Optimizing Base Placement of Surgical Robot: Kinematics Data-Driven Approach by Analyzing Working Pattern

In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces. Conventional base placement relies on the experience of trained medical staff. This study proposes a novel method for determining the optimal base pose based on the surgeon's working pattern. The proposed method analyzes recorded end-effector poses using a machine learning-based clustering technique to identify key positions and orientations preferred by the surgeon. We introduce two scoring metrics to address the joint limit and singularity issues: joint margin and manipulability scores. We then train a multi-layer perceptron regressor to predict the optimal base pose based on these scores. Evaluation in a simulated environment using the da Vinci Research Kit shows unique base pose score maps for four volunteers, highlighting the individuality of the working patterns. Results comparing with 20,000 randomly selected base poses suggest that the score obtained using the proposed method is 28.2% higher than that obtained by random base placement. These results emphasize the need for operator-specific optimization during base placement in RAMIS.Comment: 8 pages, 7 figures, 2 table

Private Access Control for Function Secret Sharing

Function Secret Sharing (FSS; Eurocrypt 2015) allows a dealer to share a function f with two or more evaluators. Given secret shares of a function f, the evaluators can locally compute secret shares of f(x) on an input x, without learning information about f. In this paper, we initiate the study of access control for FSS. Given the shares of f, the evaluators can ensure that the dealer is authorized to share the provided function. For a function family F and an access control list defined over the family, the evaluators receiving the shares of f ∈ F can efficiently check that the dealer knows the access key for f. This model enables new applications of FSS, such as: – anonymous authentication in a multi-party setting, – access control in private databases, and – authentication and spam prevention in anonymous communication systems. Our definitions and constructions abstract and improve the concrete efficiency of several re- cent systems that implement ad-hoc mechanisms for access control over FSS. The main building block behind our efficiency improvement is a discrete-logarithm zero-knowledge proof-of-knowledge over secret-shared elements, which may be of independent interest. We evaluate our constructions and show a 50–70× reduction in computational overhead com- pared to existing access control techniques used in anonymous communication. In other applications, such as private databases, the processing cost of introducing access control is only 1.5–3× when amortized over databases with 500,000 or more items

Design of a Multi-bending Flexible Manipulator for Gastrointestinal Surgery

Unlike the existing rigid surgical robots, flexible endoscopic robotic platforms have been actively researched owing to the advantages of high lesion accessibility and scar-free. However, there still exists difficult-to-access areas such as cardia and fundus in the gastrointestinal tract due to the limited Degrees of Freedom (DoFs) of the manipulator. In this study, we propose a multi-bending endoscopic manipulator to improve accessibility to the gastric region in any position and orientation. We perform mechanism design, kinematics, and cable-control analysis of the proposed manipulator. Finally, we verify the multi-bending motion in the simulated flexible pathway. © 2022 ICROS

Facile Synthesis of alpha-Boryl-Substituted Allylboronate Esters Using Stable Bis[(pinacolato)boryl]methylzinc Reagents

Reported herein is the utilization of bis[(pinacolato)boryl]methylzinc halides, whose structures are characterized via single-crystal X-ray analysis, as solid storable reagents for copper-catalyzed coupling with vinyliodonum salts. The reaction proceeds under mild conditions and shows broad scope with respect to vinyliodonium salts, affording various alpha-boryl-substituted allylboronate esters in good yields. Synthetic applications of the obtained products are also demonstrated.11Nsciescopu

Shear stress induces monocyte/macrophage-mediated inflammation by upregulating cell-surface expression of heat shock proteins

The loss of endothelial cells is associated with the accumulation of monocytes/macrophages underneath the surface of the arteries, where cells are prone to mechanical stimulation, such as shear stress. However, the impact of mechanical stimuli on monocytic cells remains unclear. To assess whether mechanical stress affects monocytic cell function, we examined the expression of inflammatory molecules and surface proteins, whose levels changed following shear stress in human THP-1 cells. Shear stress increased the inflammatory chemokine CCL2, which enhanced the migration of monocytic cells and tumor necrosis factor (TNF)-α and interleukin (IL)− 1β at transcriptional and protein levels. We identified that the surface levels of heat shock protein 70 (HSP70), HSP90, and HSP105 increased using mass spectrometry-based proteomics, which was confirmed by western blot analysis, flow cytometry, and immunofluorescence. Treatment with HSP70/HSP105 and HSP90 inhibitors suppressed the expression and secretion of CCL2 and monocytic cell migration, suggesting an association between HSPs and inflammatory responses. We also demonstrated the coexistence and colocalization of increased HSP90 immunoreactivity and CD68 positive cells in atherosclerotic plaques of ApoE deficient mice fed a high-fat diet and human femoral artery endarterectomy specimens. These results suggest that monocytes/macrophages affected by shear stress polarize to a pro-inflammatory phenotype and increase surface protein levels involved in inflammatory responses. The regulation of the abovementioned HSPs upregulated on the monocytes/macrophages surface may serve as a novel therapeutic target for inflammation due to shear stress