우리는 기술 지원 Kun 루와 로널드 Kurz 감사하고 싶습니다. 이 작품은 ONR의 MURI 보너스 번호에 의해 지원 되었음 : N00014 - 10 - 1-0072, NSF 교부금 # SBE - 0542013 학습 센터 학습 센터의 NSF 과학, 그리고 NIH 부여 # 2 R01 NS036449 - 11의 측두엽 역학합니다.

1. 스캐너 룸 외부 <ol><li> 지원 무료 엔드와 분리된 긴 손잡이의 외관 엔드와 압연 테이블을 놓으십시오. </li><li> 로봇이 꺼져 있는지 확인합니다. </li><li> 테이블 소켓에 로봇을 놓고 2 개의 나사와 함께 로봇을 통해 알루미늄 플레이트 안전을 확보. </li><li> 알루미늄 어댑터 로봇 처리 최종 effecter을 첨부하고 자유롭게 움직이는 것을 확인하십시오. </li><li> 알루미늄은 로봇 차폐와 10 &#39;병렬 케이블을 첨부하여 차폐가 손상되었는지 확인합니다. 필요한 경우 별도의 호일을 추가합니다. </li><li> 뒷면에있는 홈에 병렬 및 전원 케이블을 배치 신중되는 로봇을 통해 알루미늄 차폐 상자를 놓습니다. </li><li> 조심스럽게 차폐 상자에 나사. </li><li> 패키지는 알루미늄 차폐 상자에서 케이블 홈에 호일과 포일은 병렬 케이블의 차폐와 접촉을하게해야합니다. </li></ol> 2. 두 사람 A와 B와 스캐너 방으로 이동 <ol><li> 어떠한 철분을 함유하지 않은 것들, 예를 들어, 휴대 전화, 열쇠, 동전 등 모든 금속 물체를 제거하여 높은 자기장 환경을 입력할 준비를 ... </li><li> 사람과 로봇 때까지 첫째는, 로봇 테이블과 상자 엔드를 안정화 사람 B의 자유로운 끝을 롤 들고 자유롭게 끝이 방의 문을 들어갑니다. </li><li> 사람 B 클립 보안 로프의 다른 쪽 끝을 단단히 벽에 앵커에 첨부되는 차폐 케이스와 수표의 뒷면에 앵커 구멍에 닿는 곳에. </li><li> 함께 일하고, 방 안으로 테이블을 롤과 fMRI 테이블의 기슭에 벨크로 끈으로 연결합니다. 테이블의 로봇 끝 가능한 스캐너에서까지 계속해야합니다. </li><li> 로봇의 사용자 정의 컨트롤 룸을 통해 통과에 필터와 플러그 로봇의 병렬 케이블을 연결합니다. 병렬 케이블의 차폐 포일은 필터와 접촉을 만들어야합니다. </li><li> 긴 손잡이의 외부 부분 (최종 effecter)를 첨부하고 깔끔하게 fMRI의 구멍을 입력합니다 있는지 확인합니다. </li></ol> 3. 컨트롤 룸에서 <ol><li> 제어 컴퓨터를 시작하고 로봇 6 &#39;병렬 케이블을 연결합니다. 을 통해 패스의 내부 부분에있을 수있는 여분의 필터를 제거해야합니다. </li><li> 로봇 모터가 꺼져 있는지 확인, 환상의 보정 루틴을 시작하고 로봇의 보정 루틴에서 모터의 위치 설치 했어요가 안정되어 있는지 확인합니다. </li><li> 병렬 케이블 연결을 확인하고 보정 루틴이 로봇을 볼 수 없다거나 모터 판독에 큰 차이가있는 경우에만 큰 사용자 정의 필터가 부착되어 두 번. </li><li> 차폐 상자의 뒷면에있는 포트를 개방하여 로봇의 전원을 켜고 몽둥이로 스위치를 누르십시오. </li><li> 약 원뿔형 도파관의 끝에 중심으로 최종 effecter으로 보정 절차를 다시 시작합니다. 교정을 통해 단계와 상자 교정 상자에 적절한 haptic 상호 작용을 가지고 있는지 확인합니다. </li><li> 제어 컴퓨터 (BNC 커넥터) fMRI에서 Labjack ADC에 TTL 출력을 연결합니다. </li></ol> 4. 제목 <ol><li> 표준 fMRI 프로토콜과 함께 높은 자기장 환경에 대한 주제를 준비합니다. </li><li> 실험, 예를 들어, 시각 디스플레이 시스템을위한 별도의 장비를 설정합니다. 