High bunch charge low-energy electron streak diffraction.

For time-resolved diffraction studies of irreversible structural dynamics upon photoexcitation, there are constraints on the number of perturbation cycles due to thermal effects and accumulated strain, which impact the degree of crystal order and spatial resolution. This problem is exasperated for surface studies that are more prone to disordering and defect formation. Ultrafast electron diffraction studies of these systems, with the conventional stroboscopic pump-probe protocol, require repetitive measurements on well-prepared diffraction samples to acquire and average signals above background in the dynamic range of interest from few tens to hundreds of picoseconds. Here, we present ultrafast streaked low-energy electron diffraction (LEED) that demands, in principle, only a single excitation per nominal data acquisition timeframe. By exploiting the space-time correlation characteristics of the streaking method and high-charge 2 keV electron bunches in the transmission geometry, we demonstrate about one order of magnitude reduction in the accumulated number of the excitation cycles and total electron dose, and 48% decrease in the root mean square error of the model fit residual compared to the conventional time-scanning measurement. We believe that our results demonstrate a viable alternative method with higher sensitivity to that of nanotip-based ultrafast LEED studies relying on a few electrons per a single excitation, to access to all classes of structural dynamics to provide an atomic level view of surface processes.

Hyperspectral Image Data and Waveband Indexing Methods to Estimate Nutrient Concentration on Lettuce (Lactuca sativa L.) Cultivars.

Lettuce is an important vegetable in the human diet and is commonly consumed for salad. It is a source of vitamin A, which plays a vital role in human health. Improvements in lettuce production will be needed to ensure a stable and economically available supply in the future. The influence of nitrogen (N), phosphorus (P), and potassium (K) compounds on the growth dynamics of four hydroponically grown lettuce (Lactuca sativa L.) cultivars (Black Seeded Simpson, Parris Island, Rex RZ, and Tacitus) in tubs and in a nutrient film technique (NFT) system were studied. Hyperspectral images (HSI) were captured at plant harvest. Models developed from the HSI data were used to estimate nutrient levels of leaf tissues by employing principal component analysis (PCA), partial least squares regression (PLSR), multivariate regression, and variable importance projection (VIP) methods. The optimal wavebands were found in six regions, including 390.57-438.02, 497-550, 551-600, 681.34-774, 802-821, and 822-838 nm for tub-grown lettuces and four regions, namely 390.57-438.02, 497-550, 551-600, and 681.34-774 nm for NFT-system-grown lettuces. These fitted models' levels showed high accuracy (R2=0.85-0.99) in estimating the growth dynamics of the studied lettuce cultivars in terms of nutrient content. HSI data of the lettuce leaves and applied N solutions demonstrated a direct positive correlation with an accuracy of 0.82-0.99 for blue and green regions in 400-575 nm wavebands. The results proved that, in most of the tested multivariate regression models, HSI data of freshly cut leaves correlated well with laboratory-measured data.

Head-mounted interface for intuitive vision control and continuous surgical operation in a surgical robot system.

Although robot-assisted surgeries offer various advantages, the discontinuous surgical operation flow resulting from switching the control between the patient-side manipulators and the endoscopic robot arm can be improved to enhance the efficiency further. Therefore, in this study, a head-mounted master interface (HMI) that can be implemented to an existing surgical robot system and allows continuous surgical operation flow using the head motion is proposed. The proposed system includes an HMI, a four degrees of freedom endoscope control system, a simple three-dimensional endoscope, and a da Vinci Research Kit. Eight volunteers performed seven head movements and their data from HMI was collected to perform support vector machine (SVM) classification. Further, ten-fold cross-validation was performed to optimize its parameters. Using the ten-fold cross-validation result, the SVM classifier with the Gaussian kernel (σ = 0.85) was chosen, which had an accuracy of 92.28%. An endoscopic control algorithm was developed using the SVM classification result. A peg transfer task was conducted to check the time-related effect of HMI's usability on the system, and the paired t test result showed that the task completion time was reduced. Further, the time delay of the system was measured to be 0.72 s. Graphical abstract A head-mounted master interface (HMI), which can be implemented to an existing surgical robot system, was developed to allow simultaneous surgical operation flow. The surgeon's head motion is detected through the proposed HMI and classified using a support vector machine to manipulate the endoscopic robotic arm. A classification accuracy of 92.28% was achieved.

