Robot ontologies for sensor- and Image-guided surgery

Robots and robotics are becoming more com- plex and flexible, due to technological advancement, improved sensing capabilities and machine intelligence. Service robots target a wide range of applications, relying on advanced Human–Robot Interaction. Medical robotics is becoming a leading application area within, and the number of surgical, rehabilitation and hospital assistance robots is rising rapidly. However, the complexity of the medical environment has been a major barrier, preventing a wider use of robotic technology, thus mostly teleoperated, human-in-the-loop control solutions emerged so far. Providing smarter and better medical robots requires a systematic approach in describing and translating human processes for the robots. It is believed that ontologies can bridge human cognitive understanding and robotic reasoning (machine intelligence). Besides, ontologies serve as a tool and method to assess the added value robotic technology brings into the medical environment. The purpose of this paper is to identify relevant ontology research in medical robotics, and to review the state-of-the art. It focuses on the surgical domain, fundamental terminology and interactions are described for two example applications in neurosurgery and orthopaedics

HOW TO START IN BACKSTROKE CONSIDERING THE NEW RULES?

FINA recently changed the rule that governs the starting position for the backstroke starting technique. With this change, swimmers may now decide to start with the feet emerged, which was previously strictly forbidden. This new liberalization naturally determines the rise of a new technical question for swimmers and coaches: do a starting position with the feet emerged allow a better performance, or better performance conditions for the following actions? To our knowledge no previous scientific results are available concerning this question, allowing to support any technical decision. During this presentation we will try to deliver arguments to support a technical option in this particular topic, based on the research developed by our group, comparing the traditional starting technique with the feet immerged (BSFI), with the one allowed nowadays, with both feet totally, or partially, emerged (BSFE). To fulfil this purpose, we studied six experienced male swimmers that maximally performed 4 repetitions of each technique over a distance of 15 meters. All performances were dual-media videotaped (50 Hz) in the sagittal plane, synchronized with kinetic and EMG data simultaneously registered. Kinetic data were assessed using an underwater force plate mounted on a special support on the wall of the pool, allowing the registration of the horizontal component of the forces exerted by the swimmers’ feet. The handgrip system was adapted to reproduce its legal position and configuration, but instrumented with a load cell (Globus, Italy) to allow the assessment of the horizontal component of the forces exerted by swimmers’ upper limbs. Findings pointed out that BSFI was significantly faster till the 5m reference, with less muscular activity, and with a tendency to produce higher forces against the starting wall. No argument was obtained to support the use of the BSFE in swimming competitions

Acetylcholine release and choline uptake by cuttlefish (Sepia officinalis) optic lobe synaptosomes

Acetylcholine (ACh), which is synthesized from choline (Ch), is believed to hold a central place in signaling mechanisms within the central nervous system (CNS) of cuttlefish (Sepia officinalis) and other coleoid cephalopods. Although the main elements required for cholinergic function have been identified in cephalopods, the transmembrane translocation events promoting the release of ACh and the uptake of Ch remain largely unsolved. The ACh release and Ch uptake were quantitatively studied through the use of in vitro chemiluminescence and isotopic methods on a subcellular fraction enriched in synaptic nerve endings (synaptosomes) isolated from cuttlefish optic lobe. The ACh release evoked by K+ depolarization was found to be very high (0.04 pmol ACh.s-(1).mg(-1) protein). In response to stimulation by veratridine, a secretagogue (a substance that induces secretion) that targets voltage-gated Na+ channels, the release rate and the total amount of ACh released were significantly lower, by 10-fold, than the response induced by KCl. The high-affinity uptake of choline was also very high (31 pmol Ch.min(-1).mg(-1) protein). The observed ACh release and Ch uptake patterns are in good agreement with published data on preparations characterized by high levels of ACh metabolism, adding further evidence that ACh acts as a neurotransmitter in cuttlefish optic lobe.FCTPOCTI/BSE/46721/2002SFRH/BPD/14677/2003SFRH/BD/1079/2000SFRH/BD/6403/2001SFRH/BD/18101/2004EC (to Y.D.) - LIPIDIET - QLK1-CT-2002-0017

Approaches for action sequence representation in robotics: a review

Robust representation of actions and its sequences for complex robotic tasks would transform robot’s understand- ing to execute robotic tasks efficiently. The challenge is to under- stand action sequences for highly unstructured environments and to represent and construct action and action sequences. In this manuscript, we present a review of literature dealing with representation of action and action sequences for robot task planning and execution. The methodological review was conducted using Google Scholar and IEEE Xplore, searching the specific keywords. This manuscript gives an overview of current approaches for representing action sequences in robotics. We propose a classification of different methodologies used for action sequences representation and describe the most important aspects of the reviewed publications. This review allows the reader to understand several options that do exist in the research community, to represent and deploy such action representations in real robots

Approaches for action sequence representation in robotics: a review

Robust representation of actions and its sequences for complex robotic tasks would transform robot’s understand- ing to execute robotic tasks efficiently. The challenge is to under- stand action sequences for highly unstructured environments and to represent and construct action and action sequences. In this manuscript, we present a review of literature dealing with representation of action and action sequences for robot task planning and execution. The methodological review was conducted using Google Scholar and IEEE Xplore, searching the specific keywords. This manuscript gives an overview of current approaches for representing action sequences in robotics. We propose a classification of different methodologies used for action sequences representation and describe the most important aspects of the reviewed publications. This review allows the reader to understand several options that do exist in the research community, to represent and deploy such action representations in real robots

Towards a robot task ontology standard

Ontologies serve robotics in many ways, particularly in de- scribing and driving autonomous functions. These functions are built around robot tasks. In this paper, we introduce the IEEE Robot Task Representation Study Group, including its work plan, initial development efforts, and proposed use cases. This effort aims to develop a standard that provides a comprehensive on- tology encompassing robot task structures and reasoning across robotic domains, addressing both the relationships between tasks and platforms and the relationships between tasks and users. Its goal is to develop a knowledge representation that addresses task structure, with decomposition into subclasses, categories, and/or relations. It includes attributes, both common across tasks and specific to particular tasks and task types

Sialic Acid Glycobiology Unveils Trypanosoma cruzi Trypomastigote Membrane Physiology.