우리는 가상 환경을 제시했을 때 특히 유용 기능을 영상 디스플레이 스테레오보기를 제공하는 NordicNeuro 연구소, 주식 회사 비전 시스템을 사용합니다. </li><li> 피사체가 테이블에 아래 거짓말과 머리 코일이 위치해 후, 손으로 나사를 느슨해진하고 피사체가 편안하게 이동할 수 때까지 테이블의 상단을 슬라이딩하여 로봇의 거리를 조정합니다. </li><li> fMRI 테이블이 흔들에서 다리 바퀴를 방지하기 위해 구멍의 밖에서 이동하는 동안 로봇 끝에 목숨을 구하기 위해 수동으로 테이블을 안내입니다. 최종 effecter이 구멍에가는 그리고 밖에서 잡을하지 않도록 확인하십시오. </li><li> 실험을 실행합니다. </li></ol> 5. 이명 A와 B로 설정을 부셔 <ol><li> 환자 종료 후, 긴 손잡이의 외관 엔드를 제거하고 벨크로 스트랩을 취소하여 fMRI 테이블에서 로봇 테이블을 분리합니다. </li><li> 로봇에서 차폐 병렬 케이블을 취소하고 전원 케이블을 뽑습니다. </li><li> 사람과 로봇 테이블과 로봇 엔드를 유도 인 B의 무료 끝을 잡고는 문을 테이블을 이동합니다. 문에서 밧줄을 취소할하고, 복도에 로봇 테이블을 롤. </li><li> 모든 차폐 상자에서 나사 및 안전 플레이트에서 두 개의 나사를 취소하고 로봇을 제거합니다. </li></ol> 6. 대표 결과 : 이상적으로, haptic 로봇과 fMRI는 서로 영향을 미치지 않습니다. 로봇이 fMRI에 의해 영향을 받고있다면 우리는 온라인으로 알 수 있습니다. 로봇의 병렬 케이블이 제대로 차폐 및 필터링하지 않은 경우 일반적으로, 다음 모터의 판독이 oscil합니다늦은 빠르게. 이것은 함유 코어가 제대로 로봇 근처의 병렬 케이블의 배치 즉, 두 케이블의 차폐 알루미늄을 선택하여 고정하고, 로봇 수있는 유일한 필터를 통해 통과의 스캐너 룸 측면에있는 사용자 정의 필터입니다 수 . fMRI의 오류를 감지하면 데이터가 감소하고 분석 후에 정말에서만 가능하지만, 해부 검사는 초기 연구에 촬영과 상관 노이즈 (예 : 스파이크 노이즈) 7 나타내는 지퍼 효과 또는 기타 구조물에 확인하여야한다. 자주, 이러한 소음은 금속 접촉에 금속에서 유래 특히 로봇 테이블에있는 모든 나사, 테이블의 측면에 손을 조정 나사를 강화하여 청소하실 수 있습니다. 기준 fMRI 신호의 테스트에서 노이즈 비율 (SNR) 여전히 합리 ~ 330에 방울 완전히 차폐된 방에 로봇과 함께 ~ 380하고 있습니다. 방어막이 로봇에 위치에 있지 않을 경우, 다음 ~ 250, 소음 효과로 더욱 SNR 저하는 매우 중요한된다. 로봇에서 멀리 이동하기 위해 제외 4와 같이 핸들의 중앙에 자유 공동의 3 정도 로봇 / 손 상호 작용의 역학에 거의 영향을 미치지. 손잡이의 중심에 공동이 받침 같은 역할과 방향의 두 (왼쪽, 오른쪽 및 위, 아래) 그러나 세 번째 안 (앞, 뒤).에서 겉보기 움직임을 반대 팬텀과 손이 중간에 그 받침과 손잡이처럼 레버의 반대편 끝에 있으므로, 수익은 세 유클리드 방향의 각 소프트웨어에 적용됩니다 스위블 조인트에 의해 제어 두 방향으로 부정 이득과 긍정적인 이득 슬라이더 공동의 방향으로. 손잡이와 회전의 순 효과는 환상의 로봇의 자유, 불과 9 &#39;의 전체 3도 재현. <img src="/files/ftp_upload/3364/3364fig1.jpg" alt="그림 1"/> 그림 1은 장치는 fMRI 환경에서 사용하기 위해 haptic 로봇을 마운트하는 데 사용됩니다. 위로 haptic 로봇 전에 울타리 (위, 왼쪽)와 핸들의 midpoint (위, 오른쪽)에서 공동 짐벌 / 슬라이더 케이스에 마운트 보여줍니다. 왼쪽 하단은 핸들을 조작 스캐너의 제목을 보여줍니다. 하단은 바로 차폐 및 최종 effecter의 만화입니다. <img src="/files/ftp_upload/3364/3364fig2.jpg" alt="그림 2"/> 운동과 완전히 차폐된 로봇에 대한 BIRN 테스트 그림 2 결과. 십자가와 세 이미지는 구형 머리 모델의 섹션을 표시하고, 하단 바로 3 차원보기를 보여줍니다. 작은 점들은 정적 머리 모델에 거품 있으며 항상 존재하고 있습니다. 대형 스트 라이프 또는 지퍼의 부족은 로봇의 소음이 uncorrelated는 것을 나타냅니다.

