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

A note on the security of KHL scheme

Agency for Science, Technology and Research (A*STAR

UPLC Q-TOF/MS-Based Metabolic Profiling of Urine Reveals the Novel Antipyretic Mechanisms of Qingkailing Injection in a Rat Model of Yeast-Induced Pyrexia

Fever is one of the most common clinical symptoms of many diseases. Qingkailing (QKL) injection is widely used in China as a clinical emergency medicine due to its good antipyretic effects. It is a herbal formula which is composed by eight kinds of traditional Chinese medicines (TCM). As a kind of typical multiple constituents and multiple actions of TCM, it is very difficult to elaborate the antipyretic mechanism by conventional pharmacological method. Metabonomics technique provides beneficial tool for this challenge. In this study, an ultra performance liquid chromatography quadrupole time-of-flight mass spectrometry (UPLC Q-TOF/MS) metabonomics method was developed to explore the changing process of biochemical substances in rats of yeast-induced pyrexia. Partial least squares discriminate analysis (PLS-DA) was used to distinguish the normal control group, the pyrexia model group, and the pyrexia model group treated by QKL injection. The potential biomarkers related to pyrexia were confirmed and identified. MetPA was used to find the possible metabolic pathways. The results indicated that the antipyretic effect of QKL injection on yeast-induced pyrexia rats was performed by repairing the perturbed metabolism of amino acids

3% diquafosol sodium eye drops in Chinese patients with dry eye: a phase IV study

IntroductionThe efficacy and safety of 3% diquafosol sodium eye drops in Chinese patients with dry eye in the real-world setting remains unclear.Methods3099 patients with dry eye symptoms were screened according to Asia Dry Eye Society latest recommendation. Among them, 3000 patients were enrolled for a phase IV study. We followed up with multiple clinical characteristics including corneal fluorescein staining, tear break up time, Schirmer’s tests, visual acuity, intraocular pressure, and others. The follow ups were performed at baseline, 2 weeks and 4 weeks after treatment.ResultsBased on the results of corneal fluorescein staining and tear break up time, all age and gender subgroups exhibited obvious alleviation of the symptoms among the patients with dry eye, and the data in elderly group showed the most significant alleviation. All the adverse drug reactions (ADRs, 6.17%) were recorded, among which 6% local ocular ADRs were included. Meanwhile, mild ADRs (91.8%) accounted for the most. Most of the ADRs (89.75%) got a quick and full recovery, with an average time at 15.6 days. 1.37% of patients dropped out of the study due to ADRs.DiscussionThe use of 3% diquafosol sodium eye drop is effective and safe in the treatment of dry eye, with a low incidence of ADRs showing mild symptoms. This trial was registered at Chinese Clinical Trial Registry ID: ChiCTR1900021999 (Registration Date: 19/03/2019)

A Novel Discovery: Holistic Efficacy at the Special Organ Level of Pungent Flavored Compounds from Pungent Traditional Chinese Medicine

Pungent traditional Chinese medicines (TCMs) play a vital role in the clinical treatment of hepatobiliary disease, gastrointestinal diseases, cardiovascular diseases, diabetes, skin diseases and so on. Pungent TCMs have a vastness of pungent flavored (with pungent taste or smell) compounds. To elucidate the molecular mechanism of pungent flavored compounds in treating cardiovascular diseases (CVDs) and liver diseases, five pungent TCMs with the action of blood-activating and stasis-resolving (BASR) were selected. Here, an integrated systems pharmacology approach is presented for illustrating the molecular correlations between pungent flavored compounds and their holistic efficacy at the special organ level. First, we identified target proteins that are associated with pungent flavored compounds and found that these targets were functionally related to CVDs and liver diseases. Then, based on the phenotype that directly links human genes to the body parts they affect, we clustered target modules associated with pungent flavored compounds into liver and heart organs. We applied systems-based analysis to introduce a pungent flavored compound-target-pathway-organ network that clarifies mechanisms of pungent substances treating cardiovascular diseases and liver diseases by acting on the heart/liver organ. The systems pharmacology also suggests a novel systematic strategy for rational drug development from pungent TCMs in treating cardiovascular disease and associated liver diseases

Seismic Performance of Curved Bridges with Longitudinal Slope

A curved bridge test model with a scale ratio of 1:10 was constructed to investigate the influence of site conditions on curved bridges with longitudinal slopes based on a similar theory. The natural ground motions of five different groups, namely, Sites A⁻E, were selected from the Pacific Earthquake Engineering Center (PEER) seismic database, and the shaking table model test was conducted under horizontal unidirectional and bidirectional excitations. Results showed that the structural response of the curved bridge is sensitive to the ground motion of different site conditions. Spatial characteristics are observed in the main girder structural response of the curved bridge. When the curved bridge is parallel to the direction of the principal ground motion, the rotation effect of the main girder is greater than that perpendicular to the direction of the principal ground motion. The rotation effect of the main girder leads to evident beam end and bearing displacements at the low pier. The seismic excitation direction and pier height notably affect the displacement response of the pier, and the tangential displacement response of the fixed pier is sensitive to seismic excitation

Fabrication of Superhydrophobic Ni-Co-BN Nanocomposite Coatings by Two-Step Jet Electrodeposition

The stability of hydrophobic surface has an important influence on the application of superhydrophobic function. The destruction of hydrophobic micro-nano structures on the material surface is the main factor leading to the loss of superhydrophobic property. In order to improve the corrosion resistance of superhydrophobic surface, Ni-Co-BN nanocomposite coatings with superhydrophobic property were prepared on 45 steel by two-step jet electrodeposition. The surface morphology, water contact angle, and corrosion resistance of the samples were measured and characterized by scanning electron microscope, surface contact angle measuring instrument, and electrochemical workstation. The results of electrochemical analysis show that the superhydrophobic property improved the corrosion resistance of Ni-Co-BN nanocomposite coating. The enhanced corrosion resistance is of great significance to the integrity of the microstructure and the durability of the superhydrophobic function

Rapid Elemental Analysis and Provenance Study of Blumea balsamifera DC Using Laser-Induced Breakdown Spectroscopy

Laser-induced breakdown spectroscopy (LIBS) was applied to perform a rapid elemental analysis and provenance study of Blumea balsamifera DC. Principal component analysis (PCA) and partial least squares discriminant analysis (PLS-DA) were implemented to exploit the multivariate nature of the LIBS data. Scores and loadings of computed principal components visually illustrated the differing spectral data. The PLS-DA algorithm showed good classification performance. The PLS-DA model using complete spectra as input variables had similar discrimination performance to using selected spectral lines as input variables. The down-selection of spectral lines was specifically focused on the major elements of B. balsamifera samples. Results indicated that LIBS could be used to rapidly analyze elements and to perform provenance study of B. balsamifera