Progettazione e caratterizzazione di un sistema idraulico di attuazione per strumentazione chirurgica mininvasiva

Il seguente lavoro di tesi fa parte di un progetto di collaborazione tra il laboratorio CRIM della Scuola Superiore Sant’Anna e la Intuitive Surgical Inc., azienda californiana leader mondiale nella robotica chirurgica. L'obiettivo di tale progetto è quello di sostituire l’attuazione a cavi, sinora utilizzata per il polso del braccio robotico del da Vinci, con metodologie innovative in grado di garantire elevate prestazioni (in termini di potenza trasmissibile e range di movimento) in strutture miniaturizzate complesse. In particolare, lo studio propone di progettare e realizzare un circuito idraulico capace di attuare un giunto espandibile a catena ad 1 DOF per applicazioni in chirurgia robotica mininvasiva. L'elaborato è suddiviso in sei capitoli. Il primo capitolo è dedicato alla presentazione del robot chirurgico da Vinci, delle problematiche connesse all’attuazione a cavi, delle soluzioni proposte ed alla descrizione del giunto. Il secondo contiene cenni di fluidica ed una panoramica riguardo il circuito idraulico e le specifiche a cui attenersi in fase di progetto. Seguono poi tre capitoli dedicati alla presentazione di ciscuna componente del circuito: pompa, valvola e cilindro idraulico. Il sesto capitolo infine, affronta le prove sperimentali effettuate sui prototipi realizzati al laboratorio CRIM della Scuola Superiore Sant’Anna, ed i risultati ottenuti

Learning from nature: Bio-Inspiration for damage-tolerant high-performance fibre-reinforced composites

Over millions of years Nature has attained highly optimized structural designs with remarkable toughness, strength, damage resistance and damage tolerance - properties that are so far difficult to combine in artificial high-performance fibre-reinforced polymers (HPFRPs). Recent studies, which have successfully replicated the structures and especially the toughening mechanisms found in flora and fauna, are reviewed in this work. At the core of the manufacturing of damage-tolerant bio-inspired composites, an understanding of the design principles and mechanisms is key. Universal and naturally-inherent design features, such as hierarchical- and organic-inorganic-structures as well as helical or fibrous arrangements of building blocks were found to promote numerous toughening mechanisms. Common to these features, the outstanding ability of diffusing damage at a sub-critical state has been identified as a powerful and effective mechanism to achieve high damage tolerance. Novel manufacturing processes suitable for HPFRP (such as tailored high-precision tape placement, micro-moulding, laser-engraving and additive manufacturing) have recently gained immense traction in the research community. This stems from the achievable and required geometrical complexity for HPFRPs and the replication of subtly balanced interaction between the material constituents. Even though trends in the literature clearly show that a bio-inspired material design philosophy is a successful strategy to design more efficient composite structures with enhanced damage tolerance and mechanical performance, Nature continues to offer new challenging opportunities yet to be explored, which could lead to a new era of HPFRP composites

Realising bio-inspired impact damage-tolerant thin-ply CFRP Bouligand structures via promoting diffused sub-critical helicoidal damage

In this work, we manufactured bio-inspired thin-ply Carbon Fibre Reinforced Plastic (CFRP) laminates, mimicking the helicoidal architecture of the mantis shrimp's dactyl club periodic region, with the smallest inter-ply (pitch) angle in the literature (2.5∘), thus better mimicking the actual micro-structure of the dactyl club. We conducted Low Velocity Impact (LVI) tests on a wide range of pitch angles (2.5∘, 5∘, 10∘, 20∘, 45∘), thus demonstrating that decreasing the pitch angle leads to a progressively smoother double helicoidal evolution of damage, reduces delamination areas, diffuses sub-critical damage, and enhances damage tolerance. We then conducted Compression After Impact (CAI) tests, thereby demonstrating that the residual strength and failure strain are preserved as the pitch angle is reduced, even though there is a steep decrease in the proportion of 0∘-plies (plies aligned with the loading direction) as the pitch angle decreases. Via detailed modelling, we then developed and proposed an explanation for why very small pitch angles are required to achieve the beneficial damage mechanisms exhibited by biological Bouligand structures

A novel profiling concept leading to a significant increase in the mechanical performance of metal to composite joints