<ol>
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관심 없음 충돌 선언하지 않습니다.

fMRI 호환 로봇은 모터 제어의 신경 과학에서 실험에 대한 새로운 가능성을 열어. 설정에서 가장 중요한 단계는 우리가 두 단계에서 할 fMRI에 유물을 방지하기 위해 로봇의 방어막입니다. 첫째, 로봇 자체가 긴, 가볍고, 자유 관절의 3 정도과의 중간에 지원되는 핸들과 구멍 가까이에 대해서 9 &#39;입니다. 둘째, 로봇은 플라스틱 원뿔 (13 &quot;베이스 직경 6&quot;최고 직경 X 42 &quot;길이) ~ 100dB를 차단하...

<table border="1"><tbody><tr><td> 팬텀 프리미엄 1.5/6dof 높은 힘 모델 </td><td> Sensable </td><td> <a href="www.sensable.com">www.sensable.com</a> </td></tr></tbody></table>

adaptation of a haptic robot in a 3t fmri

기능성 자기 공명 영상 (fMRI)는 비 이온화 방사선, 해부 학적 및 기능 데이터의 공간적 정확성 mm 2, 거의 실시간 분석 3를 포함해 장점과 대담한 신호를 1로 우수한 기능성 뇌 이미징을 제공합니다. Haptic 로봇은 정확한 측정과 합리적으로 제한된 공간에서 커서의 위치 및 힘 제어를 제공합니다. 여기 haptic / 같은 접근이나 욕심과 같은 촉각 환경 상호 작용과 모터 제어를 포함한 정밀 실험을 허용하는이 두 기술을 결합하여. 기본적인 아이디어는 피사체가 로봇을 사용할 수 있도록 로봇 4 중앙에서 지원 8 발 끝 effecter를 첨부하는 것입니다,하지만 그것을 차폐하고 fMRI 기계 (그림 1에서 자기장의 가장 극단적인 부분의 그것을 유지 ). 환상의 프리미엄 3.0, 6DoF, 높은 힘 로봇 (SensAble 테크놀러지 주식 회사) 가상 현실 실험 5, 6에서 강제로 피드백을 제공하는 탁월한 선택이지만, 그것은 본질적으로 비 MR 안전, 민감한에게 상당한 소음을 소개합니다 fMRI 장비, 및 전기 모터가 강력하게 자기장을 변화의 fMRI에 의해 영향을받을 수 있습니다. 우리는 로봇이 안전하게 fMRI 환경에 도입되도록하고의 강력 다양한 자기장에 의해 전기 노이즈가 모터에 의해 fMRI 신호의 저하와 전기 모터의 성능 저하를 모두 제한하는 테이블과 차폐 시스템을 구축해야 fMRI. 방패로, 잡음 비율 (SNR : 신호 / 노이즈의 표준 편차)로 신호를 fMRI 중 ~ 330로 ~ 380의 기준에서가는, 그리고 차폐없이 ~ 250. 나머지 소음 uncorrelated로 나타나며 시험 영역 (그림 2)의 fMRI에 아티팩트를 추가하지 않습니다. 로봇의 fMRI에 대한 상당한 효과가 없습니다 있도록 긴 뻣뻣한 핸들이 자기장의 가장 강하게 다양한 부품의 범위를 벗어난 로봇의 위치를​​ 수 있습니다. 로봇의 운동학에 대한 처리의 효과는 경량이기 때문에 최소한의 것입니다 (~ 2.6 파운드)하지만, 매우 치열한 3 / 4 &quot;흑연과 중간에 3DoF 공동에 잘 균형.와의 최종 결과는 fMRI 호환 haptic 시스템입니다 가상 현실과 결합 1 입방 작업 공간의 발, 그리고 약 그것은 자연에 도달, 수동 사지와 haptic 인식의 변위, 다양한 포스 필드에서 적응 학습을 포함하여 fMRI 환경에서 수행하는 실험의 새 집합에 대한 수 , 텍스처 식별 5, 6.

