Pose Tracking of Supermicrosurgical Robot Towards Multi-User Teleoperation.

This paper presents pose tracking experiments using a supermicrosurgical robot designed to consider teleoperation with multiple surgeons. Currently, existing supermicrosurgical robots assist only the primary surgeon. However, both primary and assistant surgeons need a high-precision motion for critical tasks that can easily damage microtissue. To assist multiple surgeons in supermicrosurgery with a surgical robot, dynamic collision avoidance becomes a critical issue due to the operation in a narrow surgical site. As a milestone to overcome this issue, we first developed a pose tracking algorithm by analyzing the inverse kinematics based on null-space control and a weighting matrix. Moreover, we also developed a control framework based on fully open-source software to run the pose tracking algorithm. Finally, we validated the proposed pose tracking algorithm by performing line tracing and rubber ring transferring experiments.

Real-Time Endomicroscopic Image Mosaicking with an EKF-based Sensor Fusion Approach.

This study presents a real-time sensor fusion framework based on the extended Kalman filter (EKF) for accurate and robust endomicroscopic image mosaicking. The sensor fusion framework incorporates an optical tracking system that can track 6-DOF pose of the imaging probe with high accuracy in real time in conjunction with 2D local image registration from image feature matching between two consecutive frames. We evaluated the performance of the real-time image mosaicking based on the sensor fusion compared with the image or tracker only approach. As a result, it could retain the microscopic level of image detail from the image-based approach and also achieve a robust image mosaic without any drift by using the accurate optical tracking system.

In Vivo Cellular-Level 3D Imaging of Peripheral Nerves Using a Dual-Focusing Technique for Intra-Neural Interface Implantation.

In vivo volumetric imaging of the microstructural changes of peripheral nerves with an inserted electrode could be key for solving the chronic implantation failure of an intra-neural interface necessary to provide amputated patients with natural motion and sensation. Thus far, no imaging devices can provide a cellular-level three-dimensional (3D) structural images of a peripheral nerve in vivo. In this study, an optical coherence tomography-based peripheral nerve imaging platform that employs a newly proposed depth of focus extension technique is reported. A point spread function with the finest transverse resolution of 1.27 µm enables the cellular-level volumetric visualization of the metal wire and microstructural changes in a rat sciatic nerve with the metal wire inserted in vivo. Further, the feasibility of applying the imaging platform to large animals for a preclinical study is confirmed through in vivo rabbit sciatic nerve imaging. It is expected that new possibilities for the successful chronic implantation of an intra-neural interface will open up by providing the 3D microstructural changes of nerves around the inserted electrode.

Hydrogel-Assisted Electrospinning for Fabrication of a 3D Complex Tailored Nanofiber Macrostructure.

Electrospinning has shown great potential in tissue engineering and regenerative medicine due to a high surface-area-to-volume ratio and an extracellular matrix-mimicking structure of electrospun nanofibers, but the fabrication of a complex three-dimensional (3D) macroscopic configuration with electrospun nanofibers remains challenging. In the present study, we developed a novel hydrogel-assisted electrospinning process (GelES) to fabricate a 3D nanofiber macrostructure with a 3D complex but tailored configuration by utilizing a 3D hydrogel structure as a grounded collector instead of a metal collector in conventional electrospinning. The 3D hydrogel collector was discovered to effectively concentrate the electric field toward itself similar to the metal collector, thereby depositing electrospun nanofibers directly on its exterior surface. Synergistic advantages of the hydrogel (e.g., biocompatibility and thermally reversible sol-gel transition) and the 3D nanofiber macrostructure (e.g., mechanical robustness and high permeability) provided by the GelES process were demonstrated in a highly permeable tubular tissue graft and a robust drug- or cell-encapsulation construct. GelES is expected to broaden potential applications of electrospinning to not only provide in vivo drug/cell delivery and tissue regeneration but also an in vitro drug testing platform by increasing the degree of freedom in the configuration of the 3D nanofiber macrostructure.

One-step Implantation of a 3D Neural Microelectrode Array.

This paper presents a neurosurgical device called NEIT 2 (Nerve Electrode Insertion Tool) to implant a 3D microelectrode array into a peripheral nervous system. Using an elastomer-made nerve holder, the device is able to stable target a flexible nerve, and then safely inserts an electrode array into the fixed nerve. Finally, a nerve containment assembly is made at once. We conducted animal experiments to evaluate the proposed scenario using a 3D printed prototype and commercial microelectrodes. The results show that microelectrodes are successfully implanted into sciatic nerves of rats and neural signals are recorded through the chronically implanted electrodes.

Electrohydraulic Actuator for a Soft Gripper.

There is a considerable demand to develop robots that can perform sophisticated tasks such as grabbing delicate materials, passing through narrow pathways, and acting as mediators between humans and robots. Soft robots can provide a solution for such applications. In this study, we propose an electrohydraulic gripper, which is based on electrostatic and hydraulic forces. Interestingly, the gripper generates a hydraulic force without an external fluid supply source. In addition, it achieves good compliance, because the gripper is composed of soft materials such as polyethylene film and silicone. We experimentally investigate the characteristics of the actuator of the gripper. In addition, the electrohydraulic gripper demonstrates an ability to grasp delicate materials.

A Pilot Study On The Novel Non-Invasive Nerve-Holder With Negative-Pressure Suctions.

