A flexible needle has emerged as a crucial clinical technique in contemporary medical practices, particularly for minimally invasive interventions. Its applicability spans diverse surgical domains such as brachytherapy, cardiovascular surgery, neurosurgery and others. Notably, flexible needles find utility in biopsies requiring deep skin penetration to access infected areas. Despite its minimally invasive advantages, the precise guidance of the needle to its intended target, while avoiding damage to bones, blood vessels, organs and tissues, remains a significant challenge for researchers. Consequently, extensive research has been dedicated to enhancing the steering and accuracy of flexible needles. Here, we aim to elucidate the recent advancements, trends and perspectives in flexible needle steering models and path planning over the last 15 years. The discussed models encompass various types, including symmetric-tip needles, curved-tip needles, tendon-actuated needles, programmable needles and the innovative fracture-directed waterjet needles. Moreover, the paper offers a comprehensive analysis, comparing the trajectories followed by these needle models to attain the desired target with minimal tissue damage. By delving into these aspects, the paper contributes to a deeper understanding of the current landscape of flexible needle technology and guides future research directions in this dynamic field.
Citation: Hafiz Muhammad Muzzammil, Yong-De Zhang, Hassan Ejaz, Qihang Yuan, Muhammad Muddassir. A review on tissue-needle interaction and path planning models for bevel tip type flexible needle minimal intervention[J]. Mathematical Biosciences and Engineering, 2024, 21(1): 523-561. doi: 10.3934/mbe.2024023
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A flexible needle has emerged as a crucial clinical technique in contemporary medical practices, particularly for minimally invasive interventions. Its applicability spans diverse surgical domains such as brachytherapy, cardiovascular surgery, neurosurgery and others. Notably, flexible needles find utility in biopsies requiring deep skin penetration to access infected areas. Despite its minimally invasive advantages, the precise guidance of the needle to its intended target, while avoiding damage to bones, blood vessels, organs and tissues, remains a significant challenge for researchers. Consequently, extensive research has been dedicated to enhancing the steering and accuracy of flexible needles. Here, we aim to elucidate the recent advancements, trends and perspectives in flexible needle steering models and path planning over the last 15 years. The discussed models encompass various types, including symmetric-tip needles, curved-tip needles, tendon-actuated needles, programmable needles and the innovative fracture-directed waterjet needles. Moreover, the paper offers a comprehensive analysis, comparing the trajectories followed by these needle models to attain the desired target with minimal tissue damage. By delving into these aspects, the paper contributes to a deeper understanding of the current landscape of flexible needle technology and guides future research directions in this dynamic field.
The homological theory of comodules over coalgebras and Hopf algebras was introduced by Doi [5]. Auslander and Bridger defined Gorenstein projective modules by G-dimensions for finitely generated modules in [2]. Enoch and Jenda [6] developed the relative homological algebra, especially the Gorenstein homological algebra. Since then, the Gorenstein homological algebra has been developed rapidly and has obtained fruitful results in this field [12,18]. Asensio et al in [1] introduced Gorenstein injective comodules which is a generalization of injective comodules over any coalgebra. A coalgebra C is said to be right semiperfect [15] if the category MC has enough projectives. Recently, Meng introduced weakly Gorenstein injective and weakly Gorenstein coflat comodules over any coalgebra in [16], which proved that, for a left semiperfect coalgebra, weakly Gorenstein injective comodules is equivalent with weakly Gorenstein coflat comodules.
Triangular matrix rings play a significant role in the study of classical ring theory and representation theory of algebras. Given two rings A, B, and A-B-bimodule M, one can form the upper triangular matrix ring Λ=(AM0B). A number of researchers have investigated the triangular matrix rings (algebras). The readers can review [11,20,22,23,24] and references therein for more details. Zhang studied the structure of Gorenstein-projective modules over triangular matrix algebras in [24]. Under some mild conditions, Zhang and Xiong [22] described all the modules in ⊥Λ, and obtained criteria for the Gorensteinness of Λ. As applications, they determined all the Gorenstein-projective Λ-modules if Λ is Gorenstein. Dually, given coalgebras C and D, a C-D-bicomodule U, Γ=(CU0D) can be made into a coalgebra, which is called triangular matrix coalgebras. The reader may refer to [8,10,13,14] and references therein. The comodule representation category over the Morita-Takeuchi context coalgebra Γ was studied in [10]. Moreover, the authors explicitely determined all Gorenstein injective comodules over the Morita-Takeuchi context coalgebra Γ.