Watch this Scientific Journal Video about Adaptation of a Haptic Robot in a 3T fMRI at JoVE.com

Adaptation of a Haptic Robot in a 3T fMRI

3T의 fMRI에 haptic 로봇의 적응과 사용 설명합니다.

3T의 fMRI에 Haptic 로봇의 적응

Functional magnetic resonance imaging (fMRI) provides excellent functional brain imaging via the BOLD signal 1 with advantages including non-ionizing ...

adaptation-of-a-haptic-robot-in-a-3t-fmri

Research

JoVE Journal

Bioengineering

9.6K 조회수.  University of California. 3T의 fMRI에 haptic 로봇의 적응과 사용 설명합니다.

비디오: Adaptation of a Haptic Robot in a 3T fMRI

Fabrication of Electrochemical-DNA Biosensors for the Reagentless Detection of Nucleic Acids, Proteins and Small Molecules

As medicine is currently practiced, doctors send specimens to a central laboratory for testing and thus must wait hours or days to 
receive the results. Many patients would be better served by rapid, bedside tests. To this end our laboratory and others have developed a versatile, reagentless 
biosensor platform that supports the quantitative, reagentless, electrochemical detection of nucleic acids (DNA, RNA), proteins (including antibodies) and small 
molecules analytes directly in unprocessed clinical and environmental samples. In this video, we demonstrate the preparation and use of several biosensors in this 
"E-DNA" class. In particular, we fabricate and demonstrate sensors for the detection of a target DNA sequence in a polymerase chain reaction mixture, an HIV-specific antibody and the drug cocaine. The preparation procedure requires only three hours of hands-on effort followed by an overnight incubation, and their use requires only minutes.

"E-DNA" sensors, reagentless, electrochemical biosensors that perform well even when challenged directly in blood and other complex matrices, have been adapted to the detection of a wide range of nucleic acid, protein and small molecule analytes. Here we present a general procedure for the fabrication and use of such sensors.

핵산, 단백질과 작은 분자의 Reagentless 감지를위한 전기 -의 DNA Biosensors의 제작

As medicine is currently practiced, doctors send specimens to a central laboratory for testing and thus must wait hours or days to 
receive the results. ...

연구

생체공학

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other forms of biofeedback. Previous human-robot interactive systems have required different software commands to be implemented for each robot leading to unnecessary developmental overhead time each time a new system becomes available. For example, when a haptic/graphic virtual reality environment has been coded for one specific robot to provide haptic feedback, that specific robot would not be able to be traded for another robot without recoding the program. However, recent efforts in the open source community have proposed a wrapper class approach that can elicit nearly identical responses regardless of the robot used. The result can lead researchers across the globe to perform similar experiments using shared code. Therefore modular "switching out"of one robot for another would not affect development time. In this paper, we outline the successful creation and implementation of a wrapper class for one robot into the open-source H3DAPI, which integrates the software commands most commonly used by all robots.

Recently, a vast amount of prospects have come available for human-robot interactive systems. In this paper we outline the integration of a new robotic device with open source software that can rapidly make possible a library of interactive functionality. We then outline a clinical application for a neurorehabilitation application.