Development of stereo endoscope system with its innovative master interface for continuous surgical operation.

BACKGROUND: Although robotic laparoscopic surgery has various benefits when compared with conventional open surgery and minimally invasive surgery, it also has issues to overcome and one of the issues is the discontinuous surgical flow that occurs whenever control is swapped between the endoscope system and the operating robot arm system. This can lead to problems such as collision between surgical instruments, injury to patients, and increased operation time. To achieve continuous surgical operation, a wireless controllable stereo endoscope system is proposed which enables the simultaneous control of the operating robot arm system and the endoscope system. METHODS: The proposed system consists of two improved novel master interfaces (iNMIs), a four-degrees of freedom (4-DOFs) endoscope control system (ECS), and a simple three-dimensional (3D) endoscope. In order to simultaneously control the proposed system and patient side manipulators of da Vinci research kit (dVRK), the iNMIs are installed to the master tool manipulators of dVRK system. The 4-DOFs ECS consists of four servo motors and employs a two-parallel link structure to provide translational and fulcrum point motion to the simple 3D endoscope. The images acquired by the endoscope undergo stereo calibration and rectification to provide a clear 3D vision to the surgeon as available in clinically used da Vinci surgical robot systems. Tests designed to verify the accuracy, data transfer time, and power consumption of the iNMIs were performed. The workspace was calculated to estimate clinical applicability and a modified peg transfer task was conducted with three novice volunteers. RESULTS: The iNMIs operated for 317 min and moved in accordance with the surgeon's desire with a mean latency of 5 ms. The workspace was calculated to be 20378.3 cm3, which exceeds the reference workspace of 549.5 cm3. The novice volunteers were able to successfully execute the modified peg transfer task designed to evaluate the proposed system's overall performance. CONCLUSIONS: The experimental results verify that the proposed 3D endoscope system enables continuous surgical flow. The workspace is suitable for the performance of numerous types of surgeries. Therefore, the proposed system is expected to provide much higher safety and efficacy for current surgical robot systems.

Time-averaged simulated microgravity (taSMG) inhibits proliferation of lymphoma cells, L-540 and HDLM-2, using a 3D clinostat.

BACKGROUND: Gravity is omnipresent on Earth; however, humans in space, such as astronauts at the International Space Station, experience microgravity. Long-term exposure to microgravity is considered to elicit physiological changes, such as muscle atrophy, in the human body. In addition, certain types of cancer cells demonstrate inhibited proliferation under condition of time-averaged simulated microgravity (taSMG). However, the response of human Hodgkin's lymphoma cancer cells to reduced gravity, and the associated physiological changes in these cells, have not been elucidated. METHODS: In this study, the proliferation of human Hodgkin's lymphoma cancer cells (L-540 and HDLM-2) under taSMG condition (<10-3 G, 1 G is defined as 9.8 m/s2) was studied using a 3D clinostat. Normal human dermal fibroblast (HDF) was proliferated in the same condition as a control group. For the development of 3D clinostat, two motors were used to actuate the frames. Electrical wires for power supply and communication were connected via slip ring. For symmetrical path of gravitational vector, optimal angular velocities of the motors were found using simulation results. Under the condition of taSMG implemented by the 3D clinostat, proliferation of the cells was observed for 3 days. RESULTS: The results indicated that proliferation of these cancer cells was significantly (p < 0.0005) inhibited under taSMG, whereas proliferation of normal HDF cells was not affected. CONCLUSIONS: Findings in this study could be significantly valuable in developing novel strategies for selective killing of cancer cells such as lymphoma.

Real-time tidal volume feedback guides optimal ventilation during simulated CPR.

