Design and assessment of a reconfigurable behavioral assistive robot: a pilot study

IntroductionFor patients with functional motor disorders of the lower limbs due to brain damage or accidental injury, restoring the ability to stand and walk plays an important role in clinical rehabilitation. Lower limb exoskeleton robots generally require patients to convert themselves to a standing position for use, while being a wearable device with limited movement distance.MethodsThis paper proposes a reconfigurable behavioral assistive robot that integrates the functions of an exoskeleton robot and an assistive standing wheelchair through a novel mechanism. The new mechanism is based on a four-bar linkage, and through simple and stable conformal transformations, the robot can switch between exoskeleton state, sit-to-stand support state, and wheelchair state. This enables the robot to achieve the functions of assisted walking, assisted standing up, supported standing and wheelchair mobility, respectively, thereby meeting the daily activity needs of sit-to-stand transitions and gait training. The configuration transformation module controls seamless switching between different configurations through an industrial computer. Experimental protocols have been developed for wearable testing of robotic prototypes not only for healthy subjects but also for simulated hemiplegic patients.ResultsThe experimental results indicate that the gait tracking effect during robot-assisted walking is satisfactory, and there are no sudden speed changes during the assisted standing up process, providing smooth support to the wearer. Meanwhile, the activation of the main force-generating muscles of the legs and the plantar pressure decreases significantly in healthy subjects and simulated hemiplegic patients wearing the robot for assisted walking and assisted standing-up compared to the situation when the robot is not worn.DiscussionThese experimental findings demonstrate that the reconfigurable behavioral assistive robot prototype of this study is effective, reducing the muscular burden on the wearer during walking and standing up, and provide effective support for the subject's body. The experimental results objectively and comprehensively showcase the effectiveness and potential of the reconfigurable behavioral assistive robot in the realms of behavioral assistance and rehabilitation training

Genomic Analyses Reveal Mutational Signatures and Frequently Altered Genes in Esophageal Squamous Cell Carcinoma

Esophageal squamous cell carcinoma (ESCC) is one of the most common cancers worldwide and the fourth most lethal cancer in China. However, although genomic studies have identified some mutations associated with ESCC, we know little of the mutational processes responsible. To identify genome-wide mutational signatures, we performed either whole-genome sequencing (WGS) or whole-exome sequencing (WES) on 104 ESCC individuals and combined our data with those of 88 previously reported samples. An APOBEC-mediated mutational signature in 47% of 192 tumors suggests that APOBEC-catalyzed deamination provides a source of DNA damage in ESCC. Moreover, PIK3CA hotspot mutations (c.1624G>A [p.Glu542Lys] and c.1633G>A [p.Glu545Lys]) were enriched in APOBEC-signature tumors, and no smoking-associated signature was observed in ESCC. In the samples analyzed by WGS, we identified focal (<100 kb) amplifications of CBX4 and CBX8. In our combined cohort, we identified frequent inactivating mutations in AJUBA, ZNF750, and PTCH1 and the chromatin-remodeling genes CREBBP and BAP1, in addition to known mutations. Functional analyses suggest roles for several genes (CBX4, CBX8, AJUBA, and ZNF750) in ESCC. Notably, high activity of hedgehog signaling and the PI3K pathway in approximately 60% of 104 ESCC tumors indicates that therapies targeting these pathways might be particularly promising strategies for ESCC. Collectively, our data provide comprehensive insights into the mutational signatures of ESCC and identify markers for early diagnosis and potential therapeutic targets

Circular use of fine-grained tailings to underground mine wind walls

Mining activities tend to generate various waste including tailings, waste water and waste rock. Efficient management and disposal of these waste materials are critical to minimize their environmental impact and ensure the sustainable operation of mining activities. A huge number of tailings are produced all around the world each year. Generally, part of the tailings is used for underground backfilling and another part is discharged to the tailings dam. The former can provide underground support while the latter tends to cause some environmental problems because the tailings are generally mixed with some chemicals. Regarding this, enhancing the circular use of tailings is crucial to guarantee the sustainable mining engineering. In this study, the feasibility of using fine-grained tailings to make non-burning hollow bricks for underground windbreaks is investigated. A two-stage experiment was implemented where the first stage experiment indicated the threshold of water content, the ratio of cement and tailings and the ratio of fine-grained and rod-mill tailings. In addition, it can be indicated that the addition of polyethylene fibers would increase the compressive strength of hollow bricks in some extent. The second-stage experiment was conducted with no rod-mill tailing added and it can be found that when the ratio of cement and tailings is equal or higher than 1:6, fiber content is more significant in improving brick strength but when this value is lower, the ratio of cement is more important than fiber factors. When the ratio of cement and fine-grained tailings is 1:8 with 0.5 g/kg and 12 mm polypropylene fiber added, the hollow brick is capable of achieving strength of 1.4 MPa for 28 days curation with the price of 0.50 RMB/block. This proportioning scheme is the least expensive while meeting the strength of the windbreak wall for the Fan Kou lead–zinc mine. Finally, it can be indicated that the usage of fine-grained tailings to make underground windbreak wall is feasible and thus provide a new scenario to circular usage of tailings. In addition, other proportioning schemes proposed in this study perhaps can meet more engineering requirements so as to provide more alternatives for circular use of tailings