Haptic 그래픽 / 재활 : 가상 환경 도서관에 로봇을 통합하고 뇌졸중 치료에 적용

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other ...

Creating Two-Dimensional Patterned Substrates for Protein and Cell Confinement

Microcontact printing provides a rapid, highly reproducible method for the creation of well-defined patterned substrates.1 While microcontact printing can be employed to directly print a large number of molecules, including proteins,2 DNA,3 and silanes,4 the formation of self-assembled monolayers (SAMs) from long chain alkane thiols on gold provides a simple way to confine proteins and cells to specific patterns containing adhesive and resistant regions. This confinement can be used to control cell morphology and is useful for examining a variety of questions in protein and cell biology. Here, we describe a general method for the creation of well-defined protein patterns for cellular studies.5 This process involves three steps: the production of a patterned master using photolithography, the creation of a PDMS stamp, and microcontact printing of a gold-coated substrate. Once patterned, these cell culture substrates are capable of confining proteins and/or cells (primary cells or cell lines) to the pattern.
The use of self-assembled monolayer chemistry allows for precise control over the patterned protein/cell adhesive regions and non-adhesive regions; this cannot be achieved using direct protein stamping. Hexadecanethiol, the long chain alkane thiol used in the microcontact printing step, produces a hydrophobic surface that readily adsorbs protein from solution. The glycol-terminated thiol, used for backfilling the non-printed regions of the substrate, creates a monolayer that is resistant to protein adsorption and therefore cell growth.6 These thiol monomers produce highly structured monolayers that precisely define regions of the substrate that can support protein adsorption and cell growth. As a result, these substrates are useful for a wide variety of applications from the study of intercellular behavior7 to the creation of microelectronics.8
While other types of monolayer chemistry have been used for cell culture studies, including work from our group using trichlorosilanes to create patterns directly on glass substrates,9 patterned monolayers formed from alkane thiols on gold are straight-forward to prepare. Moreover, the monomers used for monolayer preparation are commercially available, stable, and do not require storage or handling under inert atmosphere. Patterned substrates prepared from alkane thiols can also be recycled and reused several times, maintaining cell confinement.10

Self-assembled monolayers (SAMs) formed from long chain alkane thiols on gold provide well-defined substrates for the formation of protein patterns and cell confinement. Microcontact printing of hexadecanethiol using a polydimethylsiloxane (PDMS) stamp followed by backfilling with a glycol-terminated alkane thiol monomer produces a pattern where protein and cells adsorb only to the stamped hexadecanethiol region.

단백질과 세포 교도소에 대한 2 차원 문양의 기판 만들기

Microcontact printing provides a rapid, highly reproducible method for the creation of well-defined patterned substrates.1  While microcontact printing ...

Cellular Lipid Extraction for Targeted Stable Isotope Dilution Liquid Chromatography-Mass Spectrometry Analysis

The metabolism of fatty acids, such as arachidonic acid (AA) and linoleic acid (LA), results in the formation of oxidized bioactive lipids, including numerous stereoisomers1,2. These metabolites can be formed from free or esterified fatty acids. Many of these oxidized metabolites have biological activity and have been implicated in various diseases including cardiovascular and neurodegenerative diseases, asthma, and cancer3-7. Oxidized bioactive lipids can be formed enzymatically or by reactive oxygen species (ROS). Enzymes that metabolize fatty acids include cyclooxygenase (COX), lipoxygenase (LO), and cytochromes P450 (CYPs)1,8. Enzymatic metabolism results in enantioselective formation whereas ROS oxidation results in the racemic formation of products.
While this protocol focuses primarily on the analysis of AA- and some LA-derived bioactive metabolites; it could be easily applied to metabolites of other fatty acids. Bioactive lipids are extracted from cell lysate or media using liquid-liquid (l-l) extraction. At the beginning of the l-l extraction process, stable isotope internal standards are added to account for errors during sample preparation. Stable isotope dilution (SID) also accounts for any differences, such as ion suppression, that metabolites may experience during the mass spectrometry (MS) analysis9. After the extraction, derivatization with an electron capture (EC) reagent, pentafluorylbenzyl bromide (PFB) is employed to increase detection sensitivity10,11. Multiple reaction monitoring (MRM) is used to increase the selectivity of the MS analysis. Before MS analysis, lipids are separated using chiral normal phase high performance liquid chromatography (HPLC). The HPLC conditions are optimized to separate the enantiomers and various stereoisomers of the monitored lipids12. This specific LC-MS method monitors prostaglandins (PGs), isoprostanes (isoPs), hydroxyeicosatetraenoic acids (HETEs), hydroxyoctadecadienoic acids (HODEs), oxoeicosatetraenoic acids (oxoETEs) and oxooctadecadienoic acids (oxoODEs); however, the HPLC and MS parameters can be optimized to include any fatty acid metabolites13.
Most of the currently available bioanalytical methods do not take into account the separate quantification of enantiomers. This is extremely important when trying to deduce whether or not the metabolites were formed enzymatically or by ROS. Additionally, the ratios of the enantiomers may provide evidence for a specific enzymatic pathway of formation. The use of SID allows for accurate quantification of metabolites and accounts for any sample loss during preparation as well as the differences experienced during ionization. Using the PFB electron capture reagent increases the sensitivity of detection by two orders of magnitude over conventional APCI methods. Overall, this method, SID-LC-EC-atmospheric pressure chemical ionization APCI-MRM/MS, is one of the most sensitive, selective, and accurate methods of quantification for bioactive lipids.

