3D Dynamic Motion Planning for Robot-Assisted Cannula Flexible Needle Insertion into Soft Tissue

In robot-assisted needle-based medical procedures, insertion motion planning is a crucial aspect. 3D dynamic motion planning for a cannula flexible needle is challenging with regard to the nonholonomic motion of the needle tip, the presence of anatomic obstacles or sensitive organs in the needle path, as well as uncertainties due to the dynamic environment caused by the movements and deformations of the organs. The kinematics of the cannula flexible needle is calculated in this paper. Based on a rapid and robust static motion planning algorithm, referred to as greedy heuristic and reachability-guided rapidly-exploring random trees, a 3D dynamic motion planner is developed by using replanning. Aiming at the large detour problem, the convergence problem and the accuracy problem that replanning encounters, three novel strategies are proposed and integrated into the conventional replanning algorithm. Comparisons are made between algorithms with and without the strategies to verify their validity. Simulations showed that the proposed algorithm can overcome the above-noted problems to realize real-time replanning in a 3D dynamic environment, which is appropriate for intraoperative planning. © 2016 Author

Research progress of MicroRNA in podocytes autophagy in diabetic nephropathy

Diabetic nephropathy (DN) is one of the most common microvascular complications of diabetes, and is a kind of abnormal microangiopathy of kidney structure, function or clinical indicators caused by diabetes. Podocyte injury has been considered as a major contributor to the progression of diabetic nephropathy(DN). microRNA can participate in podocytes injury through autophagy.In this paper, the mechanism of microRNA involved in DN podocytes autophagy was reviewed to provide reference for the treatment of DN in the future

Inhibitory effect of reduced graphene oxide-silver nanocomposite on progression of artificial enamel caries

The use of antimicrobial agents is an efficient method to prevent dental caries. Also, nanometric antibacterial agents with wide antibacterial spectrum and strong antibacterial effects can be applied for prevention of dental caries. Objectives: The aim of this study was to evaluate the inhibitory effect of reduced graphene oxide-silver nanoparticles (rGO/Ag) composite on the progression of artificial enamel caries in a Streptococcus mutans biofilm model. Material and Methods: Enamel specimens from bovine incisors were divided into eight treatment groups (n=13), as follows: group 1 was inoculated with S. mutans grown in Brain Heart Infusion containing 1% sucrose (1% BHIS), as negative control; groups 2–4 were inoculated with S. mutans grown in the presence of different rGO/Ag concentrations (0.08, 0.12, 0.16 mg/mL) + 1% BHIS; group 5–7 were inoculated with S. mutans grown in the presence of different agents (0.16 mg/mL reduced graphene oxide, 0.16 mg/mL silver nanoparticles, 10 ppm NaF) + 1% BHIS; group 8 was mixed with 1% BHIS, without inoculation. Artificial enamel carious lesions were produced by S. mutans biofilm model for 7 days. Confocal laser scanning microscopy and atomic force microscopy were used to analyze roughness and morphology of the enamel surface. Polarized light microscopy and confocal laser scanning microscopy were employed to measure the lesion depth and the relative optical density (ROD) of the demineralized layer. Results: Compared with the control groups, the rGO/Ag groups showed: (a) reduced enamel surface roughness; (b) much smoother and less eroded surfaces; (c) shallower lesion depth and less mineral loss. Conclusion: As a novel composite material, rGO/Ag can be a promising antibacterial agent for caries prevention

The N-terminal domain of Lhcb proteins is critical for recognition of the LHCII kinase