Motivated by the research mentioned above, we devote this paper to studying weakly Gorenstein injective and weakly Gorenstein coflat comodules over triangular matrix coalgebras by means of the relative homological theory in comodule categories.
The main theorems of this paper are the following:
Theorem 1.1 (Theorem 3.3). Let Γ=(CU0D) be the triangular matrix coalgebra, and U be a weakly compatible C-D-bicomodule. The following conditions are equivalent:
(1) (X,Y,φ) is a weakly Gorenstein injective Γ-comodule.
(2) X is a weakly Gorenstein injective C-comodule, kerφ is a weakly Gorenstein injective D-comodule, and φ:Y→X◻CU is surjetive.
Theorem 1.2 (Theorem 4.5). Let Γ=(CU0D) be the triangular matrix coalgebra which is semiperfect, and U be a weakly compatible C-D-bicomodule. The following conditions are equivalent:
(1) (X,Y,φ) is a weakly Gorenstein coflat Γ-comodule.
(2) X is a weakly Gorenstein coflat C-comodule, kerφ is a weakly Gorenstein coflat D-comodule, and φ:Y→X◻CU is surjetive.
In this section, we include some details to establish notation and for sake of completeness.
Throughout this paper we fix an arbitrary field k. The reader is referred to [17] for the coalgebra and comodule terminology. Let C be a k-coalgebra with comultiplication Δ and counit ε. We recall that a let C-comodule is a k-vector space M together with a k-linear map ρM:M→C⊗M such that (Δ⊗id)ρM=(id⊗ρM)ρM and (ε⊗id)ρM=idM. A k-linear map f:M→N between two left C-comodules M and N is a C-comodule homomorphism if ρNf=(id⊗f)ρM. The k-vector space of all C-comodule homomorphisms from M to N is denoted by HomC(M,N). Similarly we can define a right C-comodule. Let MC and CM denotes the category of right and left C-comodules respectively. For any M∈MC and N∈ CM. Following [5,9], we recall that the cotensor product M◻CN is the k-vector space
![]() |
where ρM and ρN are the structure maps of M and N, respectively.
Let C,D and E be three coalgebras. If M is a left E-comodule with structure map ρ−M:M→E⊗M, and also a right C-comodule with structure map ρ+M:M→M⊗C such that (I⊗ρ+M)ρ−M=(ρ−M⊗I)ρ+M, we then say that M is an (E,C)-bicomodule. We let EMC denote the category of (E,C)-bicomodules. Let N be a (C,D)-bicomodule. Then M◻CN acquires a structure of (E,D)-bicomodule with structure maps
ρ−M◻CI:M◻CN→(E⊗kM)◻CN≅E⊗k(M◻CN), and |
I◻Cρ+N:M◻CN→M◻C(N⊗kD)≅(M◻CN)⊗kD. |
It is known that M◻kN=M⊗kN, M◻CC≅M,C◻CN≅N, (M◻CN)◻DL≅M◻C(N◻DL) for any L∈ DM, i.e. the cotensor product is associative and the functors
M◻C−: CM→Mk and −◻CN:MC→Mk |
are left exact, commute with arbitrary direct sums.
For every right exact exact linear functor F:MC→MD preserving direct sums, there exists a (C,D)-bicomodule X, in fact X=F(C), such that F is naturally isomorphic to the funtor −◻CX (See [19,Proposition 2.1]). Since every comodule is the union of its finite-dimensional subcomodules, there is a functorial isomorphism
M◻CN≅HomC(N∗,M) |
for any M∈MC and finite-dimensional N∈ CM, where N∗=Homk(N,k) is equipped with the k-dual right C-comodule structure map
N∗→HomK(N,C)≅N∗⊗C, α→(I⊗α)ρN, α∈N∗ (see[5,P.32]). |
This implies that the functor M◻C− from CM to Mk is exact if and only if so is the functor HomC(−,M) from MC to Mk, i.e., the functors M◻C− (resp. −◻CN) is exact if and only if M (resp. N) is an injective right (resp. left) C-comodule.
Let U be a C-D-bicomodule, then we may consider the functor −◻CU:MC→MD. Unfortunately, in general, −◻CU does not have a left adjoint functor. However, Takeuchi proved the following results:
Theorem 2.1. [19,Proposition 1.10] Let C and D be two coalgebras, and U be a C-D-bicomodule. Then the functor −◻CU:MC→MD has a left adjoint functor if and only if U is a quasi-finite right D-comodule, i.e., HomD(F,U) is finite-dimensional for all finite-dimensional F∈MD.