PURPOSE: We performed this study to investigate whether real-time tidal volume feedback increases optimal ventilation and decreases hyperventilation during manikin-simulated cardiopulmonary resuscitation (CPR). BASIC PROCEDURES: We developed a new real-time tidal volume monitoring device (TVD) which estimated tidal volume in real time using a magnetic flowmeter. The TVD was validated with a volume-controlled mechanical ventilator with various tidal volumes. We conducted a randomized, crossover, manikin-simulation study in which 14 participants were randomly divided into a control (without tidal volume feedback, n = 7) and a TVD group (with real-time tidal volume feedback, n = 7) and underwent manikin simulation. The optimal ventilation was defined as 420-490 mL of tidal volumes for a 70-kg adult manikin. After 2 weeks of the washout period, the simulation was repeated via the participants' crossover. MAIN FINDINGS: In the validation study, 97.6% and 100% of the difference ratios in tidal volumes between the mechanical ventilator and TVD were within ±1.5% and ±2.5%, respectively. During manikin-simulated CPR, TVD use increased the proportion of optimal ventilation per person. Its median values (range) of the control group and the TVD group were 37.5% (0.0-65.0) and 87.5% (65.0-100.0), respectively, P < .001). TVD use also decreased hyperventilation. The proportions of hyperventilation in the control group and the TVD group were 25.0% vs 8.9%, respectively (P < .001). PRINCIPAL CONCLUSIONS: Real-time tidal volume feedback using the new TVD guided the rescuers to provide optimal ventilation and to avoid hyperventilation during manikin-simulated CPR.

Measurement of transverse emittance and coherence of double-gate field emitter array cathodes.

Achieving small transverse beam emittance is important for high brightness cathodes for free electron lasers and electron diffraction and imaging experiments. Double-gate field emitter arrays with on-chip focussing electrode, operating with electrical switching or near infrared laser excitation, have been studied as cathodes that are competitive with photocathodes excited by ultraviolet lasers, but the experimental demonstration of the low emittance has been elusive. Here we demonstrate this for a field emitter array with an optimized double-gate structure by directly measuring the beam characteristics. Further we show the successful application of the double-gate field emitter array to observe the low-energy electron beam diffraction from suspended graphene in minimal setup. The observed low emittance and long coherence length are in good agreement with theory. These results demonstrate that our all-metal double-gate field emitters are highly promising for applications that demand extremely low-electron bunch-phase space volume and large transverse coherence.

Fabrication of three-dimensional scan-to-print ear model for microtia reconstruction.

BACKGROUND: Microtia is a congenital deformity of the external ear that occurs in 1 of every 5000 births. Microtia reconstruction using traditional two-dimensional templates does not provide highly detailed ear shapes. Here, we describe the feasibility of using a three-dimensional (3D) ear model as a reference. MATERIALS AND METHODS: Seven children aged from 11 to 16 (6 grade III and 1 grade II microtia) were recruited from Seoul National University Children's Hospital, Korea. We generated 3D-computer-aided design models of each patient's ear by performing 3D laser scanning for a mirror-transformed cast of their normal ear. The 3D-printed ear model was used in microtia reconstruction surgery following the Nagata technique, and its shape was compared with the casted ear model. RESULTS: One patient experienced irritation caused by accidently pouring resin into the external auditory meatus, and another had minor skin necrosis; both complications were successfully treated. The average percentage differences of the superior, inferior, anterior, posterior, and lateral views between the casted and 3D-printed ear models were 1.17%, 1.48%, 1.64%, 1.80%, and 5.44%, respectively (average: 2.31%), where the difference between the casted ear models and traditional two-dimensional templates were 16.03% in average. CONCLUSIONS: Our results show that simple microtia reconstruction can be performed using 3D ear models. The 3D-printed ear models of each patient were consistent and accurately represented the thickness, depth, and height of the normal ear. The availability of the 3D-printed ear model in the operating room reduced the amount of unnecessary work during surgery.

A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stick.

BACKGROUND: Robot-assisted laparoscopic surgery offers several advantages compared with open surgery and conventional minimally invasive surgery. However, one issue that needs to be resolved is a collision between the robot arm and the assistant instrument. This is mostly caused by miscommunication between the surgeon and the assistant. To resolve this limitation, an assistant surgical robot system that can be simultaneously manipulated via a wireless controller is proposed to allow the surgeon to control the assistant instrument. METHODS: The system comprises two novel master interfaces (NMIs), a surgical instrument with a gripper actuated by a micromotor, and 6-axis robot arm. Two NMIs are attached to master tool manipulators of da Vinci research kit (dVRK) to control the proposed system simultaneously with patient side manipulators of dVRK. The developments of the surgical instrument and NMI are based on surgical-operation-by-wire concept and hands-on-throttle-and-stick concept from the earlier research, respectively. Tests for checking the accuracy, latency, and power consumption of the NMI are performed. The gripping force, reaction time, and durability are assessed to validate the surgical instrument. The workspace is calculated for estimating the clinical applicability. A simple peg task using the fundamentals of laparoscopic surgery board and an in vitro test are executed with three novice volunteers. RESULTS: The NMI was operated for 185 min and reflected the surgeon's decision successfully with a mean latency of 132 ms. The gripping force of the surgical instrument was comparable to that of conventional systems and was consistent even after 1000 times of gripping motion. The reaction time was 0.4 s. The workspace was calculated to be 8397.4 cm(3). Recruited volunteers were able to execute the simple peg task within the cut-off time and successfully performed the in vitro test without any collision. CONCLUSIONS: Various experiments were conducted and it is verified that the proposed assistant surgical robot system enables collision-free and simultaneous operation of the dVRK's robot arm and the proposed assistant robot arm. The workspace is appropriate for the performance of various kinds of surgeries. Therefore, the proposed system is expected to provide higher safety and effectiveness for the current surgical robot system.

