Combination design of drive mechanism considering delay of surgical robot.

Surgical robots have contributed greatly to the development of minimally invasive surgery. However, these robots suffer from issues such as the looseness of wires acting as the robot's drive mechanism, and high maintenance cost. The objective of this study was to derive a combination of driving mechanisms other than wires that satisfies the required positional accuracy of a surgical robot. The robot operation trajectory was obtained using a virtual surgical simulator. Based on the operation trajectory obtained in the suture task experiment, the delay of each joint was virtually simulated, and the robot's position was calculated. The positions of the robot with and without delay were compared, and the drive mechanism combinations that satisfy the required positional accuracy were obtained. Thus, satisfactory accuracy was achieved when the alternative drive mechanism was properly placed.Clinical Relevance- This paper presents an accurate and low-maintenance surgical robot that uses few wires and alternative drive mechanisms.

Catching nano: Evaluating the fate and behaviour of nano-TiO2 in swimming pools through dynamic simulation modelling.

Engineered titanium dioxide nanoparticles (nano-TiO2) in consumer products such as sunscreens widely used by swimmers in aquatic settings have raised concerns about their potential adverse impact on ecosystems and human health due to their small size and unique physicochemical properties. Therefore, this research paper aims to investigate the fate and behaviour of nano-TiO2 from sunscreens in swimming pools using System Dynamics Modelling. The study developed a dynamic simulation model that considers various factors, including weather conditions, sunscreen and pool usage behaviour, filtration efficacy, pool maintenance, water chemistry, pool chemicals, and TiO2 concentration levels, which can affect exposure levels for different scenarios. The study considered non-linear interdependent relationships, feedback structures, and temporal changes and dealt with parameter uncertainties through Monte Carlo analyses. The results reveal that the regular use of sunscreen leads to nano-TiO2 concentrations ranging from 0.001 to 0.05 mg/L within a year, reflecting seasonal and pool usage variations. The study also found that changes in the weight percentage of TiO2 in the sunscreen formulation and the filtration duration per day are the most sensitive factors affecting TiO2 concentrations. Scenario analyses exploring different nano-TiO2 removal strategies suggested that one daily turnover is necessary for sufficient removal. Regular manual pool maintenance and monthly use of a pool clarifier are recommended for enhanced and accelerated removal without substantial additional costs. The study is novel in its integrated approach, combining empirical work with dynamic simulations, resulting in a novel approach to model the environmental fate and behaviour of nano-TiO2. The study makes important methodological contributions to the field and has initiated an interdisciplinary collaboration to create more accurate models. This study is of great significance as it presents a pioneering analysis of the impact of sunscreen properties, user behaviour, and environmental stressors on the fate and behaviour of nano-TiO2 in swimming pools.

Robotic sheath-flow probe electrospray ionization/mass spectrometry (sfPESI/MS): development of a touch sensor for samples in a multiwell plastic plate.

In the previous work, sheath-flow probe electrospray ionization (sfPESI) equipped with a touch sensor was developed for conducting samples. In this work, a capacitiance-sensitive touch sensor that can be applicable to samples prepared in a nonconducting plastic multiwell plate was developed. The radiofrequency with 5 kHz and 4.5 Vpp was applied to the metal substrate on which the plastic plate was placed. The probe tip stopped at the position where it touched the surface of the liquid solution prepared in the plastic multiwell plate by detecting the displacement current flowing through the capacitance of the circuit. By coupling a nondisposable sfPESI probe with a table-top 3-axis robot, consecutive analysis of peptides, proteins, drugs, and real samples was performed. The carry-over by the consecutive analyses was suppressed to minimal by cleansing the probe tip using the solvent of water/methanol/acetonitrile (1/1/1).

Effects of a nitrification inhibitor on nitrogen species in the soil and the yield and phosphorus uptake of maize.