If U is a quasi-finite right D-comodule, we denote the left adjoint functor of −◻CU by hD(U,−). Then for any right C-comodule W and any D-comodule N, we have that
HomD(N,W◻CU)≅HomC(hD(U,N),W), |
that is, (hD(U,−),−◻CU) is a adjoint pair with unit ϵ:IdMD→hD(U,−)◻CU and counit δ:hD(U,−◻CU)→IdMC. The functor hD(U,−) has a behavior similar to the usual Hom functor of algebras.
Proposition 2.2. Let C,D and E be three coalgebras, M and N be a (D,C)-bicomodule and an (E,C)-bicomodule, respectively, such that M is quasi-finite as right C-comodule. Then the following assertions hold:
(a) We have hC(M,N)=lim→HomC(Nλ,M)∗=lim→(M◻CN∗λ)∗, where {Nλ} is the family of finite dimensional subcomodules of C-comodule N (See the proof of [19,Proposition 1.3, P.633] and [5,P.32]).
(b) The vector space hC(M,N) is an (E,D)-bicomodule (See [19,1.7-1.9, P.634]).
(c) The functor hC(M,−) is right exact and preserves all direct limits and direct sums (See [19,1.6, P.634]).
(d) The functor hC(M,−) is exact if and only if M is injective as right C-comodule (See [19,1.12, P.635]).
Remark 2.3. The set CoendC(M)=hC(M,M) has an structure of k-coalgebra and then M becomes a (CoendC(M),C)-bicomodule, see [19,Proposition 2.1] for details. Symmetrically, M∈ DMC is quasi-finite as left D-comodule if and only if the functor M◻C−: CM→ DM has a left adjoint functor. In this case we denote by hD(−,M) that functor.
For two k-coalgebras C and D, let U be a C-D-bicomodule with the left C-coaction on U, u↦u[−1]⊗u[0], and the right D-coaction on U, u↦u[0]⊗u[1] (using Sweedler's convention with the summations symbol omitted). We recall from [4,13,14,21] that Γ=(CU0D) can be made into a coalgebra by defining the comutiplication Δ:Γ→Γ⊗Γ and the counit ε:Γ→K as follows
Δ((cu0d))=(c1000)⊗(c2000)+(u[−1]000)⊗(0u[0]00)+(0u[0]00)⊗(000u[1])+(000d1)⊗(000d2)ε((cu0d))=εC(c)+εD(d). |
The coalgebra Γ is called a triangular matrix coalgebra.
We know from [14] that the right comodule category MΓ and the comodule representation category R(Γ) are equivalent. The objects of R(Γ) are the triples (X,Y,φ), where X is a right C-comodule, Y is a right D-comodule, and φ∈HomD(Y,X◻CU) is the right D-comodule morphism. For any two objects (X,Y,φ) and (X′,Y′,φ′) in R(Γ), the morphism from (X,Y,φ) to (X′,Y′,φ′) in R(Γ) is a pair of homomorphisms
α = (α1,α2):(X,Y,φ)→(X′,Y′,φ′), |
where α1∈HomC(X,X′) and α2∈HomD(Y,Y′) such that the following diagram is commutative
![]() |
Next we define some exact functors between the right comodule category MΓ and the comodule representation category R(Γ).
(1) For any objects X and X′ in MC, and any right C-comodule morphism α:X→X′, the functor TC:MC→R(Γ) is given by TC(X)=(X,X◻CU,IdX◻CU) and TC(α)=(α,α◻IdU).
(2) The functor UC:R(Γ)→MC is defined by UC(X,Y,φ)=X, UC(α,β)=α for any objects (X,Y,φ) and (X′,Y′,φ′) in R(Γ) and any right Γ-comodule morphism (α,β):(X,Y,φ)→(X′,Y′,φ′).
(3) The functor UD:R(Γ)→MD is defined by UD(X,Y,φ)=Y, UD(α,β)=β for any objects (X,Y,φ) and (X′,Y′,φ′) in R(Γ) and any right Γ-comodule morphism (α,β):(X,Y,φ)→(X′,Y′,φ′).
(4) The functor HD:MD→R(Γ) is given by HD(Y)=(HomD(U,Y),Y,ϵY),HD(β)=(HomD(U,β),β) for any right D-comodule morphism β:Y→Y′.
