关键词： tumor tissue   Tubular structures   Chaperonins   Adenosine Triphosphate   biodegradation   Intracellular   Nanomedicine   Fueling   Release   nanocarrier   mechanical force  

摘要： The development of nanocarriers that selectively release guest molecules on sensing a particular biological signal is being actively pursued in nanomedicine for diagnostic and therapeutic purposes. Here we report a protein-based nanocarrier that opens in the presence of intracellular adenosine-5'-triphosphate (ATP). The nanocarrier consists of multiple barrel-shaped chaperonin units assembled through coordination with Mg2+ into a tubular structure that protects guest molecules against biological degradation. When its surface is functionalized with a boronic acid derivative, the nanocarrier is able to enter cells. The hydrolysis of intracellular ATP into adenosine-5'-diphosphate (ADP) induces conformational changes of the chaperonin units, which in turns generate a mechanical force that leads to the disassembly of the tube and release of the guests. This scission occurs with a sigmoidal dependence on ATP concentration, which means that the nanocarrier can differentiate biological environments in terms of the concentration of ATP for selective guest release. Furthermore, biodistribution tests reveal preferential accumulation of the nanocarriers in a tumour tissue.

关键词： ROBOTICS   HIGH school contests   HIGH school students   COMPETITIONS  

摘要： The article discusses the First Robotics Championship competition which was held in April 2013 in St. Louis, Missouri wherein an alliance of three teams of students from Toronto, Mississauga, Ontario, and The Woodlands have served as the winners.

关键词： total hip arthroplasty   femoral head resurfacing   impingement   stability   soft tissue  

摘要： We identified and compared the impingent-free range of motion (ROM) and subluxation potential for native hip, femoral head resurfacing (FHR), and total hip arthroplasty (THA). These constructs were also compared both with and without soft tissue to elucidate the role of the soft tissue. Five fresh-frozen bilateral hip specimens were mounted to a six-degree of freedom robotic manipulator. Under load-control parameters, in vivo mechanics were recreated to evaluate impingement free ROM, and the subluxation potential in two at risk positions for native hip, FHR, and THA. Impingement-free ROM of the skeletonized THA was greater than FHR for the anterior subluxation position. For skeletonized posterior subluxations, stability for THA and FHR constructs were similar, while a different pattern was observed for specimens with soft tissues intact. FHR constructs were more stable than THA constructs for both anterior and posterior subluxations. When the femoral neck is intact the joint has an earlier impingement profile placing the hip at risk for subluxation. However, FHR design was shown to be more stable than THA only when soft tissues were intact. (c) 2013 Orthopaedic Research Society Published by Wiley Periodicals, Inc. J Orthop Res 31:11081115, 2013

关键词： URINARY calculi   LAPAROSCOPY   UROLOGY   SURGICAL complications   SURGICAL robots   OUTCOME assessment (Medical care)  

摘要： OBJECTIVE To study the feasibility of robot-assisted laparoscopic ureterolithotomy for large (>2 cm) or impacted lower ureteral stones and the immediate outcome measures such as the stone-free rate and occurrence of intra-and postoperative complications. MATERIALS AND METHODS From April 2010 to August 2012, 52 robotic stone surgeries were performed in our department. Robot-assisted laparoscopic ureterolithotomy was performed in 16 patients for large (>2 cm) or impacted lower ureteral stones. RESULTS The stone was most commonly located in the juxtavesical position in all 16 patients. The average stone size was 2.2 cm, and all stones were impacted. The mean operative time was 45.3 minutes (range, 38-63), including stent placement time, and the mean blood loss was 10 mL. The mean console time was 20.3 minutes. No conversion to an open procedure was required. CONCLUSION Robot-assisted laparoscopic ureterolithotomy for large, impacted, lower ureteral stones is an acceptable alternative. The ease of surgery and shorter operative times are significant advantages compared with the laparoscopic approach. UROLOGY 82: 95-99, 2013. (C) 2013 Elsevier Inc.