Phosphorus (P) resource availability is declining and the efficiency of applied nutrients in agricultural soils is becoming increasingly important. This is especially true for P fertilizers from recycled materials, which often have low plant availability. Specific co-fertilization with ammonium can enhance P plant availability in soils amended with these P fertilizers, and thus the yield of plants. To investigate this effect, we performed a pot experiment with maize in slightly acidic soil (pH 6.9) with one water-soluble (triple superphosphate [TSP]) and two water-insoluble (sewage sludge-based and hyperphosphate [Hyp]) P fertilizers and an ammonium sulfate nitrate with or without a nitrification inhibitor (NI). The dry matter yield of maize was significantly increased by the NI with the Hyp (from 14.7 to 21.5 g/pot) and TSP (from 40.0 to 45.4 g/pot) treatments. Furthermore, P uptake was slightly increased in all three P treatments with the NI, but not significantly. Olsen-P extraction and P K-edge micro-X-ray absorption near-edge structure (XANES) spectroscopy showed that apatite-P of the water-insoluble P fertilizers mobilized during the plant growth period. In addition, novel nitrogen (N) K-edge micro-XANES spectroscopy and the Mogilevkina method showed that the application of an NI increased the fixation of ammonium in detectable hot spots in the soil. Thus, the delay in the nitrification process by the NI and the possible slow-release of temporarily fixed ammonium in the soil resulted in a high amount of plant available ammonium in the soil solution. This development probably decreases the rhizosphere pH due to release of H+ by plants during ammonium uptake, which mobilizes phosphorus in the amended soil and increases the dry matter yield of maize. This is especially important for water-insoluble apatite-based P fertilizers (conventional and recycled), which tend to have poor plant availability.

Point Analysis of Foods by Sheath-Flow Probe Electrospray Ionization/Mass Spectrometry (sfPESI/MS) Coupled with a Touch Sensor.

For quick, noninvasive, and high-sensitivity surface analysis of foods and agricultural products, a touch sensor was developed and applied to sheath-flow probe electrospray ionization/mass spectrometry (sfPESI/MS). Upon making contact with the sample, the probe stopped by detecting the current flowing through the circuit and analytes on the sample surface were extracted in the solvent preloaded in the plastic capillary. By lifting up the probe to the default position, an electrospray ionization mass spectrum of the sample was obtained. By scanning the sample stage using a programming tool, a point analysis of targeted positions of biological samples with a spot diameter of ≤0.3 mm was achieved. It took less than 10 s for one sample spot. This method was applied to various plants and animal tissues.

Combining diffusive gradients in thin films (DGT) and spectroscopic techniques for the determination of phosphorus species in soils.

A wide range of methods are used to estimate the plant-availability of soil phosphorus (P). Published research has shown that the diffusive gradients in thin films (DGT) technique has a superior correlation to plant-available P in soils compared to standard chemical extraction tests. In order to identify the plant-available soil P species, we combined DGT with infrared and P K- and L2,3-edge X-ray adsorption near-edge structure (XANES) spectroscopy. This was achieved by spectroscopically investigating the dried binding layer of DGT devices after soil deployment. All three spectroscopic methods were able to distinguish between different kinds of phosphates (poly-, trimeta-, pyro- and orthophosphate) on the DGT binding layer. However, infrared spectroscopy was most sensitive to distinguish between different types of adsorbed inorganic and organic phosphates. Furthermore, intermediates of the time-resolved hydrolysis of trimetaphosphate in soil could be analyzed.

Chemical characterisation, antibacterial activity, and (nano)silver transformation of commercial personal care products exposed to household greywater.

The objective of this study was to test the original speciation of silver (Ag) in eight different commercially available personal care products and investigate the chemical transformation of Ag during exposure to two types of synthetic greywater. The antimicrobial activity of the products was examined to determine the relationship between Ag content and speciation with the antibacterial functionality of the products. The Ag content of each product was quantified and X-ray absorption near-edge structure (XANES) analysis was used to investigate the initial speciation in the products and the changes occurring upon mixture with greywater. The results showed that the total Ag concentration in the products ranged from 17 to 30 mg kg-1, and was usually below the value reported on the label. Analyses revealed the complexity of Ag speciation in these products and highlighted the importance of characterisation studies to help elucidate the potential risks of nano-Ag in the environment. The antibacterial results confirmed that the antibacterial efficacy of the products depends on the concentration, form and speciation of Ag in the products, but is also significantly affected by product formulation. For instance, many of the products contained additional bactericidal ingredients, making it difficult to determine how much of the bactericidal effect was due directly to the Ag content/species. This paper offers some suggestions for standard methodologies to facilitate cross-comparison of potential risks across different studies and nano-enabled products.

