Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery

Background: For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS). / Methods: A soft robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation. Dexterity is provided by an optimized design of fluid chambers within the robot modules. Safe physical interaction is ensured by fabricating the entire structure by soft and compliant elastomers, resulting in a squeezable 2-module robot. An inner free lumen/chamber along the central axis serves as a guide of flexible endoscopic tools. A constant curvature based inverse kinematics model is also proposed, providing insight into the robot capabilities. / Results: Experimental tests in a surgical scenario using a cadaver model are reported, demonstrating the robot advantages over standard systems in a realistic MIS environment. / Conclusion: Simulations and experiments show the efficacy of the proposed soft robot

SNP genotyping elucidates the genetic diversity of Magna Graecia grapevine germplasm and its historical origin and dissemination

Background: Magna Graecia is the ancient name for the modern geopolitical region of South Italy extensively populated by Greek colonizers, shown by archeological and historical evidence to be the oldest wine growing region of Italy, crucial for the spread of specialized viticulture around Mediterranean shores. Here, the genetic diversity of Magna Graecia grape germplasm was assessed and its role in grapevine propagation around the Mediterranean basin was underlined. Results: A large collection of grapevines from Magna Graecia was compared with germplasm from Georgia to the Iberian Peninsula using the 18 K SNP array. A high level of genetic diversity of the analyzed germplasm was determined; clustering, structure analysis and DAPC (Discriminant Analysis of Principal Components) highlighted the genetic relationships among genotypes from South Italy and the Eastern Mediterranean (Greece). Gene flow from east (Georgia) to west (Iberian Peninsula) was identified throughout the large number of detected admixed samples. Pedigree analysis showed a complex and well-structured network of first degree relationships, where the cultivars from Magna Graecia were mainly involved. Conclusions: This study provided evidence that Magna Graecia germplasm was shaped by historical events that occurred in the area due to the robust link between South Italian and Greek genotypes, as well as, by the availability of different thermal resources for cultivars growing in such different winegrowing areas. The uniqueness of this ampelographic platform was mainly an outcome of complex natural or human-driven crosses involving elite cultivars

Grapevine field experiments reveal the contribution of genotype, the influence of environment and the effect of their interaction (GXE) on the berry transcriptome

Changes in the performance of genotypes in different environments are defined as genotype x environment (G x E) interactions. In grapevine (Vitis vinifera), complex interactions between different genotypes and cli- mate, soil and farming practices yield unique berry qualities. However, the molecular basis of this phe- nomenon remains unclear. To dissect the basis of grapevine G x E interactions we characterized berry transcriptome plasticity, the genome methylation landscape and within-genotype allelic diversity in two genotypes cultivated in three different environments over two vintages. We identified, through a novel data-mining pipeline, genes with expression profiles that were: unaffected by genotype or environment, genotype-dependent but unaffected by the environment, environmentally-dependent regardless of geno- type, and GxE-related. The GxE-related genes showed different degrees of within-cultivar allelic diversity in the two genotypes and were enriched for stress responses, signal transduction and secondary metabo- lism categories. Our study unraveled the mutual relationships between genotypic and environmental vari- ables during GxE interaction in a woody perennial species, providing a reference model to explore how cultivated fruit crops respond to diverse environments. Also, the pivotal role of vineyard location in deter- mining the performance of different varieties, by enhancing berry quality traits, was unraveled

High-throughput 18K SNP array to assess genetic variability of the main grapevine cultivars from Sicily

The viticulture of Sicily, for its vocation, is one of the most important and ancient forms in Italy. Autochthonous grapevine cultivars, many of which known throughout the world, have always been cultivated in the island from many centuries. With the aim to preserve this large grapevine diversity, previous studies have already started to assess the genetic variability among the Sicilian cultivars by using morphological and microsatellite markers. In this study, simple sequence repeat (SSR) were utilized to verify the true-to-typeness of a large clone collection (101) belonging to 21 biotypes of the most 10 cultivated Sicilian cultivars. Afterwards, 42 Organization Internationale de la Vigne et du Vin (OIV) descriptors and a high-throughput single nucleotide polymorphism (SNP) genotyping array (Vitis18kSNP) were applied to assess genetic variability among cultivars and biotypes of the same cultivar. Ampelographic traits and high-throughput SNP genotyping platforms provided an accuracy estimation of genetic diversity in the Sicilian germplasm, showing the relationships among cultivars by cluster and multivariate analyses. The large SNP panel defined sub-clusters unable to discern among biotypes, previously classified by ampelographic analysis, belonging to each cultivar. These results suggested that a very large number of SNP did not cover the genome regions harboring few morphological traits. Genetic structure of the collection revealed a clear optimum number of groups for K = 3, clustering in the same group a significant portion of family-related genotypes. Parentage analysis highlighted significant relationships among Sicilian grape cultivars and Sangiovese, as already reported, but also the first evidences of the relationships between Nero d’Avola and both Inzolia and Catarratto. Finally, a small panel of highly informative markers (12 SNPs) allowed us to isolate a private profile for each Sicilian cultivar, providing a new tool for cultivar identification

Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models

The research leading to these results has received funding from the European Commission’s Seventh Framework Programme under Grant Agreement 287728 in the framework of EU Project STIFF-FLOP

Adaptive responses to high concentration of HCO3- in Cabernet sauvignon

Lime-induced chlorosis is a problem of absorption and metabolism of iron (Fe) caused by an excess of calcium carbonate in the soil. Strategy I plants, including grape, respond to Fe-deficiency by inducing physiological and biochemical modifications in order to increase Fe uptake. Concerning the role of HCO3-, there is evidence about its influence at the root level, but it is not clear if it affects some processes in the upper part of the plant, particularly in the leaves. In this work, own rooted cuttings of Cabernet Sauvignon (very resistant to lime-induced chlorosis) were grown in hydroculture with different concentrations of HCO3- and in absence of Fe3+ -EDTA. It was found that this cultivar retains the capacity to respond to adverse conditions by activating some mechanisms expected of Strategy I plants when increasing concentrations of HCO3- are administered, similar to those which occurred under Fe-deficiency. In particular, in the presence of bicarbonate, reductase activity increased both in roots and leaves while total chlorophyll and Fe content in the leaves showed a decreasing trend

Le sostanze aromatiche nella bacca

Gli aromi varietali del vino derivano dalle molecole contenute nell\u2019uva. Per comprendere le cause nella loro variabilit\ue0 \ue8 necessario conoscere le basi molecolari dei relativi processi biosintetici, sapere quando nel corso dello sviluppo della bacca essi si avviano e come le condizioni interne ed ambientali li regolano