Miniaturized optical fiber probe for prostate cancer screening.

Tissue elasticity is universally recognized as a diagnostic and prognostic biomarker for prostate cancer. As the first diagnostic test, the digital rectal examination is used since malignancy changes the prostate morphology and affects its mechanical properties. Currently, this examination is performed manually by the physician, with an unsatisfactory positive predictive value of 42%. A more objective and spatially selective technique is expected to provide a better prediction degree and understanding of the disease. To this aim, here we propose a miniaturized probe, based on optical fiber sensor technology, for mechanical characterization of the prostate with sub-millimeter resolution. Specifically, the optical system incorporates a customized Fiber Bragg Grating, judiciously integrated in a metallic cannula and moved by a robotic arm. The probe enables the local measurement of the force upon tissue indentation with a resolution of 0.97 mN. The system has been developed in such a way to be potentially used directly in vivo. Measurements performed on phantom tissues mimicking different stages of the prostatic carcinoma demonstrated the capability of our device to distinguish healthy from diseased zones of the prostate. The study on phantoms has been complemented with preliminary ex vivo experiments on real organs obtained from radical surgeries. Our findings lay the foundation for the development of advanced optical probes that, when integrated inside biopsy needle, are able to perform in vivo direct mechanical measurements with high sensitivity and spatial resolution, opening to new scenarios for early diagnosis and enhanced diagnostic accuracy of prostate cancer.

Increased ozone levels during the COVID-19 lockdown: Analysis for the city of Rio de Janeiro, Brazil.

The first COVID-19 case in Brazil was confirmed on February 25, 2020. Partial lockdown measures came into force in the city of Rio de Janeiro, Brazil, on March 23. While CO and NO2 levels showed significant reductions, PM10 levels were only reduced in the first partial lockdown week. By contrast, ozone levels increased in all studied locations. In this study, the factors leading to this behavior were analyzed. Monitoring data obtained at two automatic monitoring stations showed higher ratios between non-methane hydrocarbons and nitrogen oxides (NMHC/NOx) during the partial lockdown (up to 37.3%). The increase in ozone concentrations during the social distancing measures could be attributed to the increase in NMHC/NOx ratios since atmospheric chemistry in Rio de Janeiro is under VOC-controlled conditions. However, the increase was higher when air masses arrived from the industrial areas, not only because of the higher NMHC/NOx ratios, but also because the reactivity of VOC was highly increased by these air masses, which are rich in aromatic compounds.

The Impact of COVID-19 Partial Lockdown on Primary Pollutant Concentrations in the Atmosphere of Rio de Janeiro and São Paulo Megacities (Brazil).

As COVID-19 spread all over the world, most of the countries adopted some kind of restrictions to avoid the collapse of health systems. In Brazil, São Paulo and Rio the Janeiro, the two most populated cities in the country, were the first to determine social distancing. In this study, the impact of the social distancing measures on the concentrations of the three main primary air pollutants (PM10, NO2 and CO) was analyzed. CO levels showed the most significant reductions (up to 100%) since it is related to light-duty vehicular emissions. NO2 also showed reductions (9.1%-41.8%) while PM10 levels were only reduced in the 1st lockdown week. The decrease of pollutants was not directly proportional to the vehicular flux reduction, because it depends on other factors such as the transport of air masses from industrial and rural areas. The differences observed can be explained considering the fleet characteristics in the two cities and the response of the population to the social distancing recommendations.

The impact of COVID-19 partial lockdown on the air quality of the city of Rio de Janeiro, Brazil.

The first COVID-19 case in Brazil was confirmed on February 25, 2020. On March 16, the state's governor declared public health emergency in the city of Rio de Janeiro and partial lockdown measures came into force a week later. The main goal of this work is to discuss the impact of the measures on the air quality of the city by comparing the particulate matter, carbon monoxide, nitrogen dioxide and ozone concentrations determined during the partial lockdown with values obtained in the same period of 2019 and also with the weeks prior to the virus outbreak. Concentrations varied with substantial differences among pollutants and also among the three studied monitoring stations. CO levels showed the most significant reductions (30.3-48.5%) since they were related to light-duty vehicular emissions. NO2 also showed reductions while PM10 levels were only reduced in the first lockdown week. In April, an increase in vehicular flux and movement of people was observed mainly as a consequence of the lack of consensus about the importance and need of social distancing and lockdown. Ozone concentrations increased probably due to the decrease in nitrogen oxides level. When comparing with the same period of 2019, NO2 and CO median values were 24.1-32.9 and 37.0-43.6% lower. Meteorological interferences, mainly the transport of pollutants from the industrial areas might have also impacted the results.

Modeling of Deformable Objects for Robotic Manipulation: A Tutorial and Review.

Manipulation of deformable objects has given rise to an important set of open problems in the field of robotics. Application areas include robotic surgery, household robotics, manufacturing, logistics, and agriculture, to name a few. Related research problems span modeling and estimation of an object's shape, estimation of an object's material properties, such as elasticity and plasticity, object tracking and state estimation during manipulation, and manipulation planning and control. In this survey article, we start by providing a tutorial on foundational aspects of models of shape and shape dynamics. We then use this as the basis for a review of existing work on learning and estimation of these models and on motion planning and control to achieve desired deformations. We also discuss potential future lines of work.

Levels of Volatile Carbonyl Compounds in the Atlantic Rainforest, in the City of Rio de Janeiro.

