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Safety control strategy of spinal lamina cutting based on force and cutting depth signals

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CAAI Transactions on Intelligence Technology 2024年第4期9卷 894-902页

作者： Jian Zhang Yonghong Zhang Shanshan Liu Xuquan Ji Sizhuo Liu Zhuofu Li Baoduo Geng Weishi Li Tianmiao wang School of Mechanical Engineering and Automation Beihang UniversityBeijingChina beijing Zoezen Robot Co.Ltd. BeijingChina department of Orthopaedics Peking University Third HospitalBeijingChina Engineering Research Center of Bone and Joint precision Medicine Ministry of EducationBeijingChina beijing Key Laboratory of Spinal Disease Research BeijingChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina department of Biology Kenyon CollegeGambierOhioUSA

Laminectomy is one of the most common posterior spinal operations. Since the lamina is adjacent to important tissues such as nerves, once damaged, it can cause serious com-plications and even lead to paralysis. In order to prevent the above injuries and com-plications, ultrasonic bone scalpel and surgical robots have been introduced into spinal laminectomy, and many scholars have studied the recognition method of the bone tissue status. Currently, almost all methods to achieve recognition of bone tissue are based on sensor signals collected by high‐precision sensors installed at the end of surgical robots. However, the previous methods could not accurately identify the state of spinal bone tissue. Innovatively, the identification of bone tissue status was regarded as a time series classification task, and the classification algorithm LSTM‐FCN was used to process fusion signals composed of force and cutting depth signals, thus achieving an accurate classi-fication of the lamina bone tissue status. In addition, it was verified that the accuracy of the proposed method could reach 98.85% in identifying the state of porcine spinal laminectomy. And the maximum penetration distance can be controlled within 0.6 mm, which is safe and can be used in practice.

关键词： artificial neural network intelligent robots robotics surgery

An Automatic Implementation of Oropharyngeal Swab Sampling for Diagnosing Respiratory Infectious Diseases via Soft Robotic End-Effectors

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 55-67页

作者： Yafeng Cui Wenjie Yu Jingjing Li Qi Shao Ding Weng Guoping Yin Xiaohao Zhang Xinjun Liu Jingying Ye Jiadao wang Huichan Zhao department of Mechanical Engineering Tsinghua UniversityBeijing 100084China beijing Huakang Tongbang Technology Company Beijing 102609China department of Otorhinolaryngology Beijing Tsinghua Changgung HospitalSchool of Clinical MedicineTsinghua UniversityBeijing 102218China Tianjin Research Institute for Advanced Equipment Tsinghua UniversityTianjin 300300China

The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction(PCR)assays on patients’respiratory specimens,which are collected through either nasal or oropharyngeal *** manual swab sampling process poses a high risk to the examiner and may cause false-negative results owing to improper *** this paper,we propose a pneumatically actuated soft end-effector specifically designed to achieve all of the tasks involved in swab *** soft end-effector utilizes circumferential instability to ensure grasping stability,and exhibits several key properties,including high load-to-weight ratio,error tolerance,and variable swab-tip stiffness,leading to successful automatic robotic oropharyngeal swab sampling,from loosening and tightening the transport medium tube cap,holding the swab,and conducting sampling,to snapping off the swab tail and sterilizing *** an industrial collaborative robotic arm,we integrated the soft end-effector,force sensor,camera,lights,and remote-control stick,and developed a robotic oropharyngeal swab sampling *** this swab sampling system,we conducted oropharyngeal swab-sampling tests on 2. *** Digital PCR assay results(RNase P RNA gene absolute copy numbers for the samples)revealed that our system successfully collected sufficient numbers of cells from the pharyngeal wall for respiratory disease *** summary,we have developed a pharyngeal swab-sampling system based on an“enveloping”soft actuator,studied the sampling process,and imple-mented whole-process robotic oropharyngeal swab-sampling.

关键词： Diagnosis Medical robot Soft end-effector Swab-sampling Digital PCR

High-Efficiency Dynamic Terahertz Deflector Utilizing a Mechanically Tunable Metasurface

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Research 2024年第3期2023卷 585-594页

作者： Zhenci Sun Chao Liang Chen Chen Xiayu wang Enze Zhou Xiaomeng Bian Yuanmu Yang Rui You Xiaoguang Zhao Jiahao Zhao Zheng You department of precision Instrument Tsinghua UniversityBeijing 100084China State Key Laboratory of precision Measurement Technology and Instruments Tsinghua UniversityBeijing 100084China beijing Advanced Innovation Center for Integrated Circuits Beijing 100084China School of Instrument Science and Opto-Electronic Engineering Beijing Information Science and Technology UniversityBeijing 100016China.