Complementary Imaging of Silver Nanoparticle Interactions with Green Algae: Dark-Field Microscopy, Electron Microscopy, and Nanoscale Secondary Ion Mass Spectrometry.

Increasing consumer use of engineered nanomaterials has led to significantly increased efforts to understand their potential impact on the environment and living organisms. Currently, no individual technique can provide all the necessary information such as their size, distribution, and chemistry in complex biological systems. Consequently, there is a need to develop complementary instrumental imaging approaches that provide enhanced understanding of these "bio-nano" interactions to overcome the limitations of individual techniques. Here we used a multimodal imaging approach incorporating dark-field light microscopy, high-resolution electron microscopy, and nanoscale secondary ion mass spectrometry (NanoSIMS). The aim was to gain insight into the bio-nano interactions of surface-functionalized silver nanoparticles (Ag-NPs) with the green algae Raphidocelis subcapitata, by combining the fidelity, spatial resolution, and elemental identification offered by the three techniques, respectively. Each technique revealed that Ag-NPs interact with the green algae with a dependence on the size (10 nm vs 60 nm) and surface functionality (tannic acid vs branched polyethylenimine, bPEI) of the NPs. Dark-field light microscopy revealed the presence of strong light scatterers on the algal cell surface, and SEM imaging confirmed their nanoparticulate nature and localization at nanoscale resolution. NanoSIMS imaging confirmed their chemical identity as Ag, with the majority of signal concentrated at the cell surface. Furthermore, SEM and NanoSIMS provided evidence of 10 nm bPEI Ag-NP internalization at higher concentrations (40 µg/L), correlating with the highest toxicity observed from these NPs. This multimodal approach thus demonstrated an effective approach to complement dose-response studies in nano-(eco)-toxicological investigations.

Aging of Dissolved Copper and Copper-based Nanoparticles in Five Different Soils: Short-term Kinetics vs. Long-term Fate.

With the growing availability and use of copper-based nanomaterials (Cu-NMs), there is increasing concern regarding their release and potential impact on the environment. In this study, the short-term (≤5 d) aging profile and the long-term (135 d) speciation of dissolved Cu, copper oxide, and copper sulfide nanoparticles (CuO-NPs and CuS-NPs) were investigated in five different soils using X-ray absorption spectroscopy. Soil pH was found to strongly influence the short-term chemistry of the Cu-NMs added at 100 mg kg above background. Low pH soils promoted rapid dissolution of CuO-NPs that effectively aligned their behavior to that of dissolved Cu within 3 d. In higher pH soils, CuO-NPs persisted longer due to slower dissolution in the soil and resulted in contrasting short-term speciation compared with dissolved Cu, which formed copper hydroxides and carbonates that were reflective of the soil chemistry. Organic matter appeared to slow the dissolution process, but in the long term, the speciation of Cu added as dissolved Cu, CuO-NPs, and CuS-NPs were found to be same for each soil. The results imply that, in the short term, Cu-NMs may exhibit unique behavior in alkaline soils compared with their conventional forms (e.g., in the event of an adverse leaching event), but in the long term (≥135 d), their fates are dictated by the soil properties, are independent of the initial Cu form, and are likely to present minimal risk of nanospecific Cu-NM impact in the soil environment for the concentration studied here.

Silver Nanoparticles Entering Soils via the Wastewater-Sludge-Soil Pathway Pose Low Risk to Plants but Elevated Cl Concentrations Increase Ag Bioavailability.

