Human-scale navigation of magnetic microrobots in hepatic arteries.

Using external actuation sources to navigate untethered drug-eluting microrobots in the bloodstream offers great promise in improving the selectivity of drug delivery, especially in oncology, but the current field forces are difficult to maintain with enough strength inside the human body (>70-centimeter-diameter range) to achieve this operation. Here, we present an algorithm to predict the optimal patient position with respect to gravity during endovascular microrobot navigation. Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.

Development of a method based on ATR-FTIR spectroscopy to detect maple syrup adulterated with added syrups.

BACKGROUND: Food adulteration is a global concern, whether it takes place intentionally or incidentally. In Canada, maple syrup is susceptible to being adulterated with cheaper syrups such as corn, beet, cane syrups, and many more due to its high price and economic importance. RESULTS: In this study, the use of attenuated total reflection Fourier transform infrared (ATR-FTIR) spectroscopy was investigated to detect maple syrups adulterated with 15 different sugar syrups at different concentration levels. The spectra were collected in the range of 4000-650 cm-1 in the absorbance unit. These spectra were used to build six libraries and three models. A method that is capable of performing a qualitative library search using a similarity search, which is based on the first derivative correlation search algorithm, was developed. This method was further evaluated and proved to be able to capture adulterated and reject non-adulterated maple syrups, belonging to the color grades golden and amber maple syrups, with an accuracy of 93.9% and 92.3%, respectively. However, for the maple syrup belonging to the dark color grade, this method demonstrated low specificity of 33.3%, and for this reason it was only able to adequately detect adulterated samples from the non-adulterated ones with an accuracy of 81.4%. CONCLUSION: This simple and rapid method has strong potential for implementation in different stages of the maple syrup supply chain for early adulteration detection, particularly for golden and amber samples. Further evaluation and improvements are required for the dark color grade. © 2023 The Authors. Journal of The Science of Food and Agriculture published by John Wiley & Sons Ltd on behalf of Society of Chemical Industry.

Patterns of bacterial motility in microfluidics-confining environments.

Understanding the motility behavior of bacteria in confining microenvironments, in which they search for available physical space and move in response to stimuli, is important for environmental, food industry, and biomedical applications. We studied the motility of five bacterial species with various sizes and flagellar architectures (Vibrio natriegens, Magnetococcus marinus, Pseudomonas putida, Vibrio fischeri, and Escherichia coli) in microfluidic environments presenting various levels of confinement and geometrical complexity, in the absence of external flow and concentration gradients. When the confinement is moderate, such as in quasi-open spaces with only one limiting wall, and in wide channels, the motility behavior of bacteria with complex flagellar architectures approximately follows the hydrodynamics-based predictions developed for simple monotrichous bacteria. Specifically, V. natriegens and V. fischeri moved parallel to the wall and P. putida and E. coli presented a stable movement parallel to the wall but with incidental wall escape events, while M. marinus exhibited frequent flipping between wall accumulator and wall escaper regimes. Conversely, in tighter confining environments, the motility is governed by the steric interactions between bacteria and the surrounding walls. In mesoscale regions, where the impacts of hydrodynamics and steric interactions overlap, these mechanisms can either push bacteria in the same directions in linear channels, leading to smooth bacterial movement, or they could be oppositional (e.g., in mesoscale-sized meandered channels), leading to chaotic movement and subsequent bacterial trapping. The study provides a methodological template for the design of microfluidic devices for single-cell genomic screening, bacterial entrapment for diagnostics, or biocomputation.

Relative influence of watershed and geomorphic features on nutrient and carbon fluxes in a pristine and moderately urbanized stream.