Terahertz (THz) wave manipulation, especially the beam deflection, plays an essential role in various applications, such as next-generation communication, space exploration, and high-resolution imaging. Current THz optical components and devices are hampered by their large bulk sizes and passive responses, limiting the development of high-performance, miniaturized THz microsystems. Tunable metasurfaces offer a powerful dynamic optical platform for controlling the propagation of electromagnetic waves. In this article, we presented a mechanically tunable metasurface (MTM), which can achieve terahertz beam deflection and vary the intensity of the anomalous reflected terahertz wave by changing the air gap between the metallic resonator (MR) array with phase discontinuities and Au ground plane. The absence of lossy spacer materials substantially enhances deflection efficiency. The device was fabricated by a combination of the surface and bulk-micromachining processes. The THz beam steering capability was characterized using terahertz time domain spectroscopy. When the air gap is 50 μm, the maximum deflection coefficient reaches 0.60 at 0.61 THz with a deflection angle of ~44.5°, consistent with theoretical predictions. We further established an electrically tunable miniaturized THz device for dynamic beam steering by introducing a micro voice coil motor to control the air gap continuously. It is shown that our designed MTM demonstrates a high modulation depth of deflection coefficient (~ 62.5%) in the target steered angle at the operating frequency. Our results showcase the potential of the proposed MTM as a platform for high-efficiency THz beam manipulation.

关键词： tunable Efficiency resonator

Relationships between blood chromium exposure and liver injury:Exploring the mediating role of systemic inflammation in a chromate-exposed population

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Journal of Environmental Sciences 2024年第9期143卷 224-234页

作者： Zekang Su Yali Zhang Shiyi Hong Qiaojian Zhang Jiayu Xu Guiping Hu Xiaojun Zhu Fang Yuan Shanfa Yu Tianchen wang Guang Jia department of Occupational and Environmental Health Sciences School of Public HealthPeking UniversityBeijing 100191China School of Engineering Medicine and beijing Advanced Innovation Center for Big Data-Based precision Medicine Beihang UniversityBeijing 100191China National Center for Occupational Safety and Health Beijing 102308China department of Occupational Health and Radiological Health Chongqing Centers for Disease Control and PreventionChongqing 400042China Henan Institute for Occupational Medicine Zhengzhou 450052China department of Clinical Laboratory Third Hospital of Peking UniversityBeijing 100191China

Hexavalent chromium and its compounds are prevalent pollutants,especially in the work environment,pose a significant risk for multisystem toxicity and *** it is known that chromium accumulation in the liver can cause damage,the dose-response relationship between blood chromium(Cr)and liver injury,as well as the possible potential toxic mechanisms involved,remains poorly *** address this,we conducted a follow-up study of 590 visits from 305 participants to investigate the associations of blood Cr with biomarkers for liver injury,including serum alanine aminotransferase(ALT),aspartate aminotransferase(AST),total bilirubin(TBIL),and direct bilirubin(DBIL),and to evaluate the mediating effects of systemic ***(PLT)and the platelet-to-lymphocyte ratio(PLR)were utilized as biomarkers of systemic *** the linear mixed-effects analyses,each 1-unit increase in blood Cr level was associated with estimated effect percentage increases of 0.82.(0.11%,1.53%)in TBIL,1.67%(0.06%,3.2.%)in DBIL,0.73%(0.04%,1.43%)in ALT and 2.08%(0.2.%,3.87%)in AST,***,PLT mediated 10.04%,11.35%,and 10.77%increases in TBIL,DBIL,and ALT levels induced by chromate,*** addition,PLR mediated 8.2.%and 15.58%of the association between blood Cr and TBIL or *** findings shed light on the mechanisms underlying blood Cr-induced liver injury,which is partly due to worsening systemic inflammation.