When Europeans arrived in America, the Brazilian Atlantic rainforest covered approximately 1,290,000 km2. Now, only 8% of the biome's original vegetation remains. One of the largest areas is Tijuca Forest National Park. In this work, the concentrations of 13 carbonyl compounds in an isolated area inside Tijuca Forest, in an urban park with primary and secondary vegetation (Gericinó Natural Park) and in two typical urban areas (Tijuca District and the city of Nilópolis) were determined. The main compounds were formaldehyde and acetaldehyde. The formaldehyde mean concentrations were 0.98 ± 1.00, 1.27 ± 1.67, 3.09 ± 1.60 and 2.33 ± 2.17 µg m-3 for Tijuca Forest, Gericinó Natural Park, Tijuca District and the city of Nilópolis, respectively. The mean acetaldehyde concentrations were, for the same locations, 0.93 ± 1.05, 2.94 ± 2.54, 2.78 ± 0.91 and 5.48 ± 1.90 µg m-3. The results indicate that the compounds measured within the forest are transported from the city and that the trees play an important role in removing air pollutants. In contrast, the Gericinó protected area is heavily affected by urban emissions, and its capacity to dilute or absorb pollutants is low because of the sparse vegetation.

A Geometrically Exact Model for Soft Continuum Robots: The Finite Element Deformation Space Formulation.

Mathematical modeling of soft robots is complicated by the description of the continuously deformable three-dimensional shape that they assume when subjected to external loads. In this article we present the deformation space formulation for soft robots dynamics, developed using a finite element approach. Starting from the Cosserat rod theory formulated on a Lie group, we derive a discrete model using a helicoidal shape function for the spatial discretization and a geometric scheme for the time integration of the robot shape configuration. The main motivation behind this work is the derivation of accurate and computational efficient models for soft robots. The model takes into account bending, torsion, shear, and axial deformations due to general external loading conditions. It is validated through analytic and experimental benchmark. The results demonstrate that the model matches experimental positions with errors <1% of the robot length. The computer implementation of the model results in SimSOFT, a dynamic simulation environment for design, analysis, and control of soft robots.

The MUSHA underactuated hand for robot-aided minimally invasive surgery.

BACKGROUND: Keyhole surgery is characterized by loss of dexterity of surgeon's movements because of the limited workspace, nonintuitive motor skills of the surgical systems, and loss of tactile sensation that may lead to tissue damage and bad execution of the tasks. METHODS: In this paper, a three-fingered underactuated miniature tool for robot-aided laparoscopic surgery is presented. The design is conceived to realize a closed-hand configuration allowing the insertion of the tool into the abdominal cavity through the trocar in one step and to reach different grasping as well as pushing/holding configurations once in the cavity. RESULTS: Aiming to replicate human hand dexterity and versatility, different solutions for the kinematic structure of the hand are analyzed using quality indices to evaluate the manipulability and stability of the grasp. Furthermore, a first prototype of fingertip force sensor based on fiber Bragg grating (FBG) technology has been realized and tested. The design choices of the prototype are described and discussed with the aid of experiments. CONCLUSIONS: The whole concept and the need for such anthropomorphic tool are discussed with surgeons to highlight constraints and potentials in surgical tasks. The feedback by expert surgeons is used to provide specifications and improvements to the kinematics and mechanical design. The investigations of different designs allow identifying the optimal solution to improve grasping and manipulation capabilities. The tests on FBG sensors led to the conclusion that this technology guarantees good performance and can be a good solution for applications in surgical robotics.

Triangular block bridge method for surgical treatment of complex proximal humeral fractures: theoretical concept, surgical technique and clinical results.

INTRODUCTION: Criteria for classification, indication and choice of a surgical device to treat proximal humeral fractures are still controversial. We report an original technique based on a mechanical concept with a structural principle of a triangle as a rigid body applied to the humeral head fractures in association with other devices. This retrospective study aims to describe in detail the surgical technique and results at long time follow up. METHODS AND MATERIAL: We analysed two series of 101 patients with proximal humeral fractures (mean age, 52.9 y; range 19-78 y) treated between 2001 and 2012 reporting the clinical and radiological results. In the first series of 23 cases (mean age 51.4 y, range 35-74 y) we used as support a bone piece taken from allograft or autologous tricortical iliac crest and shaped as a triangular pyramid during the operation; while in the second series of 78 cases (mean age 53.6 years, range 29-78 years, SD 13.5 years) a triangular titanium cage was used in 69 patients while in 9 allograft or bone substitute was used as augmentation. An analytical retrospective study was done to understand the mechanical function of medial augmentation composed by a solid body in association with different types of synthesis to stabilize properly a proximal humeral fracture. RESULTS: We obtained excellent and good results in 83,2% of patients, fair in 12,8% and bad in 4% in terms of active anterior elevation, external and internal rotation, pain and strength according to Constant and DASH score. CONCLUSION: A medial solid body, especially in titanium material and shaped as trapezoidal/pyramidal form used to fill the secondary bone loss in complex instable proximal humeral fracture, allows an anatomic reduction and stable fixation in association with simple and more complex tools and it provides a better biomechanical environment for union and maintenance of alignment.

A stochastic algorithm for automatic hand pose and motion estimation.

In this paper, a novel, robust, and simple method for automatically estimating the hand pose is proposed and validated. The method uses a multi-camera optoelectronic system and a model-based stochastic algorithm. The approach is marker-based and relies on an Unscented Kalman Filter. A hand kinematic model is introduced for constraining relative marker's positions and improving the algorithm robustness with respect to outliers and possible occlusions. The algorithm outputs are 3D coordinate measures of markers and hand joint angle values. To validate the proposed algorithm, a comparison with ground truths for angular and 3D coordinate measures is carried out. The comparative analysis shows the advantages of using the model-based stochastic algorithm with respect to standard processing software of optoelectronic cameras in terms of implementation simplicity, time consumption, and user effort. The accuracy is remarkable, with a difference of maximum 0.035r a d and 4m m with respect to angular and 3D Cartesian coordinates ground truths, respectively.