The widespread use of silver nanoparticles (Ag-NPs) results in their movement into wastewater treatment facilities and subsequently to agricultural soils via application of contaminated sludge. On-route, the chemical properties of Ag may change, and further alterations are possible upon entry to soil. In the present study, we examined the long-term stability and (bio)availability of Ag along the "wastewater-sludge-soil" pathway. Synchrotron-based X-ray absorption spectroscopy (XAS) revealed that ca. 99% of Ag added to the sludge reactors as either Ag-NPs or AgNO3 was retained in sludge, with ≥79% of this being transformed to Ag2S, with the majority (≥87%) remaining in this form even after introduction to soils at various pH values and Cl concentrations for up to 400 days. Diffusive gradients in thin films (DGT), chemical extraction, and plant uptake experiments indicated that the potential (bio)availability of Ag in soil was low but increased markedly in soils with elevated Cl, likely due to the formation of soluble AgClx complexes in the soil solution. Although high Cl concentrations increased the bioavailability of Ag markedly, plant growth was not reduced in any treatment. Our results indicate that Ag-NPs entering soils through the wastewater-sludge-soil pathway pose low risk to plants due to their conversion to Ag2S in the wastewater treatment process, although bioavailability may increase in saline soils or when irrigated with high-Cl water.

Thermal Treatment of Chromium(III) Oxide with Carbonates Analyzed by Far-Infrared Spectroscopy.

The chemical state of thermochemically treated chromium(III) oxide (Cr2O3) with various carbonates was analyzed by far-infrared (far-IR) spectroscopy (spectral region 700-25 cm(-1)). Non-toxic Cr2O3 was oxidized with potassium, sodium, and calcium carbonate, respectively, to toxic Cr(VI) and Cr(V) compounds during thermal treatment at 1000 °C. In reverse, thermochemical treatment of Cr2O3 with magnesium carbonate lead to the formation of the Cr(III) compound MgCr2O4. Higher temperatures (>1200 °C) or reducing atmospheric conditions prevent the formation of Cr(VI)/Cr(V) compounds, too. Additionally, it was found that polyethylene powder with a low particle size (<70 µm) is favorable for the collection of good far-IR spectra of inorganic powders.

Fate of zinc and silver engineered nanoparticles in sewerage networks.

Engineered zinc oxide (ZnO) and silver (Ag) nanoparticles (NPs) used in consumer products are largely released into the environment through the wastewater stream. Limited information is available regarding the transformations they undergo during their transit through sewerage systems before reaching wastewater treatment plants. To address this knowledge gap, laboratory-scale systems fed with raw wastewater were used to evaluate the transformation of ZnO- and Ag-NPs within sewerage transfer networks. Two experimental systems were established and spiked with either Ag- and ZnO-NPs or with their dissolved salts, and the wastewater influent and effluent samples from both systems were thoroughly characterised. X-ray absorption spectroscopy (XAS) was used to assess the extent of the chemical transformation of both forms of Zn and Ag during transport through the model systems. The results indicated that both ZnO- and Ag-NPs underwent significant transformation during their transport through the sewerage network. Reduced sulphur species represented the most important endpoint for these NPs in the sewer with slight differences in terms of speciation; ZnO converted largely to Zn sulfide, while Ag was also sorbed to cysteine and histidine. Importantly, both ionic Ag and Ag-NPs formed secondary Ag sulfide nanoparticles in the sewerage network as revealed by TEM analysis. Ag-cysteine was also shown to be a major species in biofilms. These results were verified in the field using recently developed nanoparticle in situ deployment devices (nIDDs) which were exposed directly to sewerage network conditions by immersing them into a municipal wastewater network trunk sewer and then retrieving them for XAS analysis.

Quantifying the adsorption of ionic silver and functionalized nanoparticles during ecotoxicity testing: Test container effects and recommendations.

Silver nanoparticles (Ag-NPs) are used in a wide variety of products, prompting concerns regarding their potential environmental impacts. To accurately determine the toxicity of Ag-NPs it is necessary to differentiate between the toxicity of the nanoparticles themselves and the toxicity of ionic silver (Ag) released from them. This is not a trivial task given the reactive nature of Ag in solution, and its propensity for both adsorption and photoreduction. In the experiments reported here, we quantified the loss of silver from test solutions during standard ecotoxicity testing conducted using a variety of different test container materials and geometries. This sensitive (110m)Ag isotope tracing method revealed a substantial underestimation of the toxicity of dissolved Ag to the green algae Pseudokirchneriella subcapitata when calculated only on the basis of the initial test concentrations. Furthermore, experiments with surface-functionalized Ag-NPs under standard algal growth inhibition test conditions also demonstrated extensive losses of Ag-NPs from the solution due to adsorption to the container walls, and the extent of loss was dependent on Ag-NP surface-functionality. These results hold important messages for researchers engaged in both environmental and human nanotoxicology testing, not only for Ag-NPs but also for other NPs with various tailored surface chemistries, where these phenomena are recognized but are also frequently disregarded in the experimental design and reporting.