In performing neurosurgical operation on peripheral nervous system, the most important first step is to robustly hold the target nerve, since the nerve-holding stability and reliability significantly affect the result of surgical operation. However it is not straightforward to robustly hold peripheral nerve during the surgical operation, because the peripheral nerve is too flexible and slippery. In this study, we design a novel peripheral nerve-holder that can be used for the neurosurgical operation. Considering the anatomical characteristics of the peripheral nerve that small bundles of nerve fibers (i.e., fascicles) are structured inside the outermost layer of the nerve bundle (i.e., epineurium), we aim to develop a non-clamping and non-invasive type nerve-holder to protect the nerve fibers. For the aim, the negative-pressure suction method is applied to the proposed holder. And, in order to hold the nerve more robustly, micro-bump structure is fabricated on the suction surface contacting with the nerve. This paper introduces the concept, working principle, characteristics, and in-vitro experimental results on feasibility evaluation of the proposed holder.

Exposure of kale root to NaCl and Na2SeO3 increases isothiocyanate levels and Nrf2 signalling without reducing plant root growth.

A plant factory is a closed cultivation system that provides a consistent and modified environment for plant growth. We speculated that treatment of kale (Brassica oleracea) grown in a plant factory with NaCl, Na2SeO3, or both would increase the bioactive phytochemical levels including glucosinolates (GLSs) and isothiocyanates (ITCs), the key molecules in cancer prevention. The kale was harvested and analysed after treatment with NaCl and Na2SeO3 alone or in combination for 1 or 2 weeks. Exposure to NaCl alone but not Na2SeO3 increased plant root growth. Levels of sinigrin were increased by a 2-week exposure to Na2SeO3 alone or in combination with NaCl, whereas no changes were observed in glucoraphanin and gluconasturtiin gluconasturtiin levels. Importantly, the ITC concentration was affected by 2-week treatment with both compounds. To evaluate the bioactivity of kale, HepG2 human hepatoma cells were treated with plant extract for 6 h. Only the extract of kale roots exposed to a combination NaCl and Na2SeO3 for 2 weeks showed an increased expression of nuclear factor erythroid 2-related factor (Nrf2), which regulates genes encoding antioxidant proteins. These data suggest that co-treatment with NaCl and Na2SeO3 increased the ITC content and chemopreventive effects of kale root.

A standardized extract of Rhynchosia volubilis Lour. exerts a protective effect on benzalkonium chloride-induced mouse dry eye model.

ETHNOPHARMACOLOGICAL RELEVANCE: In contrast to other leguminous plants generally used as food, Rhynchosia volubilis Loureiro, a small soybean with a black seed coat, has been used as a traditional oriental remedy for various human diseases in Eastern Asia. In this study, we demonstrated the protective effect of R. volubilis against dry eye disease. AIM OF THE STUDY: We aimed to investigate whether a standardized ethanol extract of R. volubilis (EERV) can protect the cornea in a benzalkonium chloride (BAC)-induced mouse dry eye model. MATERIALS AND METHODS: Experimental dry eye was induced by the instillation of 0.2% BAC on mouse cornea. A standardized ethanol extract of R. volubilis (EERV) was orally administered following BAC treatment. The positive control group was treated with commercial eye drops. Fluorescein staining, tear break-up time (BUT), and hematoxylin and eosin staining were evaluated on the ocular surface. Squamous metaplasia and apoptosis in the corneal epithelial layer were detected by immunostaining. Furthermore, the protein expression of cytochrome c, Bcl-2, and Bax was determined. RESULTS: EERV treatment significantly improved fluorescein scoring, BUT, and smoothness in the cornea compared to the vehicle group. In addition, EERV inhibited squamous metaplasia and apoptosis in the cornea. The expression of cytochrome c and Bax was upregulated, while that of Bcl-2 was downregulated in the vehicle group compared with that in the control group. However, EERV treatment inhibited the expression of cytochrome c and Bax, while that of Bcl-2 was improved. CONCLUSION: Standardized EERV could be a beneficial candidate for the treatment of dry eye disease.

Stellera chamaejasme and its constituents induce cutaneous wound healing and anti-inflammatory activities.

Stellera chamaejasme L. (Thymelaeaceae) is a perennial herb that is widely used in traditional Chinese medicine to treat tumours, tuberculosis and psoriasis. S. chamaejasme extract (SCE) possesses anti-inflammatory, analgesic and wound healing activities; however, the effect of S. chamaejasme and its active compounds on cutaneous wound healing has not been investigated. We assessed full-thickness wounds of Sprague-Dawley (SD) rats and topically applied SCE for 2 weeks. In vitro studies were performed using HaCaT keratinocytes, Hs68 dermal fibroblasts and RAW 264.7 macrophages to determine cell viability (MTT assay), cell migration, collagen expression, nitric oxide (NO) production, prostaglandin E2 (PGE2) production, inflammatory cytokine expression and ß-catenin activation. In vivo, wound size was reduced and epithelisation was improved in SCE-treated SD rats. In vitro, SCE and its active compounds induced keratinocyte migration by regulating the ß-catenin, extracellular signal-regulated kinase and Akt signalling pathways. Furthermore, SCE and its active compounds increased mRNA expression of type I and III collagen in Hs68 fibroblasts. SCE and chamechromone inhibited NO and PGE2 release and mRNA expression of inflammatory mediators in RAW 264.7 macrophages. SCE enhances the motility of HaCaT keratinocytes and improves cutaneous wound healing in SD rats.