Streams are important sites of elemental transformations due to the relatively high contact rates between flowing water and biogeochemically reactive sediments. Increased urbanization typically results in higher nutrient and carbon (C) inputs to streams from their watersheds and increased flow rates due to modification in channel form, reducing within stream net retention and increasing downstream exports. However, less is known on how moderate urbanization might influence the joint processing of C, nitrogen (N), and phosphorus (P) in streams or the relative influence of changes in watershed and stream features on their fluxes. In this study, we performed mass-balances of different C, N, and P species in multiple reaches with contrasting land use land cover and geomorphic features (pools, riffles, runs) to determine the effects of geomorphology versus human influence on elemental fluxes in a pristine and a semi-urban stream. N was the most responsive of all elements, where nitrate concentrations were 3.5-fold higher in the peri-urban stream. Dissolved organic carbon was only slightly higher in the peri-urban site whereas total P not significantly different between streams. In terms of fluxes, nitrate behaved differently between the streams with net retention occurring in the majority of the reaches of the pristine site, whereas net export was observed in all of the reaches of the semi-urban one. We found a decrease in nitrate concentrations with an increase in excess deuterium of the water (d-excess), an indicator of how overall water retention capacity of the watershed favored N loss. Within the stream, the presence of pools, and reduced channel slope, which also increase water retention time, again favored N loss. Overall, nitrate was the most sensitive nutrient to slight urbanization, where higher export to stream was influenced by land use, but where geomorphic features were more important in driving retention capacity.

Magnetic Resonance Navigation for Targeted Embolization in a Two-Level Bifurcation Phantom.

This work combines a particle injection system with our proposed magnetic resonance navigation (MRN) sequence with the intention of validating MRN in a two-bifurcation phantom for endovascular treatment of hepatocellular carcinoma (HCC). A theoretical physical model used to calculate the most appropriate size of the magnetic drug-eluting bead (MDEB, 200 µm) aggregates was proposed. The aggregates were injected into the phantom by a dedicated particle injector while a trigger signal was automatically sent to the MRI to start MRN which consists of interleaved tracking and steering sequences. When the main branch of the phantom was parallel to B0, the aggregate distribution ratio in the (left-left, left-right, right-left and right-right divisions was obtained with results of 8, 68, 24 and 0% respectively at baseline (no MRN) and increased to 84%, 100, 84 and 92% (p < 0.001, p = 0.004, p < 0.001, p < 0.001) after implementing our MRN protocol. When the main branch was perpendicular to B0, the right-left branch, having the smallest baseline distribution rate of 0%, reached 80% (p < 0.001) after applying MRN. Moreover, the success rate of MRN was always more than 92% at the 1st bifurcation in the experiments above.

Selective embolization with magnetized microbeads using magnetic resonance navigation in a controlled-flow liver model.

PURPOSE: The purpose of this study was to demonstrate the feasibility of using a custom gradient sequence on an unmodified 3T magnetic resonance imaging (MRI) scanner to perform magnetic resonance navigation (MRN) by investigating the blood flow control method in vivo, reproducing the obtained rheology in a phantom mimicking porcine hepatic arterial anatomy, injecting magnetized microbead aggregates through an implantable catheter, and steering the aggregates across arterial bifurcations for selective tumor embolization. MATERIALS AND METHODS: In the first phase, arterial hepatic velocity was measured using cine phase-contrast imaging in seven pigs under free-flow conditions and controlled-flow conditions, whereby a balloon catheter is used to occlude arterial flow and saline is injected at different rates. Three of the seven pigs previously underwent selective lobe embolization to simulate a chemoembolization procedure. In the second phase, the measured in vivo controlled-flow velocities were approximately reproduced in a Y-shaped vascular bifurcation phantom by injecting saline at an average rate of 0.6 mL/s with a pulsatile component. Aggregates of 200-µm magnetized particles were steered toward the right or left hepatic branch using a 20-mT/m MRN gradient. The phantom was oriented at 0°, 45°, and 90° with respect to the B0 magnetic field. The steering differences between left-right gradient and baseline were calculated using Fisher's exact test. A theoretical model of the trajectory of the aggregate within the main phantom branch taking into account gravity, magnetic force, and hydrodynamic drag was also designed, solved, and validated against the experimental results to characterize the physical limitations of the method. RESULTS: At an injection rate of 0.5 mL/s, the average flow velocity decreased from 20 ± 15 to 8.4 ± 5.0 cm/s after occlusion in nonembolized pigs and from 13.6 ± 2.0 to 5.4 ± 3.0 cm/s in previously embolized pigs. The pulsatility index measured to be 1.7 ± 1.8 and 1.1 ± 0.1 for nonembolized and embolized pigs, respectively, decreased to 0.6 ± 0.4 and 0.7 ± 0.3 after occlusion. For MRN performed at each orientation, the left-right distribution of aggregates was 55%, 25%, and 75% on baseline and 100%, 100%, and 100% (P < 0.001, P = 0.003, P = 0.003) after the application of MRN, respectively. According to the theoretical model, the aggregate reaches a stable transverse position located toward the direction of the gradient at a distance equal to 5.8% of the radius away from the centerline within 0.11 s, at which point the aggregate will have transited through a longitudinal distance of 1.0 mm from its release position. CONCLUSION: In this study, we showed that the use of a balloon catheter reduces arterial hepatic flow magnitude and variation with the aim to reduce steering failures caused by fast blood flow rates and low magnetic steering forces. A mathematical model confirmed that the reduced flow rate is low enough to maximize steering ratio. After reproducing the flow rate in a vascular bifurcation phantom, we demonstrated the feasibility of MRN after injection of microparticle aggregates through a dedicated injector. This work is an important step leading to MRN-based selective embolization techniques in humans.

