A real-time ultrasound-guided needle-insertion medical robot for percutaneous cholecystostomy has been developed. Image-guided interventions have become widely accepted because they are consistent with minimal invasiveness. However, organ or abnormality displacement due to involuntary patient motion may undesirably affect the intervention. The proposed instrument uses intraoperative images and modifies the needle path in real time by using a novel ultrasonic image segmentation technique. In phantom and volunteer experiments, the needle path updating time was 130 and 301 ms per cycle, respectively. In animal experiments, the needle could be placed accurately in the target.

We propose a novel dark matter (DM) scenario based on a first-order phase transition in the early Universe. If dark fermions acquire a huge mass gap between true and false vacua, they can barely penetrate into the new phase. Instead, they get trapped in the old phase and accumulate to form macroscopic objects, dubbed Fermi-balls. We show that Fermi-balls can explain the DM abundance in a wide range of models and parameter space, depending most crucially on the dark-fermion asymmetry and the phase transition energy scale (possible up to the Planck scale). They are stable by the balance between fermion's quantum pressure against free energy release, hence turn out to be macroscopic in mass and size. However, this scenario generally produces no detectable signals (which may explain the null results of DM searches), except for detectable gravitational waves for electroweak scale phase transitions; although the detection of such stochastic gravitational waves does not necessarily imply a Fermi-ball DM scenario.

We examine the oscillon formation in a recently proposed inflation model of the pure natural inflation, where the inflaton is an axion that couples to a strongly-coupled pure Yang-Mills theory. The plateau of the inflaton potential, which is favored by recent observations, drives the fragmentation of the inflaton and can produce spatially localized oscillons. We find that the oscillons are formed for F O(0.1)M pl , with F the effective decay constant of the model. We also comment on observational implications of the oscillons.