A novel locally operated master-slave robot system for single-incision laparoscopic surgery

Purpose: Single-incision laparoscopic surgery (SILS) provides more cosmetic benefits than conventional laparoscopic surgery but presents operational difficulties. To overcome this technical problem, we have developed a locally operated master-slave robot system that provides operability and a visual field similar to conventional laparoscopic surgery. Material and methods: A surgeon grasps the master device with the left hand, which is placed above the abdominal wall, and holds a normal instrument with the right hand. A laparoscope, a slave robot, and the right-sided instrument are inserted through one incision. The slave robot is bent in the body cavity and its length, pose, and tip angle are changed by manipulating the master device; thus the surgeon has almost the same operability as with normal laparoscopic surgery. To evaluate our proposed system, we conducted a basic task and an ex vivo experiment. Results: In basic task experiments, the average object-passing task time was 9.50 sec (SILS cross), 22.25 sec (SILS parallel), and 7.23 sec (proposed SILS). The average number of instrument collisions was 3.67 (SILS cross), 14 (SILS parallel), and 0.33 (proposed SILS). In the ex vivo experiment, we confirmed the applicability of our system for single-port laparoscopic cholecystectomy. Conclusion: We demonstrated that our proposed robot system is useful for single-incision laparoscopic surgery.ArticleMINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES. 23(6):326-332 (2014)journal articl

Bortezomib Reduces the Tumorigenicity of Multiple Myeloma via Downregulation of Upregulated Targets in Clonogenic Side Population Cells

Side population (SP) cells in cancers, including multiple myeloma, exhibit tumor-initiating characteristics. In the present study, we isolated SP cells from human myeloma cell lines and primary tumors to detect potential therapeutic targets specifically expressed in SP cells. We found that SP cells from myeloma cell lines (RPMI 8226, AMO1, KMS-12-BM, KMS-11) express CD138 and that non-SP cells include a CD138-negative population. Serial transplantation of SP and non-SP cells into NOD/Shi-scid IL-2 gamma nul mice revealed that clonogenic myeloma SP cells are highly tumorigenic and possess a capacity for self-renewal. Gene expression analysis showed that SP cells from five MM cell lines (RPMI 8226, AMO1, KMS-12-BM, KMS-11, JJN3) express genes involved in the cell cycle and mitosis (e. g., CCNB1, CDC25C, CDC2, BIRC5, CENPE, SKA1, AURKB, KIFs, TOP2A, ASPM), polycomb (e. g., EZH2, EPC1) and ubiquitin-proteasome (e. g., UBE2D3, UBE3C, PSMA5) more strongly than do non-SP cells. Moreover, CCNB1, AURKB, EZH2 and PSMA5 were also upregulated in the SPs from eight primary myeloma samples. On that basis, we used an aurora kinase inhibitor (VX-680) and a proteasome inhibitor (bortezomib) with RPMI 8226 and AMO1 cells to determine whether these agents could be used to selectively target the myeloma SP. We found that both these drugs reduced the SP fraction, though bortezomib did so more effectively than VX-680 due to its ability to reduce levels of both phospho-histone H3 (p-hist. H3) and EZH2; VX-680 reduced only p-hist. H3. This is the first report to show that certain oncogenes are specifically expressed in the myeloma SP, and that bortezomib effectively downregulates expression of their products. Our approach may be useful for screening new agents with which to target a cell population possessing strong tumor initiating potential in multiple myeloma

La conservation des tumuli historiques à travers les techniques et méthodes d’ingénierie géotechnique

[6th International Young Geotechnical Engineers’ Conference (iYGEC6] 16(Sat.) -17(Sun.) September 2017: Global Education Center for Engineers (Building No. 38), Seoul National University, Seoul, Republic of KoreaTumuli are burial mounds constructed more than 1300 years ago in many places in Japan. They have been conserved as historical cultural heritages. However many of them are seriously damaged by precipitation, earthquakes and human activities. The authors have hence been studying damage mechanism and countermeasures against the damage using geotechnical engineering techniques. The damage of tumuli can be divided into three types, namely 1) destruction of earth mounds, 2) water infiltration into stone chambers and 3) deterioration of decorated stone chambers due to hydrothermal environment change. In the present paper, geotechnical investigations into these types of damage are discussed. Rainfall induced slope failures in a tumulus mound is provided as an example of 1) and the instability of the mound is quantitatively explained. As a countermeasure against 2), water shielding by a capillary barrier is successfully introduced to the restoration of a damaged tumulus. Temperature control in stone chambers is required to suppress 3) hence the influence of a tumulus mound on the chamber temperature is evaluated with a basic numerical analysis

Mécanisme d'étanchéité d'une double couche de terre compactée et son application dans la préservation des tumuli de terre