MRI-Compatible Injection System for Magnetic Microparticle Embolization.

OBJECTIVE: Dipole field navigation and magnetic resonance navigation exploit B0 magnetic fields and imaging gradients for targeted intra-arterial therapies by using magnetic drug-eluting beads (MDEBs). The strong magnetic strength (1.5 or 3 T) of clinical magnetic resonance imaging (MRI) scanners is the main challenge preventing the formation and controlled injection of specific-sized particle aggregates. Here, an MRI-compatible injector is proposed to solve the above problem. METHODS: The injector consists of two peristaltic pumps, an optical counter, and a magnetic trap. The magnetic property of microparticles, the magnetic compatibility of different parts within the injector, and the field distribution of the MRI system were studied to determine the optimal design and setup of the injector. The performance was investigated through 30.4-emu/g biocompatible magnetic microparticles (230 ± 35 µm in diameter) corresponding to the specifications needed for trans-arterial chemoembolization in human adults. RESULTS: The system can form aggregates containing 20 to 60 microparticles with a precision of six particles. The corresponding aggregate lengths range from 1.6 to 3.2 mm. Based on the injections of 50 MRI-visible boluses into a phantom which mimics realistic physiological conditions, 82% of the aggregates successfully reached subbranches. CONCLUSION AND SIGNIFICANCE: This system has the capability to operate within the strong magnetic field of a clinical 3-T MRI, to form proper particle aggregates and to automatically inject these aggregates into the MRI bore. Moreover, the versatility of the proposed injector renders it suitable for selective injections of MDEBs during MR-guided embolization procedures.

Using the fringe field of a clinical MRI scanner enables robotic navigation of tethered instruments in deeper vascular regions.

Navigating tethered instruments through the vasculatures to reach deeper physiological locations presently inaccessible would extend the applicability of many medical interventions, including but not limited to local diagnostics, imaging, and therapies. Navigation through narrower vessels requires minimizing the diameter of the instrument, resulting in a decrease of its stiffness until steerability becomes unpractical, while pushing the instrument at the insertion site to counteract the friction forces from the vessel walls caused by the bending of the instrument. To reach beyond the limit of using a pushing force alone, we report a method relying on a complementary directional pulling force at the tip created by gradients resulting from the magnetic fringe field emanating outside a clinical magnetic resonance imaging (MRI) scanner. The pulling force resulting from gradients exceeding 2 tesla per meter in a space that supports human-scale interventions allows the use of smaller magnets, such as the deformable spring as described here, at the tip of the instrument. Directional forces are achieved by robotically positioning the patient at predetermined successive locations inside the fringe field, a method that we refer to as fringe field navigation (FFN). We show through in vitro and in vivo experiments that x-ray-guided FFN could navigate microguidewires through complex vasculatures well beyond the limit of manual procedures and existing magnetic platforms. Our approach facilitated miniaturization of the instrument by replacing the torque from a relatively weak magnetic field with a configuration designed to exploit the superconducting magnet-based directional forces available in clinical MRI rooms.

In vivo demonstration of magnetic guidewire steerability in a MRI system with additional gradient coils.