Remark 2.4. (i) If I is an indecomposable injective right C-comodule, then TC(I) is an indecomposable injective right Γ-comodule.
(ii) If P is an indecomposable projective right D-comodule, then HD(P) is an indecomposable projective right Γ-comodule.
(iii) (TC,UC) and (UD,HD) are adjoint pairs.
Lemma 2.5. Let Γ=(CU0D) be a triangular matrix coalgebra, which is semiperfect. Then
(1) UCLnHD(−)≅ExtnD(U,−), UDLnHD(−)=0,for the left derived functor LnHD(∀n≥1).
(2) If ExtiD(U,Y)=0 (1≤i≤n), then there exists an isomorphism
ToriD(Y,Y′)≅ToriΓ(HD(Y),(X′,Y′,φ′)) |
for any right D-comodule Y and left D-comodule Y′ and any 1≤i≤n.
Proof. (1) By [10,Theorem 2], if the triangular matrix coalgebra Γ=(CU0D) is semiperfect, then coalgebras C and D are semiperfect. So, for any Y∈MD, there exists an exact sequence in MD
![]() |
with P a projective right D-comodule. Then HD(P) is a right Γ-projective comodule. Applying the left derived functor to the above exact sequence, we have L1HD(P)=0. Thus we get the following exact sequence
![]() |
So
(L1HD)Y≅ker(HD(π))=(ker(HomD(U,π)),0,0)=(Ext1D(U,Y),0,0), |
and (LnHD)Y=(ExtnD(U,Y),0,0), for any positive integer n. Hence,
UC(LnHD)Y=ExtnD(U,Y),UD(LnHD)Y=0 |
for any positive integer n.
(2) Assume that
![]() |
is a projective resolution of Y. Since ExtiD(U,Y)=0(1≤i≤n), it follows from (1) that UCLnHD(Y)=0, UDLnHD(Y)=0, and LnHD(Y)=0. This implies that the following sequence
![]() |
is a projective resolution of HD(Y). For any left Γ-comodule (X′,Y′,φ′), its dual space is (X′,Y′,φ′)∗∈MΓ. Then we get HD(Pi)◻Γ(X′,Y′,φ′)≅HomΓ((X′,Y′,φ′)∗,HD(Pi))(1≤i≤n) and Pi◻DY′≅HomD((Y′)∗,Pi)(1≤i≤n).
For brevity, we denote HomΓ((X′,Y′,φ′)∗,HD(Pi)) by ((X′,Y′,φ′)∗,HD(Pi)). Since (UD,HD) is an adjoint pair, we have the commutative diagram with exact rows
![]() |
By the above isomorphism, we furthermore get the following commutative diagram with exact rows
![]() |
Consequently,
ToriD(Y,Y′)≅ToriΓ(HD(Y),(X′,Y′,φ′)) |
for any 1≤i≤n.
Recall from [1,10,16] that for an exact sequence of injective right C-comodules
![]() |
if HomC(I,EC) is also exact for any injective right C-comodule I, then EC is said to be complete. For a right C-comodule M, if M≅ker(E0→E1), then M is called Gorenstein injective. If there exists an exact sequence of right C-comodules
![]() |
with Ei(i≥0) injectives and which remains exact whenever HomC(E,−) is applied for any injective right C-comodule E, then we call M is weakly Gorenstein injective. From now on, we denote by GI(Γ) and WGI(Γ) the category of Gorenstein injective comodules and weakly Gorenstein injective comodules over Γ, respectively.
As a generalization of compatible bicomodules, we now show the "weak analogue" of compatible bicomodules as follows.
A C-D-bicomodule U is weakly compatible if the following two conditions hold:
(1) If MC is an exact sequence of injective right C-comodules, then MC◻U is exact.
(2) If MD is a complete exact sequence of injective right D-comodules, then HomD(U,MD) is exact.
Lemma 3.1. [7] For the triangular matrix coalgebra Γ=(CU0D), if (X,Y,φ)∈GI(Γ), then
ExtiC(I,(X,Y,φ))=0 |
for any injective right Γ-comodule I and any i≥1.
Lemma 3.2. [16] For the right C-comodule M, the followings are equivalent:
(1) M is weakly Gorenstein injective;
(2) ExtiC(E,M)=0 for any injective comodule E and any i≥1;
(3) ExtiC(L,M)=0 for any finite-dimensional right C-comodule L and any i≥1.