Trypanosoma cruzi, the flagellate protozoan agent of Chagas disease or American trypanosomiasis, is unable to synthesize sialic acids de novo. Mucins and trans-sialidase (TS) are substrate and enzyme, respectively, of the glycobiological system that scavenges sialic acid from the host in a crucial interplay for T. cruzi life cycle. The acquisition of the sialyl residue allows the parasite to avoid lysis by serum factors and to interact with the host cell. A major drawback to studying the sialylation kinetics and turnover of the trypomastigote glycoconjugates is the difficulty to identify and follow the recently acquired sialyl residues. To tackle this issue, we followed an unnatural sugar approach as bioorthogonal chemical reporters, where the use of azidosialyl residues allowed identifying the acquired sugar. Advanced microscopy techniques, together with biochemical methods, were used to study the trypomastigote membrane from its glycobiological perspective. Main sialyl acceptors were identified as mucins by biochemical procedures and protein markers. Together with determining their shedding and turnover rates, we also report that several membrane proteins, including TS and its substrates, both glycosylphosphatidylinositol-anchored proteins, are separately distributed on parasite surface and contained in different and highly stable membrane microdomains. Notably, labeling for α(1,3)Galactosyl residues only partially colocalize with sialylated mucins, indicating that two species of glycosylated mucins do exist, which are segregated at the parasite surface. Moreover, sialylated mucins were included in lipid-raft-domains, whereas TS molecules are not. The location of the surface-anchored TS resulted too far off as to be capable to sialylate mucins, a role played by the shed TS instead. Phosphatidylinositol-phospholipase-C activity is actually not present in trypomastigotes. Therefore, shedding of TS occurs via microvesicles instead of as a fully soluble form

European Position Paper on Rhinosinusitis and Nasal Polyps 2020

The European Position Paper on Rhinosinusitis and Nasal Polyps 2020 is the update of similar evidence based position papers published in 2005 and 2007 and 2012. The core objective of the EPOS2020 guideline is to provide revised, up-to-date and clear evidence-based recommendations and integrated care pathways in ARS and CRS. EPOS2020 provides an update on the literature published and studies undertaken in the eight years since the EPOS2012 position paper was published and addresses areas not extensively covered in EPOS2012 such as paediatric CRS and sinus surgery. EPOS2020 also involves new stakeholders, including pharmacists and patients, and addresses new target users who have become more involved in the management and treatment of rhinosinusitis since the publication of the last EPOS document, including pharmacists, nurses, specialised care givers and indeed patients themselves, who employ increasing self-management of their condition using over the counter treatments. The document provides suggestions for future research in this area and offers updated guidance for definitions and outcome measurements in research in different settings. EPOS2020 contains chapters on definitions and classification where we have defined a large number of terms and indicated preferred terms. A new classification of CRS into primary and secondary CRS and further division into localized and diffuse disease, based on anatomic distribution is proposed. There are extensive chapters on epidemiology and predisposing factors, inflammatory mechanisms, (differential) diagnosis of facial pain, allergic rhinitis, genetics, cystic fibrosis, aspirin exacerbated respiratory disease, immunodeficiencies, allergic fungal rhinosinusitis and the relationship between upper and lower airways. The chapters on paediatric acute and chronic rhinosinusitis are totally rewritten. All available evidence for the management of acute rhinosinusitis and chronic rhinosinusitis with or without nasal polyps in adults and children is systematically reviewed and integrated care pathways based on the evidence are proposed. Despite considerable increases in the amount of quality publications in recent years, a large number of practical clinical questions remain. It was agreed that the best way to address these was to conduct a Delphi exercise. The results have been integrated into the respective sections. Last but not least, advice for patients and pharmacists and a new list of research needs are included.Peer reviewe

Mitochondrial physiology

As the knowledge base and importance of mitochondrial physiology to evolution, health and disease expands, the necessity for harmonizing the terminology concerning mitochondrial respiratory states and rates has become increasingly apparent. The chemiosmotic theory establishes the mechanism of energy transformation and coupling in oxidative phosphorylation. The unifying concept of the protonmotive force provides the framework for developing a consistent theoretical foundation of mitochondrial physiology and bioenergetics. We follow the latest SI guidelines and those of the International Union of Pure and Applied Chemistry (IUPAC) on terminology in physical chemistry, extended by considerations of open systems and thermodynamics of irreversible processes. The concept-driven constructive terminology incorporates the meaning of each quantity and aligns concepts and symbols with the nomenclature of classical bioenergetics. We endeavour to provide a balanced view of mitochondrial respiratory control and a critical discussion on reporting data of mitochondrial respiration in terms of metabolic flows and fluxes. Uniform standards for evaluation of respiratory states and rates will ultimately contribute to reproducibility between laboratories and thus support the development of data repositories of mitochondrial respiratory function in species, tissues, and cells. Clarity of concept and consistency of nomenclature facilitate effective transdisciplinary communication, education, and ultimately further discovery