AbstractThe light-harvesting chlorophyll (Chl) a/b complex of photosystem (PS) II (LHCII) plays important roles in the distribution of the excitation energy between the two PSs in the thylakoid membrane during state transitions. In this process, LHCII, homo- or heterotrimers composed of Lhcb1–3, migrate between PSII and PSI depending on the phosphorylation status of Lhcb1 and Lhcb2. We have studied the mechanisms of the substrate recognition of a thylakoid threonine kinase using reconstituted site-directed trimeric Lhcb protein–pigment complex mutants. Mutants lacking the positively charged residues R/K upstream of phosphorylation site (Thr) in the N-terminal domain of Lhcb1 were no longer phosphorylated. Besides, the length of the peptide upstream of the phosphorylated site (Thr) is also crucial for Lhcb phosphorylation in vitro. Furthermore, the two N-terminal residues of Lhcb appear to play a key role in the phosphorylation kinetics because Lhcb with N-terminal RR was phosphorylated much faster than with RK. Therefore, we conclude that the substrate recognition of the LHCII kinase is determined to a large extent by the N-terminal sequence of the Lhcb proteins. The study provides new insights into the interactions of the Lhcb proteins with the LHCII kinase

Developing Culturally Effective Strategies for Chinese to English Geotourism Translation by Corpus-Based Interdisciplinary Translation Analysis

As a new field of translation with its own special genre, geotourism has not yet been firmly established because geotourism translations are currently not of a sufficient professional standard. This situation does not provide geotourists with the genre’s full target of enjoyment, learning and engagement through science popularisation tourism activities. In order to better meet these three definitive purposes in geotourism, this study analyses the three basic categories of geotourism—geological features (GFs), geological processes (GPs) and cultural elements (CEs)—to determine effective strategies of geotourism translation from Chinese into English. Challenges in translation include scientific jargon, language style and cultural gaps. In this article, the advantages of Hu’s Eco-translatology theory are explained and used for minimising translation problems; and the corpus linguistics method, superior for quantitative and qualitative analysis, is utilised. As well, digital auxiliary tools Tmxmall (2014) and Sketch Engine (2003) were employed to facilitate corpus research. Through analysis, effective strategies in each of the key geotourism categories, GFs, GPs and CEs, were identified, shaped and recommended for future translators’ attention. In the results, literal translation, transliteration and free translation, addition and use of official UNESCO names were recommended to render GFs. Division and shift translation, literal translation and shift and division were recommended for GPs. Literal translation, transliteration and free translation and addition were recommended for CEs. Since this is an initial investigation in the genre of geotourism, this study has attempted to build a model platform for future study and wider research in geotourism translation and translation pedagogy for the improvement of geotourism translation quality

Streptococcus Mutans Membrane Vesicles Enhance Candida albicans Pathogenicity and Carbohydrate Metabolism

Streptococcus mutans and Candida albicans, as the most common bacterium and fungus in the oral cavity respectively, are considered microbiological risk markers of early childhood caries. S. mutans membrane vesicles (MVs) contain virulence proteins, which play roles in biofilm formation and disease progression. Our previous research found that S. mutans MVs harboring glucosyltransferases augment C. albicans biofilm formation by increasing exopolysaccharide production, but the specific impact of S. mutans MVs on C. albicans virulence and pathogenicity is still unknown. In the present study, we developed C. albicans biofilms on the surface of cover glass, hydroxyapatite discs and bovine dentin specimens. The results showed that C. albicans can better adhere to the tooth surface with the effect of S. mutans MVs. Meanwhile, we employed C. albicans biofilm-bovine dentin model to evaluate the influence of S. mutans MVs on C. albicans biofilm cariogenicity. In the S. mutans MV-treated group, the bovine dentin surface hardness loss was significantly increased and the surface morphology showed more dentin tubule exposure and broken dentin tubules. Subsequently, integrative proteomic and metabolomic approaches were used to identify the differentially expressed proteins and metabolites of C. albicans when cocultured with S. mutans MVs. The combination of proteomics and metabolomics analysis indicated that significantly regulated proteins and metabolites were involved in amino acid and carbohydrate metabolism. In summary, the results of the present study proved that S. mutans MVs increase bovine dentin demineralization provoked by C. albicans biofilms and enhance the protein and metabolite expression of C. albicans related to carbohydrate metabolism