Theorem 3.3. Let Γ=(CU0D) be the triangular matrix coalgebra, and U be a weakly compatible C-D-bicomodule. The following conditions are equivalent:
(1) (X,Y,φ) is a weakly Gorenstein injective Γ-comodule.
(2) X is a weakly Gorenstein injective C-comodule, kerφ is a weakly Gorenstein injective D-comodule, and φ:Y→X◻CU is surjetive.
Proof. (2)⇒(1) If X∈WGI(C), then there exists the following exact sequence
![]() |
with each Ei(i≥0) injective. By the assumption that U is weakly compatible, it follows that the sequence XC◻CU is exact and Ei◻CU(i≥0) are injective. Here kerφ∈WGI(D). Thus there exists an exact sequence as follows
![]() |
with each Ii(i≥0) injective. By using "the Generalized Horseshoe Lemma", we get the following exact sequence
![]() |
So we have the following commutative diagrams with exact rows
![]() |
Hence there exists an exact sequence
![]() |
Next we only need to prove that HomΓ(E,ˉLΓ) is exact for any injective right Γ-comodule E.
Because E≅⊕i∈ΛTC(Ei) with finite-dimensional indecomposable injective right C-comodule Ei(i∈Λ), where Λ is a finite index set. Then
HomΓ(E,ˉLΓ)=HomΓ(⊕i∈ΛTC(Ei),ˉLΓ)≅⊕i∈ΛHomΓ(TC(Ei),ˉLΓ)≅⊕i∈ΛHomC(Ei,UC(ˉLΓ)). |
So HomΓ(E,ˉLΓ) is exact, that is, (X,Y,φ)∈WGI(Γ).
(1)⇒(2) If (X,Y,φ)∈WGI(Γ), then there exists an exact sequence of right Γ-comodule
![]() |
Applying UC to ˉLΓ, we get an exact sequence
![]() |
Hence HomC(E,XC)≅HomΓ(TC(E),ˉLΓ) for any injective right C-comodule E. Therefore, X∈WGI(C).
By applying the exact functor UD to ˉLΓ again, we also get an exact sequence
![]() |
Hence, we get the following commutative diagram with exact rows and columns
![]() |
Thus we conclude that φ is surjective, and kerφ∈WGI(D).
The following result can be viewed as an application of the above theorem on Gorenstein injective comodules.
Corollary 3.4. Let Γ=(CU0D)be the triangular matrix coalgebra with U a weakly compatible C-D-bicomodule, we have the following equivalence:
(X,Y,φ)∈GI(Γ)⇔X∈GI(C),kerφ∈GI(D), and φ:Y→X◻CU is surjective. |
In this section, we first have the following key observation, which is very important for the proof of our main result. The reader may refer to [16] for more details.
Definition 4.1. A right C-comodule M is called Gorenstein coflat if there is an exact sequence of injective right C-comodules
![]() |
such that M=ker(E0→E1), and EC◻CQ is exact for any projective left C-comodule Q.
Definition 4.2. A right C-comodule M is called weakly Gorenstein coflat if there is an exact sequence of right C-comodules
![]() |
with each Ei(i≥0) injective, and MC◻CQ is exact for any projective left C-comodule Q.
We write WGC(Γ) and GC(Γ) for the category of weakly Gorenstein coflat and Gorenstein coflat comodules over Γ, respectively. Under the assumption of right semiperfect, the following result establishes the relation between weakly Gorenstein injective right C-comodules and weakly Gorenstein coflat right C-comodules.
Remark 4.3. (1) The class of weakly Gorenstein injective right C-comodules is closed under extensions, cokernels of monomorphisms and direct summands. If C is a right semiperfect coalgebra, then the class of weakly Gorenstein injective right C-comodules is closed under direct products.
(2) The class of weakly Gorenstein coflat right C-comodules is closed under extensions, cokernels of monomorphisms, direct sums, direct summands and direct limit.
(3) Let C be a right semiperfect coalgebra and M a right C-comodule, then M is weakly Gorenstein coflat if and only if M is weakly Gorenstein injective.
Lemma 4.4. [16] For a right C-comodule M, the following statements are equivalent:
(1) M is Gorenstein coflat;
(2) There is an exact sequence of injective right C-comodules
![]() |
such that M=ker(E0→E1), and EC◻CQ is also exact for any finite-dimensional projective left C-comodule Q.