Silver sulfide nanoparticles (Ag2S-NPs) are taken up by plants and are phytotoxic.

Silver nanoparticles (NPs) are used in more consumer products than any other nanomaterial and their release into the environment is unavoidable. Of primary concern is the wastewater stream in which most silver NPs are transformed to silver sulfide NPs (Ag2S-NPs) before being applied to agricultural soils within biosolids. While Ag2S-NPs are assumed to be biologically inert, nothing is known of their effects on terrestrial plants. The phytotoxicity of Ag and its accumulation was examined in short-term (24 h) and longer-term (2-week) solution culture experiments with cowpea (Vigna unguiculata L. Walp.) and wheat (Triticum aestivum L.) exposed to Ag2S-NPs (0-20 mg Ag L(-1)), metallic Ag-NPs (0-1.6 mg Ag L(-1)), or ionic Ag (AgNO3; 0-0.086 mg Ag L(-1)). Although not inducing any effects during 24-h exposure, Ag2S-NPs reduced growth by up to 52% over a 2-week period. This toxicity did not result from their dissolution and release of toxic Ag(+) in the rooting medium, with soluble Ag concentrations remaining below 0.001 mg Ag L(-1). Rather, Ag accumulated as Ag2S in the root and shoot tissues when plants were exposed to Ag2S-NPs, consistent with their direct uptake. Importantly, this differed from the form of Ag present in tissues of plants exposed to AgNO3. For the first time, our findings have shown that Ag2S-NPs exert toxic effects through their direct accumulation in terrestrial plant tissues. These findings need to be considered to ensure high yield of food crops, and to avoid increasing Ag in the food chain.

In situ chemical transformations of silver nanoparticles along the water-sediment continuum.

In order to accurately assess the potential environmental risk posed by silver nanoparticles (Ag-NPs), their transformation and fate must be investigated in natural systems. This has proven to be very challenging due to the difficulties encountered in retrieving/analyzing NPs dispersed in complex and heterogeneous environmental matrices at relevant (i.e., low) concentrations. In this study, we overcame this challenge by immobilizing functionalized Ag-NPs onto plasma polymerized solid substrates to form "nano in situ deployment devices" (nIDDs). This method allowed us to retrieve and analyze the Ag-NPs after 48 h of direct exposure in freshwater-sediment and saltwater-sediment environments. The type and extent of Ag-NPs transformation was expected to vary along the water-sediment continuum as sediments typically contain steep gradients in solute concentrations and redox potential. To trace the distribution of redox sensitive elements (e.g., Fe, Mn), Diffusive Equilibration in Thin-films (DET) devices were inserted into the sediments alongside the nIDDs. Chemical transformation of the immobilized Ag-NPs across the water-sediment continuum was investigated after retrieval by synchrotron radiation X-ray Absorption Spectroscopy. Linear combination fitting of Ag K-edge X-ray absorption spectra indicated that the chemical transformations of Ag-NPs in both freshwater and saltwater sediments were strongly affected by the redox conditions over the investigated range. Silver bound to reduced sulfur was the principal product of Ag-NP transformations but different extents of transformation were observed for Ag-NPs exposed to different depths in the sediment. These field results add important insights about the transformation of Ag-NPs in heterogeneous environments.

Bio-sensing with butterfly wings: naturally occurring nano-structures for SERS-based malaria parasite detection.

Surface enhanced Raman scattering (SERS) is a powerful tool with great potential to provide improved bio-sensing capabilities. The current 'gold-standard' method for diagnosis of malaria involves visual inspection of blood smears using light microscopy, which is time consuming and can prevent early diagnosis of the disease. We present a novel surface-enhanced Raman spectroscopy substrate based on gold-coated butterfly wings, which enabled detection of malarial hemozoin pigment within lysed blood samples containing 0.005% and 0.0005% infected red blood cells.

Silver speciation and release in commercial antimicrobial textiles as influenced by washing.

