Design, Development and Force Control of a Tendon-driven Steerable Catheter with a Learning-based Approach

In this research, a learning-based force control schema for tendon-driven steerable catheters with the application in robot-assisted tissue ablation procedures was proposed and validated. To this end, initially a displacement-based model for estimating the contact force between the catheter and tissue was developed. Afterward, a tendon-driven catheter was designed and developed. Next, a software-hardware-integrated robotic system for controlling and monitoring the pose of the catheter was designed and developed. Also, a force control schema was developed based on the developed contact force model as a priori knowledge. Furthermore, the position control of the tip of the catheter was performed using a learning-based inverse kinematic approach. By combining the position control and the contact model, the force control schema was developed and validated. Validation studies were performed on phantom tissue as well as excised porcine tissue. Results of the validation studies showed that the proposed displacement-based model was 91.5% accurate in contact force prediction. Also, the system was capable of following a set of desired trajectories with an average root-mean-square error of less than 5%. Further validation studies revealed that the system could fairly generate desired static and dynamic force profiles on the phantom tissue. In summary, the proposed force control system did not necessitate the utilization of force sensors and could fairly contribute in automatizing the ablation task for robotic tissue ablation procedures

Modificación de tejido de poliéster mediante la fabricación de compuestos de nano-cobre

This research introduces a new method of polyester fabric surface modification in order to achieve distinctive features. The copper sulfate, sodium hydroxide and cetyl trimethylammonium bromide (CTAB) were used to synthesize copper nanoparticles, and loaded on the polyester fabric surface. The optimal sample was considered by SEM-EDX, FT-IR and XRD devices. SEM images showed copper nanoparticles in shape of nano-plates with 150 to 600 nm in length and thickness of about 30 nm. The best results obtained on the modified fabric processed at boil for 120 min. According to the results of experiments CuO and Cu0 were synthesized on the fabric.This research introduces a new method of polyester fabric surface modification in order to achieve distinctive features. The copper sulfate, sodium hydroxide and cetyl trimethylammonium bromide (CTAB) were used to synthesize copper nanoparticles, and loaded on the polyester fabric surface. The optimal sample was considered by SEM-EDX, FT-IR and XRD devices. SEM images showed copper nanoparticles in shape of nano-plates with 150 to 600 nm in length and thickness of about 30 nm. The best results obtained on the modified fabric processed at boil for 120 min. According to the results of experiments CuO and Cu0 were synthesized on the fabric

Usage of alkaline glucose for Synthesis Copper Nano particle on Polyester Fabric

In this study, Nano copper from the chemical reaction between copper salt and sodium hydroxide was produced. Interestingly, simultaneous synthesis of Nano-copper chemical method and depositing Nano materials on the fabric's surface. The glucose is used as a stabilizer. An important feature of this study is, simplicity, availability, low cost and etc. The results create Nano-copper with a thickness of 30-40 nanometers on the surface of the fabric is shown. The treated fabrics could be used in diverse areas such as defense, aerospace, electronics, medical and health industries

Prevalence of Antibiotic Residues in Milk Consumed in Iran: A Systematic Review and Meta-Analysis

Background: Improper use of antibiotics and not paying attention to withdrawal time causes antibiotics to enter the milk, which can cause allergies in humans and cause antibiotic-resistant pathogenic bacteria in the long run, so quality and hygienic milk control is essential.Methods: This study aimed to investigate the prevalence of antibiotic residues in milk as a systematic review and metaanalysis from 2004 to 2021 for 15 years in Iran. The data were collected from four international search databases, including PubMed, Scopus, Science Direct, and Google Scholar, and four Iranian databases, including SID, MagIran, Civilica, and IranDoc.Results: After reviews of 314 studies, 38 were finally selected, and the information was recorded and analyzed in Stata software. The results of this study show that the residual prevalence of antibiotics in milk using the screening method was 28% (CI: 0.34-0.22). The residual rates of antibiotics using enzymelinked immunosorbent assay (ELISA) and high-pressure liquid chromatography (HPLC) methods were 43% (CI: 0.26-0.59) and 27% (CI: 0.05-0.49), respectively.Conclusion: The data obtained from the meta-analysis show that despite various reports of a quantitative amount of antibiotic residue in milk, the average amount in the ELISA method was 16.98 ppm. Although the prevalence of antibiotics in Iran is relatively high, a quantitative amount is optimal. Also, since the use of antibiotics in livestock is almost inevitable, proper withdrawal time of antibiotics can play an important role in preventing the release of antibiotic residues in milk