Intracranial Arteriovenous Malformation Combined with Multiple Aneurysms Diagnosed by CTA: A Case Report

Arteriovenous malformation (AVM) combined with aneurysms is not uncommon, but AVM of the basilar artery, brainstem, and right middle cerebral artery combined with multiple intracranial aneurysms (IAs) is rare. Cases of aneurysm protrusion into the optic canal are also rare. We report a distinctive case of intracranial AVM combined with multiple IAs and partial protrusion of a cavernous segment aneurysm of the right internal carotid artery into the optic nerve canal. Teaching Point: Cases of partial protrusion of a cavernous segment aneurysm of the right internal carotid artery into the optic canal, resulting in widening of the optic canal compared to the contralateral side, compression, thickening and swelling of the subocular veins, and obstruction of venous drainage warrant the clinician’s attention

Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots

Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master–slave teleoperation scheme with position–velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6°. The workspace of the control sticks is −60° to 110° in pitch angle, −40° to 40° in yaw angle, −180° to 180° in roll angle, and −90° to 90° in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36°/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications

Design of a novel passive endoscopic robot for sinus surgery

In order to overcome the disadvantages of traditional Functional Endoscopic Sinus Surgery (FESS), a novel passive endoscopic robot for sinus surgery is designed in this paper. This paper mainly focuses on the design of the prototype of a novel passive endoscopic robot and the lock methods of the passive joints. The design of the robot is divided into two parts-the position arm and the end-effector with an endoscope. A parallelogram based passive position arm is proposed and detailed analyzed then, and a three spherical joints based end-effector is proposed and detailed analyzed. Hereafter, different lock methods for joints are discussed and evaluated for both passive position arm and end-effector. For passive position arm, a gear-like lock mechanism is proposed and detailed analyzed, and a bladder-spring based lock mechanism is proposed for the end-effector. The mechanical model of bladder-spring based lock mechanism is derived to guide the detailed design of the prototype of the robot. ? 2014 IEEE.EI

High-resolution DNA methylome reveals that demethylation enhances adaptability to continuous cropping comprehensive stress in soybean

Abstract Background Continuous cropping stress involves such factors as biological barriers, allelopathic autotoxicity, deterioration of soil physicochemical properties, and soil fertility imbalance and is regarded as a kind of comprehensive stress limiting soybean yield and quality. Genomic DNA methylation is an important regulatory mechanism for plants to resist various environmental stresses. Therefore, it is especially worthwhile to reveal genomic methylation characteristics under stress and clarify the relationship between DNA methylation status and continuous cropping stress adaptability in soybean. Results We generated a genome-wide map of cytosine methylation induced by this kind of comprehensive stress in a tolerant soybean variety (Kang Xian 2, KX2) and a sensitive variety (He Feng, HF55) using whole-genome bisulfite sequencing (WGBS) technology. The expression of DNA demethylase genes was detected using real-time quantitative PCR (qRT-PCR). The functions of differentially methylated genes (DMGs) involved in stress response in biochemical metabolism and genetic information transmission were further assessed based on Gene Ontology (GO) annotation and Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway analysis. The results showed that genomic DNA demethylation was closely related to continuous cropping comprehensive stress adaptability in soybean, which was further verified by the increasing expression of DNA demethylases ROS1 and DML. The demethylation of mCpG and mCpHpG (mCpApG preferred) contexts was more critical, which mainly occurred in gene-regulatory regions at the whole-chromosome scale. Moreover, this kind of stress adaptability may be related to various stress responders generated through strengthened glucose catabolism and amino acid and fatty acid anabolism, as well as fidelity transmission of genetic information. Conclusions Genomic DNA demethylation was closely associated with continuous cropping comprehensive stress adaptability, highlighting the promising potential of screening continuous cropping-tolerant cultivars by DNA methylation index and further exploring the application of DNA demethylases in soybean breeding