PURPOSE: To assess the ability to control the steering of a modified guidewire actuated by the magnetic force of a magnetic resonance imaging system with additional gradient coils for selective arterial catheterization in rabbits. METHODS: Selective catheterizations of the right renal artery, left renal artery, superior mesenteric artery, and iliac artery were performed on two rabbits. A 3D magnetic force was applied onto a magnetic bead placed at the tip of a guidewire. The ability of the guidewire to advance in the aorta without entering the side branches when the magnetic force was not applied was also evaluated. Steering of the guidewire was combined with a dedicated tracking system and its position was registered on the 3D model of a magnetic resonance angiography (MRA). RESULTS: The magnetic catheterization of the renal arteries was successful and showed reproducibility. Superior mesenteric artery and iliac artery showed that the catheterization was feasible. These two arteries were difficult to visualize on MRA, making catheterization and setting the direction of the force more difficult. There was no inadvertent catheterization of side vessels when the guidewire was advanced with magnetic steering despite the hook shape at the tip of the guidewire caused by the alignment of the bead anisotropy with the permanent magnetic field. CONCLUSIONS: This first evaluation of selective catheterization of aortic branches with a magnetic guidewire provided a successful steering in the less angled side branches and this modified guidewire was advanced in the aorta without inadvertent selective catheterization when manipulated without magnetic actuation.

The impact of musicianship on the cortical mechanisms related to separating speech from background noise.

Musicians have enhanced auditory processing abilities. In some studies, these abilities are paralleled by an improved understanding of speech in noisy environments, partially due to more robust encoding of speech signals in noise at the level of the brainstem. Little is known about the impact of musicianship on attention-dependent cortical activity related to lexical access during a speech-in-noise task. To address this issue, we presented musicians and nonmusicians with single words mixed with three levels of background noise, across two conditions, while monitoring electrical brain activity. In the active condition, listeners repeated the words aloud, and in the passive condition, they ignored the words and watched a silent film. When background noise was most intense, musicians repeated more words correctly compared with nonmusicians. Auditory evoked responses were attenuated and delayed with the addition of background noise. In musicians, P1 amplitude was marginally enhanced during active listening and was related to task performance in the most difficult listening condition. By comparing ERPs from the active and passive conditions, we isolated an N400 related to lexical access. The amplitude of the N400 was not influenced by the level of background noise in musicians, whereas N400 amplitude increased with the level of background noise in nonmusicians. In nonmusicians, the increase in N400 amplitude was related to a reduction in task performance. In musicians only, there was a rightward shift of the sources contributing to the N400 as the level of background noise increased. This pattern of results supports the hypothesis that encoding of speech in noise is more robust in musicians and suggests that this facilitates lexical access. Moreover, the shift in sources suggests that musicians, to a greater extent than nonmusicians, may increasingly rely on acoustic cues to understand speech in noise.

Impact of maternal circulating cholesterol and gestational diabetes mellitus on lipid metabolism in human term placenta.

Maternal hypercholesterolemia (HC) during pregnancy and gestational diabetes mellitus (GDM) are associated with disturbance of fetal development which may also modify key features of placental functions. In this study, we evaluated the impact of maternal hypercholesterolemia on placental cholesterol and lipid metabolism in 59 women classified in two groups according to the median concentration of plasma total cholesterol (6.42 mM). The impact of GDM was also evaluated on the metabolism of placentas obtained from 7 insulin-treated GDM and 7 non-GDM women. We showed that high maternal circulating cholesterol is associated with a significant increase in the LDL-cholesterol, ApoB-100 and triglyceride concentrations in the maternal blood. However the level of cholesterol in the venous cord blood and placenta remains unchanged in response to modification in maternal cholesterol profile. The levels of Fatty acid synthase (FAS) and SREBP-2 expressions in placenta are significantly increased in the HC group while expression of both sterol regulatory element-binding proteins-1 (SREBP-1) and HMG-CoA reductase (HMGR) are not modified. GDM is not associated with modification in the maternal lipid profile but it increases the concentration of inflammatory cytokines (IL-1beta and TNF-alpha) in placenta which correlates with a dramatic induction of FAS expression without affecting the expression of mature SREBPs proteins. In conclusion, our study suggests that in placenta, expressions of key proteins involved in de novo lipid synthesis are affected by changes in maternal metabolism (HC and GDM) that may subsequently affect fetal development.