[ICSMGE 2017 - 19th International Conference on Soil Mechanics and Geotechnical Engineering] 17-21 September 2017; Seoul, Korea.Tumuli are burial mounds for ancient rulers constructed in many parts of Japan more than 1300 years ago. A tumulus usually consists of a burial chamber made of stones covered by a compacted earth mound. They should be conserved for the next generations as historical cultural heritages, but many of them have been seriously damaged by natural forces and man-caused damages. Precipitation is one of the main causes of the damage of tumuli. Infiltrating rainwater into a mound induces slope failures, which results in the deterioration of the burial chamber by poor protection from precipitation and heat. Infiltration control is hence a vital objective in the restoration of damaged tumuli. In the present paper, conservation of tumuli by controlling infiltration using a capillary barrier is proposed with an example of the restoration of the Garandoya Tumulus. A capillary barrier is a water shielding system formed at the interface between finer and coarser grained layers. The mechanism of water shielding by a capillary barrier is investigated thorough model chamber tests and simulation of the tests. It is found that water shielding by a capillary barrier is caused by the difference in unsaturated hydraulic conductivity of the finer and coarser grained layers.Les Tumuli s’agissent de tertres funéraires destinés aux anciens souverains, construits dans de nombreuses régions du Japon et datant de plus de 1300 ans. Les Tumuli sont généralement composés d’une chambre funéraire en pierres, couverte par un monticule de terre compactée. Plusieurs Tumuli ont subi des dommages importants causés par des forces naturelles et humaines. La précipitation est la cause principale de ces dommages. L’eau de pluie infiltrant le monticule engendre des glissements de pentes, ceci entraine la détérioration de la chambre funéraire suite à la mauvaise protection contre la pluie et la chaleur. De ce fait, contrôler l’infiltration est primordial pour la restauration des tumuli endommagés. Le présent document propose la conservation des tumuli par contrôle d’infiltration en utilisant une barrière capillaire. La solution est accompagnée d’un exemple de restauration du Tumulus de Garandoya. Une barrière capillaire est un système d’étanchéité formé à l’interface entre les couches fines et grenues du sol. Le mécanisme d’étanchéité par barrière capillaire est examiné à travers des essais sur une chambre modèle et leur simulation. Il est constaté que l’étanchéité par une barrière capillaire est due à la différence entre les conductivités hydrauliques des couches de sol fin et grenu en milieu non saturé

Infiltration control using capillary barriers for conservation of historical tumulus mounds

Tumuli were constructed more than 1300 years ago and have been conserved as historical cultural heritages but many of them are seriously damaged by rainfall infiltration. In the present paper, a capillary barrier formed at the coarser-finer soil interface under unsaturated condition is studied as a feasible means for protecting tumuli from rainfall induced damages. The mechanism of water shielding by a capillary barrier and the diversion capacity are quantitatively discussed by conducting model chamber tests and numerical analyses. A series of the model chamber tests indicates that a capillary barrier is formed when the coarser grained soil has lower hydraulic conductivity than that of the finer grained layer and the diversion capacity is controlled by the inclination of the soil interface, the thickness of the finer grained layer and the intensity of precipitation because these factors are related to the degree of the difference in hydraulic conductivity of the finer and coarser grained soils

Bortezomib Reduces the Tumorigenicity of Multiple Myeloma via Downregulation of Upregulated Targets in Clonogenic Side Population Cells

<div><p>Side population (SP) cells in cancers, including multiple myeloma, exhibit tumor-initiating characteristics. In the present study, we isolated SP cells from human myeloma cell lines and primary tumors to detect potential therapeutic targets specifically expressed in SP cells. We found that SP cells from myeloma cell lines (RPMI 8226, AMO1, KMS-12-BM, KMS-11) express CD138 and that non-SP cells include a CD138-negative population. Serial transplantation of SP and non-SP cells into NOD/Shi-scid IL-2γnul mice revealed that clonogenic myeloma SP cells are highly tumorigenic and possess a capacity for self-renewal. Gene expression analysis showed that SP cells from five MM cell lines (RPMI 8226, AMO1, KMS-12-BM, KMS-11, JJN3) express genes involved in the cell cycle and mitosis (e.g., <i>CCNB1, CDC25C, CDC2</i>, <i>BIRC5, CENPE, SKA1</i>, <i>AURKB, KIFs</i>, <i>TOP2A, ASPM</i>), polycomb (e.g., <i>EZH2, EPC1</i>) and ubiquitin-proteasome (e.g., <i>UBE2D3, UBE3C, PSMA5</i>) more strongly than do non-SP cells. Moreover, <i>CCNB1, AURKB</i>, <i>EZH2</i> and <i>PSMA5</i> were also upregulated in the SPs from eight primary myeloma samples. On that basis, we used an aurora kinase inhibitor (VX-680) and a proteasome inhibitor (bortezomib) with RPMI 8226 and AMO1 cells to determine whether these agents could be used to selectively target the myeloma SP. We found that both these drugs reduced the SP fraction, though bortezomib did so more effectively than VX-680 due to its ability to reduce levels of both phospho-histone H3 (p-hist. H3) and EZH2; VX-680 reduced only p-hist. H3. This is the first report to show that certain oncogenes are specifically expressed in the myeloma SP, and that bortezomib effectively downregulates expression of their products. Our approach may be useful for screening new agents with which to target a cell population possessing strong tumor initiating potential in multiple myeloma.</p> </div

Real time quantitative PCR and western blot analyses of candidate markers of the SP in MM cells.

<p>(A). Real time quantitative PCR of cell cycle and mitosis related genes (<i>CCNB1,CDC2, CDC20, CDC25C, AURKB, BIRC5, TOP2A, ASPM),</i> Polycomb related genes (<i>EPC1, EZH2),</i> and ubiquitin-proteasome related gene (<i>UBE2D3</i> and <i>PSMA5)</i> against RPMI 8226, AMO1, KMS-12-BM, JJN3 and KMS-11 cells. Y-axis: gray and white bars depict 2^−ΔΔCt values for gene expression. Asterisks (*) indicate statistical significance: *0.01≤<i>P</i><0.05, **0.001≤<i>P</i><0.01, ***<i>P</i><0.001. Bars are means ± SD of three independent experiments. (B). Western blot analysis of Cyclin B1, CDC2, p-WEE1, p-CDC2, Aurora B, p-Aurora B, p-Hist.H3, EZH2, PSMA5 and GAPDH in SP and MP against RPMI 8226 and AMO1 cell lines.</p