In this work, we designed metal-CFRP joints with a profiled adherend termination to improve the mechanical performance. We have applied several profiles to the edge of titanium adherends which were adhesively bonded to CFRP substrates. We conducted finite element modelling and experimental 4PB (4-Point-Bend) testing to investigate how the geometry of the adherend edge profile effects the mechanical performance of the joint. This work shows that profiling of the metal adherend can result in increases of at least 27% in the peak load, and of at least 272% in the energy dissipated up to critical failure normalised by the mechanical energy

Autonomous robotic intracardiac catheter navigation using haptic vision

International audienceWhile all minimally invasive procedures involve navigating from a small incision in the skin to the site of the intervention, it has not been previously demonstrated how this can be done 10 autonomously. To show that autonomous navigation is possible, we investigated it in the hardest place to do it-inside the beating heart. We created a robotic catheter that can navigate through the blood-filled heart using wall-following algorithms inspired by positively thigmotactic animals. The catheter employs haptic vision, a hybrid sense using imaging for both touch-based surface identification and force sensing, to accomplish wall following inside the blood-filled heart. 15 Through in vivo animal experiments, we demonstrate that the performance of an autonomously-controlled robotic catheter rivals that of an experienced clinician. Autonomous navigation is a fundamental capability on which more sophisticated levels of autonomy can be built, e.g., to perform a procedure. Similar to the role of automation in fighter aircraft, such capabilities can free the clinician to focus on the most critical aspects of the procedure while providing precise and 20 repeatable tool motions independent of operator experience and fatigue

West Nile virus and Usutu virus: a post-mortem monitoring study in wild birds from rescue centers, central Italy

West Nile virus (WNV) and Usutu virus (USUV) are mosquito-borne flaviviruses that have been associated with neurological diseases in humans and wild birds. Wild bird rescue centers are potential significant hot spots for avian infection surveillance, as recognized in the Italian Integrate National Surveillance Plan for Arboviruses. Here we report the results of a post-mortem active monitoring study conducted from November 2017 to October 2020 on animals hosted in five wild bird rescue centers of Central Italy. Five hundred seventy-six (n = 576) wild birds were tested by real-time polymerase chain reaction (RT-PCR) for the presence of WNV or USUV RNA fragments. No birds tested positive for USUV RNA (n = 0; 0.00%). Evidence of WNV RNA (Ct value = 34.36) was found in one bird (n = 1; 0.17%), an adult little grebe (Tachybaptus ruficollis subsp. ruficollis), that tested WNV positive in December 2019. This study highlights the strategic role of wildlife rescue centers in monitoring both the introduction and circulation of avian emerging zoonotic diseases. In addition, the presence of WNV during the cold season evidences the possible role of birds in overwintering mechanisms in the Italian territory and requires further investigation

Novel zone-based hybrid laminate structures for high-velocity impact (HVI) in carbon fibre-reinforced polymer (CFRP) composites

We propose novel zone-based hybrid laminate concepts for improving the high-velocity impact (HVI) response of baseline carbon fibre-reinforced polymer (CFRP) composites while maintaining similar areal weights and retaining substantial in-plane mechanical properties by requiring that about 80% (by mass) of the baseline CFRP is kept in the hybrid concepts. We identify three zones along the thickness of the laminate according to their role during HVI and implemented tailored materials in these zones to improve the HVI response. We studied a wide range of materials, including: fibre reinforcements of carbon (thin- and thick-plies), glass, Zylon and ultra-high molecular weight polyethylene (UHMWPE); a shape memory alloy/carbon fabric; and ceramic, alumina and titanium sheets. All laminate concepts have similar areal weights for a meaningful comparison. After defining the various concepts, we manufactured and measured their specific dissipated energy under HVI, and finally carried out post-mortem analysis (including C-scan and microscopy). The results show up to 95% improvement in energy dissipation over the baseline quasi-isotropic (QI) CFRP configuration