This protocol will demonstrate the extraction and analysis of free and esterified bioactive fatty acids from cells. Fatty acids are accurately quantified using stable isotope dilution, chiral liquid chromatography, electron capture atmospheric chemical ionization multiple reaction monitoring mass spectrometry (SID-LC-ECAPCI-MRM/MS).

타겟 안정 동위 원소 희석 액체 크로마 토그래피 - 질량 분광법 분석을위한 세포 지질 추출

The metabolism of fatty acids, such as arachidonic acid (AA) and linoleic acid (LA), results in the formation of oxidized bioactive lipids, including ...

Designing a Bio-responsive Robot from DNA Origami

Nucleic acids are astonishingly versatile. In addition to their natural role as storage medium for biological information1, they can be utilized in parallel computing2,3 , recognize and bind molecular or cellular targets4,5 , catalyze chemical reactions6,7 , and generate calculated responses in a biological system8,9. Importantly, nucleic acids can be programmed to self-assemble into 2D and 3D structures10-12, enabling the integration of all these remarkable features in a single robot linking the sensing of biological cues to a preset response in order to exert a desired effect.
Creating shapes from nucleic acids was first proposed by Seeman13, and several variations on this theme have since been realized using various techniques11,12,14,15 . However, the most significant is perhaps the one proposed by Rothemund, termed scaffolded DNA origami16. In this technique, the folding of a long (&gt;7,000 bases) single-stranded DNA 'scaffold' is directed to a desired shape by hundreds of short complementary strands termed 'staples'. Folding is carried out by temperature annealing ramp. This technique was successfully demonstrated in the creation of a diverse array of 2D shapes with remarkable precision and robustness. DNA origami was later extended to 3D as well17,18 .
 
The current paper will focus on the caDNAno 2.0 software19 developed by Douglas and colleagues. caDNAno is a robust, user-friendly CAD tool enabling the design of 2D and 3D DNA origami shapes with versatile features. The design process relies on a systematic and accurate abstraction scheme for DNA structures, making it relatively straightforward and efficient.
In this paper we demonstrate the design of a DNA origami nanorobot that has been recently described20. This robot is 'robotic' in the sense that it links sensing to actuation, in order to perform a task. We explain how various sensing schemes can be integrated into the structure, and how this can be relayed to a desired effect. Finally we use Cando21 to simulate the mechanical properties of the designed shape. The concept we discuss can be adapted to multiple tasks and settings.

DNA origami is a powerful method for fabricating precise nanoscale objects by programming the self-assembly of DNA molecules. Here, we describe how DNA origami can be utilized to design a robotic robot capable of sensing biological cues and responding by shape shifting, subsequently relayed to a desired effect.

DNA 종이 접기에서 바이오 반응 로봇을 설계

Nucleic acids are astonishingly versatile. In addition to their natural role as storage medium for biological information1, they can be utilized in ...