Computational Discrimination of Breast Cancer for Korean Women Based on Epidemiologic Data Only.

Breast cancer is the second leading cancer for Korean women and its incidence rate has been increasing annually. If early diagnosis were implemented with epidemiologic data, the women could easily assess breast cancer risk using internet. National Cancer Institute in the United States has released a Web-based Breast Cancer Risk Assessment Tool based on Gail model. However, it is inapplicable directly to Korean women since breast cancer risk is dependent on race. Also, it shows low accuracy (58%-59%). In this study, breast cancer discrimination models for Korean women are developed using only epidemiological case-control data (n = 4,574). The models are configured by different classification techniques: support vector machine, artificial neural network, and Bayesian network. A 1,000-time repeated random sub-sampling validation is performed for diverse parameter conditions, respectively. The performance is evaluated and compared as an area under the receiver operating characteristic curve (AUC). According to age group and classification techniques, AUC, accuracy, sensitivity, specificity, and calculation time of all models were calculated and compared. Although the support vector machine took the longest calculation time, the highest classification performance has been achieved in the case of women older than 50 yr (AUC = 64%). The proposed model is dependent on demographic characteristics, reproductive factors, and lifestyle habits without using any clinical or genetic test. It is expected that the model could be implemented as a web-based discrimination tool for breast cancer. This tool can encourage potential breast cancer prone women to go the hospital for diagnostic tests.

A grip force model for the da Vinci end-effector to predict a compensation force.

A torque transfer system (TTS) that measures grip forces is developed to resolve a potential drawback of the current da Vinci robot system whose grip forces vary according to the different postures of its EndoWrist. A preliminary model of EndoWrist Inner Mechanism Model (EIMM) is also developed and validated with real grip force measurements. EndoWrist's grip forces, posture angles, and transferred torque are measured by using TTS. The mean measured grip forces of three different EndoWrist for 27 different postures were very diverse. The EndoWrist exerted different grip forces, with a minimum of 1.84-times more and a maximum of 3.37-times more in specific posture even if the surgeon exerted the same amount of force. Using the posture angles as input and the grip forces as output, the EIMM is constructed. Then, expected grip force values obtained from EIMM are compared with actual measurements of da Vinci EndoWrist to validate the proposed model. From these results, surgeons will be beneficial with the understandings of actual grip force being applied to tissue and mechanical properties of robotic system. The EIMM could provide a baseline in designing a force-feedback system for surgical robot. These are significantly important to prevent serious injury by maintaining a proper force to tissue.

Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire.