Lemma 4.5. Let C be a semiperfect coalgebra, then the following statements are equivalent for any right C-comodule M:
(1) M is weakly Gorenstein coflat;
(2) ToriC(M,P)=0 for any projective left C-comodule P and any i≥1;
(3) ToriC(M,Q)=0 for any finite-dimensional projective left C-comodule P and any i≥1.
Proof. It is obvious for (1)⇔(2) by the definition. We only need to show (3)⇒(1). For any projective left C-comodule Q, then from the proof of [3,Corollary 2.4.22, P.100] we know that Q≅⊕λ∈ΛQλ, where each Qλ is a finite-dimensional projective. Choose an exact sequence
![]() |
with each Ei injective. Since
MC◻CQ≅MC◻C(⊕λ∈ΛQλ)≅⊕λ∈Λ(MC◻CQλ) |
and ToriC(M,Qλ)=0 for all λ∈Λ and i≥1, it follows that MC◻CQ is exact. That is, M is weakly Gorenstein coflat.
(1)⇒(3) is evident.
Theorem 4.6. Let Γ=(CU0D) be the triangular matrix coalgebra which is semiperfect, and U be a weakly compatible C-D-bicomodule. The following conditions are equivalent:
(1) (X,Y,φ) is a weakly Gorenstein coflat Γ-comodule.
(2) X is a weakly Gorenstein coflat C-comodule, kerφ is a weakly Gorenstein coflat D-comodule, and φ:Y→X◻CU is surjetive.
Proof. (2)⇒(1) Let X∈WGC(C). Since U is weakly compatible, it follows that there exists an exact sequence of right C-comodules with each Ii injective
![]() |
and XC◻CU is exact. Suppose that kerφ∈WGC(D), there exists the following exact sequence
![]() |
The Generalized Horseshoe Lemma yields the following exact sequence
![]() |
This gives rise to the following commutative diagram with exact rows
![]() |
Thus we obtain the following exact sequence of right Γ-comodules
![]() |
Let Q be any finite-dimensional projective left Γ-comodule. Then Q≅⊕i∈ΛQi, Qi is indecomposable and projective. Here Q∗i is indecomposable and injective. Thus there is an indecomposable and injective right C-comodule Ei(i∈Λ) such that TC(Ei)≅Q∗i(i∈Λ). Thus
LΓ◻CQ≅LΓ◻C(⊕i∈ΛQi)≅⊕i∈Λ(LΓ◻CQi)≅⊕i∈ΛHomΓ(Q∗i,LΓ)≅⊕i∈ΛHomΓ(TC(Ei),LΓ)≅⊕i∈ΛHomC(Ei,UC(LΓ))≅⊕i∈ΛHomC(Ei,XC). |
Therefore, LΓ◻CQ is exact since ⊕i∈ΛHomC(Ei,XC) is exact. That is, (X,Y,φ)∈WGC(Γ).
(1)⇒(2) If (X,Y,φ)∈WGC(Γ), then there is the following exact sequence
![]() |
with (Ii,Ki⊕(Ii◻CU),(0,id)) injectives. By applying the functor UC to LΓ, we get the exact sequence
![]() |
For any finitely dimensional projective left C-comodule P, P∗ is injective right C-comodule. Thus TC(P∗) is injective. This yields that
XC◻CP≅HomC(P∗,XC)=HomC(P∗,UC(LΓ))≅HomΓ(TC(P∗),LΓ). |
Thus HomΓ(TC(P∗),LΓ) is exact since (X,Y,φ)∈WGC(Γ). So XC◻CP is also exact. That is, X∈WGC(C).
Similarly, applying UD to LΓ, we get an exact sequence as follows
![]() |
This yields the following commutative diagram with exact rows and columns
![]() |
Therefore, φ is surjective, and kerφ∈WGC(D).
It is clearly that Gorenstein coflat comodules is weakly Gorenstein coflat comodules. Thus the above result holds for Gorenstein coflat comodules.
Corollary 4.7. Let Γ=(CU0D) be the triangular matrix coalgebra which is semiperfect, and U be a weakly compatible C-D-bicomodule. Then
(X,Y,φ)∈GC(Γ)⇔X∈GC(C),kerφ∈GC(D), and φ:Y→X◻CU is surjective. |
The authors would like to express their gratitude to the anonymous referee for their very helpful suggestions and comments which led to the improvement of our original manuscript. This work are supported by National Natural Science Foundation of China (Grant No. 11871301) and Natural Science Foundation of Shandong Province (Grant Nos. ZR2019MA060, ZR2020QA002).
The authors declare no conflicts of interest.
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