关键词： bio-inspiration   biomimetics   electric fish   mechanics   robotics   sensing  

摘要： Weakly electric knifefish have intrigued both biologists and engineers for decades with their unique electrosensory system and agile swimming mechanics. Study of these fish has resulted in models that illuminate the principles behind their electrosensory system and unique swimming abilities. These models have uncovered the mechanisms by which knifefish generate thrust for swimming forward and backward, hovering, and heaving dorsally using a ventral elongated median fin. Engineered active electrosensory models inspired by electric fish allow for close-range sensing in turbid waters where other sensing modalities fail. Artificial electrosense is capable of aiding navigation, detection and discrimination of objects, and mapping the environment, all tasks for which the fish use electrosense extensively. While robotic ribbon fin and artificial electrosense research has been pursued separately to reduce complications that arise when they are combined, electric fish have succeeded in their ecological niche through close coupling of their sensing and mechanical systems. Future integration of electrosense and ribbon fin technology into a knifefish robot should likewise result in a vehicle capable of navigating complex 3D geometries unreachable with current underwater vehicles, as well as provide insights into how to design mobile robots that integrate high bandwidth sensing with highly responsive multidirectional movement.

关键词： Pain management   Vaccination   Immunization   Pediatric   Robotics   Human-robot interaction  

摘要： Objective: Millions of children in North America receive an annual flu vaccination, many of whom are at risk of experiencing severe distress. Millions of children also use technologically advanced devices such as computers and cell phones. Based on this familiarity, we introduced another sophisticated device - a humanoid robot - to interact with children during their vaccination. We hypothesized that these children would experience less pain and distress than children who did not have this interaction. Method: This was a randomized controlled study in which 57 children (30 male;age, mean +/- SD: 6.87 +/- 1.34 years) were randomly assigned to a vaccination session with a nurse who used standard administration procedures, or with a robot who was programmed to use cognitive-behavioral strategies with them while a nurse administered the vaccination. Measures of pain and distress were completed by children, parents, nurses, and researchers. Results: Multivariate analyses of variance indicated that interaction with a robot during flu vaccination resulted in significantly less pain and distress in children according to parent, child, nurse, and researcher ratings with effect sizes in the moderate to high range (Cohen's d = 0.49-0.90). Conclusion: This is the first study to examine the effectiveness of child-robot interaction for reducing children's pain and distress during a medical procedure. All measures of reduction were significant. These findings suggest that further research on robotics at the bedside is warranted to determine how they can effectively help children manage painful medical procedures. Crown Copyright (C) 2013 Published by Elsevier Ltd. All rights reserved.

关键词： 工业机械人   瞬态变化   刚柔耦合动力学模型   振动分析  

摘要： 为适应工业机器人高速、重载、高精度的要求,以工业机械臂的瞬变过程为研究对象,提出以末端执行器的振幅判断机器人在瞬变过程中的动态性能,利用多体动力学和有限元的方法建立刚柔耦合模型,对工业机器人在整个作业过程中的动态特性进行描述和分析,仿真计算工业机器人在振幅最大时刻的应力分布及危险区域节点的应力变化,为机器人的动态性能评估、疲劳强度分析和寿命预测提供了依据。

关键词： 码垛机器人   动力学   弹簧   平衡   力矩  

摘要： 随着实际应用中负载和速度要求的不断提高,码垛机器人的动力学特性被赋予了更高的要求,而优化机器人弹簧平衡机构对于改善其动力学性能和运动中的平稳性具有重要意义。基于凯恩(Kane)方程的动力学算法,以PT1300型码垛机器人为研究对象建立码垛机器人刚体逆动力学模型。在给定机器人运动路径及运动规律前提下,基于动力学层面提出一种弹簧平衡机构设计方法。研究结果表明,采用该方法设计的弹簧平衡机构可明显降低关节驱动力矩,达到了预期效果。

关键词： 机器人   ADAMS   动力学仿真   拉格朗日  

摘要： 针对七自由度机器人结构特点,以拉格朗日法为理论基础建立了机器人动力学方程,并对机器人进行了动力学分析。基于ADAMS仿真软件构建机器人虚拟样机模型,对七自由度机器人进行了动力学仿真,获得了各个关节驱动力矩的函数曲线,验证了模型设计的合理性。基于MATLAB软件对动力学模型进行数值分析,绘出其力矩曲线,并与ADAMS仿真曲线进行对比,验证理论计算的正确性。为机构设计提供数据和结构方面的参考,为进一步研发7自由度机器人设备提供可靠有力的依据。

关键词： 双框架蒙皮检测机器人   动力学建模   切换系统   反步镇定控制   非完整约束   牛顿-欧拉法  

摘要： 研究了双层架构蒙皮检测机器人在切换运动方式下的动力学问题.首先分析了蒙皮检测机器人的结构和受力情况;然后建立了非完整约束方程,进而基于牛顿-欧拉法分别建立了蒙皮检测机器人内外框架两个子系统的动力学模型,并建立了双层架构状态空间表达式;最后设计了反步切换控制算法.通过仿真实验验证了切换控制算法的有效性和可行性.