BACKGROUND: Although minimally invasive surgery (MIS) affords several advantages compared to conventional open surgery, robotic MIS systems still have many limitations. One of the limitations is the non-uniform gripping force due to mechanical strings of the existing systems. To overcome this limitation, a surgical instrument with a pneumatic gripping system consisting of a compressor, catheter balloon, micro motor, and other parts is developed. METHOD: This study aims to implement a surgical instrument with a pneumatic gripping system and pitching/yawing joints using micro motors and without mechanical strings based on the surgical-operation-by-wire (SOBW) concept. A 6-axis external arm for increasing degrees of freedom (DOFs) is integrated with the surgical instrument using LabVIEW® for laparoscopic procedures. The gripping force is measured over a wide range of pressures and compared with the simulated ideal step function. Furthermore, a kinematic analysis is conducted. To validate and evaluate the system's clinical applicability, a simple peg task experiment and workspace identification experiment are performed with five novice volunteers using the fundamentals of laparoscopic surgery (FLS) board kit. The master interface of the proposed system employs the hands-on-throttle-and-stick (HOTAS) controller used in aerospace engineering. To develop an improved HOTAS (iHOTAS) controller, 6-axis force/torque sensor was integrated in the special housing. RESULTS: The mean gripping force (after 1,000 repetitions) at a pressure of 0.3 MPa was measured to be 5.8 N. The reaction time was found to be 0.4 s, which is almost real-time. All novice volunteers could complete the simple peg task within a mean time of 176 s, and none of them exceeded the 300 s cut-off time. The system's workspace was calculated to be 11,157.0 cm3. CONCLUSIONS: The proposed pneumatic gripping system provides a force consistent with that of other robotic MIS systems. It provides near real-time control. It is more durable than the existing other surgical robot systems. Its workspace is sufficient for clinical surgery. Therefore, the proposed system is expected to be widely used for laparoscopic robotic surgery. This research using iHOTAS will be applied to the tactile force feedback system for surgeon's safe operation.

Two-dimensional hyper-branched gold nanoparticles synthesized on a two-dimensional oil/water interface.

Two-dimensional (2D) gold nanoparticles can possess novel physical and chemical properties, which will greatly expand the utility of gold nanoparticles in a wide variety of applications ranging from catalysis to biomedicine. However, colloidal synthesis of such particles generally requires sophisticated synthetic techniques to carefully guide anisotropic growth. Here we report that 2D hyper-branched gold nanoparticles in the lateral size range of about 50 ~ 120 nm can be synthesized selectively on a 2D immiscible oil/water interface in a few minutes at room temperature without structure-directing agents. An oleic acid/water interface can provide diffusion-controlled growth conditions, leading to the structural evolution of a smaller gold nucleus to 2D nanodendrimer and nanourchin at the interface. Simulations based on the phase field crystal model match well with experimental observations on the 2D branching of the nucleus, which occurs at the early stage of growth. Branching results in higher surface area and stronger near-field enhancement of 2D gold nanoparticles. This interfacial synthesis can be scaled up by creating an emulsion and the recovery of oleic acid is also achievable by centrifugation.

Surface-enhanced Raman scattering-based detection of molecules in an aqueous solution via lipid-modified gold nanorods.

Transport of molecules and ions across cellular membranes is a fundamental process in biology. Visualization of such transport is an essential element toward a better understanding of how incoming molecules or ions interact with cellular membranes and diffuse into cytoplasm. However, detection techniques for this purpose have not been explored yet. Here we propose an innovative label-free detection technique that, in principle, permits real-time visualization of molecules across a cellular membrane. Lipid-modified gold nanorods (GNRs) in aqueous solution are exploited as nanoprobes for surface-enhanced Raman scattering (SERS)-based detection of neighboring molecules. For this purpose, the surfaces of as-synthesized GNRs were modified with a variety of phospholipids (DOPC, POPC, and DPPC, respectively) by extraction-based ligand exchange. The lipid-modified GNRs were characterized by transmission electron microscopy (TEM), UV-vis spectroscopy, and zeta potential measurement. As a proof-of-concept, SERS measurement of R6G with the lipid-modified GNRs was carried out. The limit of detection was found to be around 100 nM.

Interfacial liquid-state surface-enhanced Raman spectroscopy.

Oriented assemblies of functional nanoparticles, with the aid of external physical and chemical driving forces, have been prepared on two-dimensional solid substrates. It is challengeable, however, to achieve three-dimensional assembly directly in solution, owing to thermal fluctuations and free diffusion. Here we describe the self-orientation of gold nanorods at an immiscible liquid interface (that is, oleic acid-water) and exploit this novel phenomenon to create a substrate-free interfacial liquid-state surface-enhanced Raman spectroscopy. Dark-field imaging and Raman scattering results reveal that gold nanorods spontaneously adopt a vertical orientation at an oleic acid-water interface in a stable trapping mode, which is in good agreement with simulation results. The spontaneous vertical alignment of gold nanorods at the interface allows one to accomplish significant additional amplification of the Raman signal, which is up to three to four orders of magnitude higher than that from a solution of randomly oriented gold nanorods.