度的临床可行性和良好的应用前景。
基金Supported by the National Natural Science Foundation of China(52374014).
文摘Four types of volcanic rock samples,i.e.breccia,andesite,tuff,and dacite,selected from the Carboniferous in the Junggar Basin were characterized through experiments such as X-ray diffraction(XRD),scanning electron microscopy(SEM)and nuclear magnetic resonance(NMR)for identifying the acid imbibition and ion diffusion behaviors during fracture acidizing in volcanic rock reservoirs.The results demonstrate that the invaded acid dissolves the minerals and alters the pore structure in the reservoir.Volcanic rocks of different lithologies exhibit substantial variations in their acidification and dissolution effects.Breccia and andesite,which contain abundant calcite and other soluble minerals,show markedly improved pore connectivity after acidizing.In addition,pronounced differences are observed between the acid-induced dissolution responses of oil-rich and water-rich pores within volcanic rocks.In water-rich pores,acid-induced dissolution is dominated by H^(+)diffusion,whereas in oil-rich pores,imbibition-driven dissolution is the primary mechanism.The hydrated hydrogen-ion network formed in water-rich pores enhances H^(+)diffusion,facilitating uniform dissolution across pore scales.As a result,the pore structure becomes more homogenized,leading to a reduction in fractal dimension.In oil-rich pores,acid imbibition driven by capillary pressure is the predominant mechanism,enabling small pores to be dissolved preferentially,followed by medium to large pores.Consequently,the overall extent of acid erosion remains limited,and pore heterogeneity persists at a high level.Both the acid-imbibition and ion-diffusion processes exhibit a three-stage evolution:linear-transitional-stable.In the linear stage,the acid imbibition and H^(+)diffusion distances scale proportionally with the square root of time.In the transitional stage,the H^(+)diffusion rate decreases due to pore-throat blockage induced by the hydration and precipitation of clay minerals.Concurrently,acid imbibition and mineral dissolution enhance the fluid flow capacity,partially offsetting the attenuation of capillary pressure,and sustaining the increase in imbibition rate.In the stable stage,both acid imbibition and ion diffusion approach equilibrium.