Parallel matters: Efficient polyp segmentation with parallel structured feature augmentation modules

Abstract The large variations of polyp sizes and shapes and the close resemblances of polyps to their surroundings call for features with long‐range information in rich scales and strong discrimination. This article proposes two parallel structured modules for building those features. One is the Transformer Inception module (TI) which applies Transformers with different reception fields in parallel to input features and thus enriches them with more long‐range information in more scales. The other is the Local‐Detail Augmentation module (LDA) which applies the spatial and channel attentions in parallel to each block and thus locally augments the features from two complementary dimensions for more object details. Integrating TI and LDA, a new Transformer encoder based framework, Parallel‐Enhanced Network (PENet), is proposed, where LDA is specifically adopted twice in a coarse‐to‐fine way for accurate prediction. PENet is efficient in segmenting polyps with different sizes and shapes without the interference from the background tissues. Experimental comparisons with state‐of‐the‐arts methods show its merits

Robustly federated learning model for identifying high-risk patients with postoperative gastric cancer recurrence

Abstract The prediction of patient disease risk via computed tomography (CT) images and artificial intelligence techniques shows great potential. However, training a robust artificial intelligence model typically requires large-scale data support. In practice, the collection of medical data faces obstacles related to privacy protection. Therefore, the present study aims to establish a robust federated learning model to overcome the data island problem and identify high-risk patients with postoperative gastric cancer recurrence in a multicentre, cross-institution setting, thereby enabling robust treatment with significant value. In the present study, we collect data from four independent medical institutions for experimentation. The robust federated learning model algorithm yields area under the receiver operating characteristic curve (AUC) values of 0.710, 0.798, 0.809, and 0.869 across four data centres. Additionally, the effectiveness of the algorithm is evaluated, and both adaptive and common features are identified through analysis

CT-based radiomics signature of visceral adipose tissue for prediction of disease progression in patients with Crohn's disease: a multicentre cohort studyResearch in context

Summary: Background: Visceral adipose tissue (VAT) is involved in the pathogenesis of Crohn's disease (CD). However, data describing its effects on CD progression remain scarce. We developed and validated a VAT-radiomics model (RM) using computed tomography (CT) images to predict disease progression in patients with CD and compared it with a subcutaneous adipose tissue (SAT)-RM. Methods: This retrospective study included 256 patients with CD (training, n = 156; test, n = 100) who underwent baseline CT examinations from June 19, 2015 to June 14, 2020 at three tertiary referral centres (The First Affiliated Hospital of Sun Yat-Sen University, The First Affiliated Hospital of Shantou University Medical College, and The First People's Hospital of Foshan City) in China. Disease progression referred to the development of penetrating or stricturing diseases or the requirement for CD-related surgeries during follow-up. A total of 1130 radiomics features were extracted from VAT on CT in the training cohort, and a machine-learning–based VAT-RM was developed to predict disease progression using selected reproducible features and validated in an external test cohort. Using the same modeling methodology, a SAT-RM was developed and compared with the VAT-RM. Findings: The VAT-RM exhibited satisfactory performance for predicting disease progression in total test cohort (the area under the ROC curve [AUC] = 0.850, 95% confidence Interval [CI] 0.764–0.913, P < 0.001) and in test cohorts 1 (AUC = 0.820, 95% CI 0.687–0.914, P < 0.001) and 2 (AUC = 0.871, 95% CI 0.744–0.949, P < 0.001). No significant differences in AUC were observed between test cohorts 1 and 2 (P = 0.673), suggesting considerable efficacy and robustness of the VAT-RM. In the total test cohort, the AUC of the VAT-RM for predicting disease progression was higher than that of SAT-RM (AUC = 0.786, 95% CI 0.692–0.861, P < 0.001). On multivariate Cox regression analysis, the VAT-RM (hazard ratio [HR] = 9.285, P = 0.005) was the most important independent predictor, followed by the SAT-RM (HR = 3.280, P = 0.060). Decision curve analysis further confirmed the better net benefit of the VAT-RM than the SAT-RM. Moreover, the SAT-RM failed to significantly improve predictive efficacy after it was added to the VAT-RM (integrated discrimination improvement = 0.031, P = 0.102). Interpretation: Our results suggest that VAT is an important determinant of disease progression in patients with CD. Our VAT-RM allows the accurate identification of high-risk patients prone to disease progression and offers notable advantages over SAT-RM. Funding: This study was supported by the National Natural Science Foundation of China, Guangdong Basic and Applied Basic Research Foundation, Shenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research Institutions, Nature Science Foundation of Shenzhen, and Young S&T Talent Training Program of Guangdong Provincial Association for S&T. Translation: For the Chinese translation of the abstract see Supplementary Materials section