The use of nanoscale Ag in textiles is one the most often mentioned uses of nano-Ag. It has previously been shown that significant amounts of the Ag in the textiles are released upon washing. However, the form of Ag present in the textiles remains largely unknown as product labelling is insufficient. The aim of this study was therefore to investigate the solid phase speciation of Ag in original and washed silver textiles using XANES. The original Ag speciation in the textiles was found to vary greatly between different materials with Ag(0), AgCl, Ag2S, Ag-phosphate, ionic Ag and other species identified. Furthermore, within the same textile a number of different species were found to coexist. This is likely due to a combination of factors such as the synthesis processes at industrial scale and the possible reaction of Ag with atmospheric gases. Washing with two different detergents resulted in marked changes in Ag-speciation. For some textiles the two detergents induced similar transformation, in other textiles they resulted in very different Ag species. This study demonstrates that in functional Ag textiles a variety of different Ag species coexist before and after washing. These results have important implications for the risk assessment of Ag textiles because they show that the metallic Ag is only one of the many silver species that need to be considered.

Molecular characterization of DNA double strand breaks with tip-enhanced Raman scattering.

DNA double strand breaks (DSBs) are deadly lesions that can lead to genetic defects and cell apoptosis. Techniques that directly detect DNA DSBs include scanning electron microscopy, atomic force microscopy (AFM), and fluorescence based approaches. While these techniques can be used to identify DSBs they provide no information on the molecular events occurring at the break. Tip-enhanced Raman scattering (TERS) can provide molecular information from DNA at the nanoscale and in combination with AFM provides a new way to visualize and characterize the molecular structure of DSBs. DSBs result from cleavage at the 3'- and 5'-bonds of deoxyribose upon exposure to UVC radiation based on the observation of POH and methyl/methylene deformation modes enhanced in the TERS spectra. It is hypothesized that strand fragments are hydrogen-terminated at the lesion, indicating the action of free radicals during photon exposure.

Determination of phosphorus fertilizer soil reactions by Raman and synchrotron infrared microspectroscopy.

The reaction mechanisms of phosphate-bearing mineral phases from sewage sludge ash-based fertilizers in soil were determined by Raman and synchrotron infrared microspectroscopy. Different reaction mechanisms in wet soil were found for calcium and magnesium (pyro-) phosphates. Calcium orthophosphates were converted over time to hydroxyapatite. Conversely, different magnesium phosphates were transformed to trimagnesium phosphate. Since the magnesium phosphates are unable to form an apatite structure, the plant-available phosphorus remains in the soil, leading to better growth results observed in agricultural pot experiments. The pyrophosphates also reacted very differently. Calcium pyrophosphate is unreactive in soil. In contrast, magnesium pyrophosphate quickly formed plant-available dimagnesium phosphate.

Surface immobilization of engineered nanomaterials for in situ study of their environmental transformations and fate.

The transformation and environmental fate of engineered nanomaterials (ENMs) is the focus of intense research due to concerns about their potential impacts in the environment as a result of their uniquely engineered properties. Many approaches are being applied to investigate the complex interactions and transformation processes ENMs may undergo in aqueous and terrestrial environments. However, major challenges remain due to the difficulties in detecting, separating, and analyzing ENMs from environmental matrices. In this work, a novel technique capable of in situ study of ENMs is presented. By exploiting the functional interactions between surface modified silver nanoparticles (AgNPs) and plasma-deposited polymer films, AgNPs were immobilized on to solid supports that can be deployed in the field and retrieved for analysis. Either negatively charged citrate or polyethylene glycol, or positively charged polyethyleneimine were used to cap the AgNPs, which were deployed in two field sites (lake and marina), two standard ecotoxicity media, and in primary sewage sludge for a period of up to 48 h. The chemical and physical transformations of AgNPs after exposure to different environments were analyzed by a combination of XAS and SEM/EDX, taken directly from the substrates. Cystine- or glutathione-bound Ag were found to be the dominant forms of Ag in transformed ENMs, but different extents of transformation were observed across different exposure conditions and surface charges. These results successfully demonstrate the feasibility of using immobilized ENMs to examine their likely transformations in situ in real environments and provide further insight into the short-term fate of AgNPs in the environment. Both the advantages and the limitations of this approach are discussed.