Medical-grade Sterilizable Target for Fluid-immersed Fetoscope Optical Distortion Calibration

We have developed a calibration target for use with fluid-immersed endoscopes within the context of the GIFT-Surg (Guided Instrumentation for Fetal Therapy and Surgery) project. One of the aims of this project is to engineer novel, real-time image processing methods for intra-operative use in the treatment of congenital birth defects, such as spina bifida and the twin-to-twin transfusion syndrome. The developed target allows for the sterility-preserving optical distortion calibration of endoscopes within a few minutes. Good optical distortion calibration and compensation are important for mitigating undesirable effects like radial distortions, which not only hamper accurate imaging using existing endoscopic technology during fetal surgery, but also make acquired images less suitable for potentially very useful image computing applications, like real-time mosaicing. In this paper proposes a novel fabrication method to create an affordable, sterilizable calibration target suitable for use in a clinical setup. This method involves etching a calibration pattern by laser cutting a sandblasted stainless steel sheet. This target was validated using the camera calibration module provided by OpenCV, a state-of-the-art software library popular in the computer vision community.

This article describes the design and development of a sterilizable custom camera optical distortion calibration target for the peri-operative, fluid-immersed calibration of endoscopes during endoscopic interventions.

유체 - 침지 Fetoscope 광학 왜곡 보정 의료 수준의 소독 가능 대상

We have developed a calibration target for use with fluid-immersed endoscopes within the context of the GIFT-Surg (Guided Instrumentation for Fetal ...

Optimizing the Use of a Liquid Handling Robot to Conduct a High Throughput Forward Chemical Genetics Screen of Arabidopsis thaliana

Chemical genetics is increasingly being employed to decode traits in plants that may be recalcitrant to traditional genetics due to gene redundancy or lethality. However, the probability of a synthetic small molecule being bioactive is low; therefore, thousands of molecules must be tested in order to find those of interest. Liquid handling robotics systems are designed to handle large numbers of samples, increasing the speed with which a chemical library can be screened in addition to minimizing/standardizing error. To achieve a high-throughput forward chemical genetics screen of a library of 50,000 small molecules on Arabidopsis thaliana (Arabidopsis), protocols using a bench-top multichannel liquid handling robot were developed that require minimal technician involvement. With these protocols, 3,271 small molecules were discovered that caused visible phenotypic alterations. 1,563 compounds induced short roots, 1,148 compounds altered coloration, 383 compounds caused root hair and other, non-categorized, alterations, and 177 compounds inhibited germination.

Optimizing the Use of a Liquid Handling Robot to Conduct a High Throughput Forward Chemical Genetics Screen of Arabidopsis thaliana

A high throughput screen of synthetic small molecules was conducted on the model plant species, Arabidopsis thaliana. This protocol, developed for a liquid handling robot, increases the speed of forward chemical genetics screens, accelerating the discovery of novel small molecules affecting plant physiology.

높은 처리량 앞으로 화학 유전학의 화면 애기 thaliana 을 액체 처리 로봇의 사용을 최적화

Chemical genetics is increasingly being employed to decode traits in plants that may be recalcitrant to traditional genetics due to gene redundancy or ...

Decellularization of Whole Human Heart Inside a Pressurized Pouch in an Inverted Orientation

The ultimate solution for patients with end-stage heart failure is organ transplant. But donor hearts are limited, immunosuppression is required, and ultimately rejection can occur. Creating a functional, autologous bio-artificial heart could solve these challenges. Biofabrication of a heart comprised of scaffold and cells is one option. A natural scaffold with tissue-specific composition as well as micro- and macro-architecture can be obtained by decellularizing hearts from humans or large animals such as pigs. Decellularization involves washing out cellular debris while preserving 3D extracellular matrix and vasculature and allowing &#34;cellularization&#34; at a later timepoint. Capitalizing on our novel finding that perfusion decellularization of complex organs is possible, we developed a more &#34;physiological&#34; method to decellularize non-transplantable human hearts by placing them inside a pressurized pouch, in an inverted orientation, under controlled pressure. The purpose of using a pressurized pouch is to create pressure gradients across the aortic valve to keep it closed and improve myocardial perfusion. Simultaneous assessment of flow dynamics and cellular debris removal during decellularization allowed us to monitor both fluid inflow and debris outflow, thereby generating a scaffold that can be used either for simple cardiac repair (e.g. as a patch or valve scaffold) or as a whole-organ scaffold.