Epidemiology of West Nile virus in Africa: an underestimated threat

12openInternationalInternational coauthor/editorBackground West Nile virus is a mosquito-borne flavivirus which has been posing continuous challenges to public health worldwide due to the identification of new lineages and clades and its ability to invade and establish in an increasing number of countries. Its current distribution, genetic variability, ecology, and epidemiological pattern in the African continent are only partially known despite the general consensus on the urgency to obtain such information for quantifying the actual disease burden in Africa other than to predict future threats at global scale. Methodology and principal findings References were searched in PubMed and Google Scholar electronic databases on January 21, 2020, using selected keywords, without language and date restriction. Additional manual searches of reference list were carried out. Further references have been later added accordingly to experts’ opinion. We included 153 scientific papers published between 1940 and 2021. This review highlights: (i) the co-circulation of WNV-lineages 1, 2, and 8 in the African continent; (ii) the presence of diverse WNV competent vectors in Africa, mainly belonging to the Culex genus; (iii) the lack of vector competence studies for several other mosquito species found naturally infected with WNV in Africa; (iv) the need of more competence studies to be addressed on ticks; (iv) evidence of circulation of WNV among humans, animals and vectors in at least 28 Countries; (v) the lack of knowledge on the epidemiological situation of WNV for 19 Countries and (vii) the importance of carrying out specific serological surveys in order to avoid possible bias on WNV circulation in Africa. Conclusions This study provides the state of art on WNV investigation carried out in Africa, highlighting several knowledge gaps regarding i) the current WNV distribution and genetic diversity, ii) its ecology and transmission chains including the role of different arthropods and vertebrate species as competent reservoirs, and iii) the real disease burden for humans and animals. This review highlights the needs for further research and coordinated surveillance efforts on WNV in Africa.openMencattelli, G.; Dior Ndione M.H.; Rosa', R.; Marini, G.; Diagne, C.T.; Diagne, M.M.; Fall, G.; Faye, O.; Diallo, M.; Faye, O.; Savini, G.; Rizzoli, A.Mencattelli, G.; Dior Ndione, M.H.; Rosa', R.; Marini, G.; Diagne, C.T.; Diagne, M.M.; Fall, G.; Faye, O.; Diallo, M.; Faye, O.; Savini, G.; Rizzoli, A

West Nile Virus lineage 1 in Italy: newly introduced or a re-occurrence of a previously circulating strain?

In Italy, West Nile virus (WNV) appeared for the first time in the Tuscany region in 1998. After 10 years of absence, it re-appeared in the areas surrounding the Po River delta, affecting eight provinces in three regions. Thereafter, WNV epidemics caused by genetically divergent isolates have been documented every year in the country. Since 2018, only WNV Lineage 2 has been reported in the Italian territory. In October 2020, WNV Lineage 1 (WNV-L1) re-emerged in Italy, in the Campania region. This is the first occurrence of WNV-L1 detection in the Italian territory since 2017. WNV was detected in the internal organs of a goshawk (Accipiter gentilis) and a kestrel (Falco tinnunculus). The RNA extracted in the goshawk tissue samples was sequenced, and a Bayesian phylogenetic analysis was performed by a maximum-likelihood tree. Genome analysis, conducted on the goshawk WNV complete genome sequence, indicates that the strain belongs to the WNV-L1 Western-Mediterranean (WMed) cluster. Moreover, a close phylogenetic similarity is observed between the goshawk strain, the 2008–2011 group of Italian sequences, and European strains belonging to the Wmed cluster. Our results evidence the possibility of both a new re-introduction or unnoticed silent circulation in Italy, and the strong importance of keeping the WNV surveillance system in the Italian territory activ

West Nile Virus lineage 2 overwintering in Italy

In January 2022, West Nile virus (WNV) lineage 2 (L2) was detected in an adult female goshawk rescued near Perugia in the region of Umbria (Italy). The animal showed neurological symptoms and died 15 days after its recovery in a wildlife rescue center. This was the second case of WNV infection recorded in birds in the Umbria region during the cold season, when mosquitoes, the main WNV vectors, are usually not active. According to the National Surveillance Plan, the Umbria region is included amongst the WNV low-risk areas. The necropsy evidenced generalized pallor of the mucous membranes, mild splenomegaly, and cerebral edema. WNV L2 was detected in the brain, heart, kidney, and spleen homogenate using specific RT-PCR. Subsequently, the extracted viral RNA was sequenced. A Bayesian phylogenetic analysis performed through a maximum-likelihood tree showed that the genome sequence clustered with the Italian strains within the European WNV strains among the central-southern European WNV L2 clade. These results, on the one hand, confirmed that the WNV L2 strains circulating in Italy are genetically stable and, on the other hand, evidenced a continuous WNV circulation in Italy throughout the year. In this report case, a bird-to-bird WNV transmission was suggested to support the virus overwintering. The potential transmission through the oral route in a predatory bird may explain the relatively rapid spread of WNV, as well as other flaviviruses characterized by similar transmission patterns. However, rodent-to-bird transmission or mosquito-to-bird transmission cannot be excluded, and further research is needed to better understand WNV transmission routes during the winter season in Ital