Impact of optical navigation variables on the accuracy of robot-assisted surgery: a study of the TIANJI Robot system.

This study aims to explore factors related to optical navigation that interfere with the accuracy of robot-assisted surgery, specifically focusing on the TIANJI Robot system. A measurement model was created to assess the accuracy of the TIANJI Robot system in simulated screw placement. Deviation between actual and planned positions was measured using a three-coordinate machine. Various experiments were conducted to investigate the impact of different optical navigation factors on screw placement accuracy. Deviations were measured at different distances (ranging from 1.2 to 2.2 m) between the optical navigation stereo camera and the tracker, with each distance being tested 50 times. The distance between the optical camera and patient tracker was set at 1.4 m. Deviations were also measured at different angles between the camera and robot tracker, repeated over 25 times for each angle. Data were analyzed using mean and standard deviation, with line charts illustrating deviation changes based on distance and angle details. Within the range of the TIANJI Robot system's optical navigation (1.2-2.2 m), deviation increased as distance increased (χ2 = 479.107, P < 0.001). The robotic system demonstrated high and consistent accuracy (mean deviation: 0.332 mm ± 0.067 mm) when the relative angle between the optical camera and tracker was below 40°. The accuracy of the TIANJI Robot system was found to be influenced by relative distance and angle between the optical camera and tracker during screw placement procedures. Surgeons are recommended to set a relative distance of 1.4-1.5 m between the optical camera and patient tracker, with a relative angle below 40° when placing and adjusting optical tracking devices.

Multi-level chemical characterization and anti-inflammatory activity evaluation of the polysaccharides from Prunella vulgaris.

Prunella vulgaris (PV) is a medicine and food homologous plant, but its quality evaluation seldom relies on the polysaccharides (PVPs). In this work, we established the multi-level fingerprinting and in vitro anti-inflammatory evaluation approaches to characterize and compare the polysaccharides of P. vulgaris collected from the major production regions in China. PVPs prepared from 22 batches of samples gave the content variation of 5.76-24.524 mg/g, but displayed high similarity in the molecular weight distribution. Hydrolyzed oligosaccharides with degrees of polymerization 2-14 were characterized with different numbers of pentose and hexose by HILIC-MS. The tested 22 batches of oligosaccharides exhibited visible differences in peak abundance, which failed to corelate to their production regions. All the PVPs contained Gal, Xyl, and Ara, as the main monosaccharides. Eleven batches among the tested PVPs showed the significant inhibitory effects on NO production on LPS-induced RAW264.7 cells at 10 µg/mL, but the exerted efficacy did not exhibit correlation with the production regions. Conclusively, we, for the first time, investigated the chemical features of PVPs at three levels, and assessed the chemical and anti-inflammatory variations among the different regions of P. vulgaris samples.