This method enables decellularization of a complex solid organ using a simple protocol based on osmotic shock and perfusion of ionic detergent with minimal organ matrix disruption. It comprises a novel decellularization technique for human hearts inside a pressurized pouch with real-time monitoring of flow dynamics and cellular debris outflow.

거꾸로 방향 가압된 주머니 안에 전체 인간의 마음의 decellularization

The ultimate solution for patients with end-stage heart failure is organ transplant. But donor hearts are limited, immunosuppression is required, and ...

A Tripeptide-Stabilized Nanoemulsion of Oleic Acid

We describe a method to produce a nanoemulsion composed of an oleic acids-Pt(II) core and a lysine-tyrosine-phenylalanine (KYF) coating (KYF-Pt-NE). The KYF-Pt-NE encapsulates Pt(II) at 10 wt. %, has a diameter of 107 &#177; 27 nm and a negative surface charge. The KYF-Pt-NE is stable in water and in serum, and is biologically active. The conjugation of a fluorophore to KYF allows the synthesis of a fluorescent nanoemulsion that is suitable for biological imaging. The synthesis of the nanoemulsion is performed in an aqueous environment, and the KYF-Pt-NE forms via self-assembly of a short KYF peptide and an oleic acids-platinum(II) conjugate. The self-assembly process depends on the temperature of the solution, the molar ratio of the substrates, and the flow rate of the substrate addition. Crucial steps include maintaining the optimal stirring rate during the synthesis, permitting sufficient time for self-assembly, and pre-concentrating the nanoemulsion gradually in a centrifugal concentrator.

This protocol describes an efficient method to synthesize a nanoemulsion of an oleic acids-platinum(II) conjugate stabilized with a lysine-tyrosine-phenylalanine (KYF) tripeptide. The nanoemulsion forms under mild synthetic conditions via self-assembly of the KYF and the conjugate.

올레산의 Tripeptide 안정 Nanoemulsion

We describe a method to produce a nanoemulsion composed of an oleic acids-Pt(II) core and a lysine-tyrosine-phenylalanine (KYF) coating (KYF-Pt-NE). The ...

Isokinetic Robotic Device to Improve Test-Retest and Inter-Rater Reliability for Stretch Reflex Measurements in Stroke Patients with Spasticity

Measuring spasticity is important in treatment planning and determining efficacy after treatment. However, the current tool used in clinical settings has been shown to be limited in inter-rater reliability. One factor in this poor inter-rater reliability is the variability of passive motion while measuring the angle of catch (AoC) measurements. Therefore, an isokinetic device has been proposed to standardize the manual joint motion; however, the benefits of isokinetic motion for AoC measurements has not been tested in a standardized manner. This protocol investigates whether isokinetic motion itself can improve inter-rater reliability for AoC measurements. For this purpose, a robotic isokinetic device was developed that is combined with surface electromyography (EMG). Two conditions, manual and isokinetic motions, are compared with the standardized method to measure the angle and subjective feeling of catch. It is shown that in 17 stroke patients with mild elbow flexor spasticity, isokinetic motion improved the intraclass correlation coefficient (ICC) for inter-rater reliability of AoC measurements to 0.890 [95% confidence interval (CI): 0.685&#8211;0.961] by the EMG criteria, and 0.931 (95% CI: 0.791&#8211;0.978) by the torque criteria, from 0.788 (95% CI: 0.493&#8211;0.920) by manual motion. In conclusion, isokinetic motion itself can improve inter-rater reliability of AoC measurements in stroke patients with mild spasticity. Given that this system may provide greater standardized angle measurements and catch of feeling, it may be a good option for the evaluation of spasticity in a clinical setting.

Using a robotic isokinetic device with electromyography (EMG) measurements, this protocol illustrates that isokinetic motion itself can improve inter-rater reliability for the angle of catch measurements in stroke patients with mild elbow flexor spasticity.

경직성이 있는 뇌졸중 환자의 스트레치 반사 측정을 위한 테스트 재검사 및 평가자 간 신뢰성을 향상시키는 이소키네틱 로봇 장치

Measuring spasticity is important in treatment planning and determining efficacy after treatment. However, the current tool used in clinical settings has ...