关键词： Blood chromate Liver injury Systemic inflammation Mediation analysis

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自注意力相似度迁移跨模态哈希网络

北京航空航天大学学报 2024年第2期50卷 615-622页

作者：梁焕王海荣王栋北方民族大学计算机科学与工程学院银川750021

为进一步提升跨模态检索性能,提出自注意力相似度迁移跨模态哈希网络模型。设计了一种通道空间混合自注意力机制强化关注图像的关键信息,并使用共同注意力方法加强模态信息交互,提高特征学习质量;为在哈希空间重构相似关系,采用迁移学... 详细信息

为进一步提升跨模态检索性能,提出自注意力相似度迁移跨模态哈希网络模型。设计了一种通道空间混合自注意力机制强化关注图像的关键信息,并使用共同注意力方法加强模态信息交互,提高特征学习质量;为在哈希空间重构相似关系,采用迁移学习的方法利用实值空间相似度引导哈希码的生成。在3个常用的数据集MIRFLICKR-2.K、IAPR TC-12.MSCOCO上与深度跨模态哈希(DCMH)、成对关系引导的深度哈希(PRDH)、跨模态汉明哈希(CMHH)等优秀方法进行对比实验,结果显示哈希码长度为64 bit的条件下,所提模型在3个数据集图像检索文本任务的平均精确度均值(MAP)达到72.3%,文本检索图像任务的MAP达到70%,高于对比方法。

关键词：跨模态检索哈希学习注意力机制迁移学习无监督学习

Enhanced precision Therapy of Multiple Myeloma Through Engineered Biomimetic Nanoparticles with Dual Targeting

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Engineering 2024年第5期36卷 178-192页

作者： Ruogu Qi Shanshan wang Jiayi Yu Tianming Lu Zhiqiang Bi Weibo Liu Yuanyuan Guo Yong Bian Jianliang Shen Xuesong Zhang Wenhao Hu School of Medicine Nanjing University of Chinese MedicineNanjing 210023China Laboratory Animal Center Nanjing University of Chinese MedicineNanjing 210023China Key Laboratory of Carcinogenesis and Translational Research Ministry of Education/BeijingDepartment of Radiation OncologyBeijing Cancer HospitalBeijing 100142China department of Orthopedics The Fourth Medical CenterThe Chinese People’s Liberation Army General HospitalBeijing 100853China State Key Laboratory of Ophthalmology Optometry and Vision ScienceSchool of Biomedical EngineeringWenzhou Medical UniversityWenzhou 325027China

Multiple myeloma(MM)is the second most prevalent hematological *** MM treatment strategies are hampered by systemic toxicity and suboptimal therapeutic *** study addressed these limitations through the development of a potent MM-targeting chemotherapy strategy,which capitalized on the high binding affinity of alendronate for hydroxyapatite in the bone matrix and the homologous targeting of myeloma cell membranes,termed T-PB@*** results from our investigations highlight the considerable bone affinity of T-PB@M,both in vitro and in ***,this material demonstrated a capability for drug release triggered by low pH ***,T-PB@M induced the generation of reactive oxygen species and triggered cell apoptosis through the poly(ADP-ribose)polymerase 1(PARP1)-Caspase-3-B-cell lymphoma-2.Bcl-2.pathway in MM ***,T-PB@M preferentially targeted bone-involved sites,thereby circumventing systemic toxic side effects and leading to prolonged survival of MM orthotopic ***,this designed target-MM nanocarrier presents a promising and potentially effective platform for the precise treatment of MM.

关键词： Multiple myeloma Bortezomib Drug delivery Dual targeting Controlled release

Modification Design of High-precision Above Ground Marking System

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Modification Design of High-precision Above Ground Marking S...

Depletion of squalene epoxidase in synergy with glutathione peroxidase 4 inhibitor RSL3 overcomes oxidative stress resistance in lung squamous cell carcinoma

2.10 Chinese Control and Decision Conference

作者： Liying Sun~(1,2.,Yibo Li~1,Gang Du~1,Weikui wang~1,Yuankai Zhang~3 1.State Key Lab.of precision Measurement Technology and Instrument Tianjin {2. Tianjin,300072.china 2.department of Energy and Mechanics Engineering,Tianjin Institute of Urban Construction,Tianjin,300384,china 3.Institute of Acoustics,Chinese Academy of Sciences,beijing 100190,china

＜正＞Above ground marking system is one of the three main components of Magnetic Flux Leakage Detector, which is widely used in safety and integrity assessment of long-range transmission *** analyzing the advantages and disadvantages of three types of former above ground marking systems,a high-precision above ground marking system with smart appearance,intelligent communication and low cost is designed to eliminate the accumulated errors caused by mechanical construction,turning or slippage of the miles round of the magnetic Flux Leakage Detector. Hardware design of the new above ground system,including above ground marker and master clock system,is investigated in detail in this paper and reliable experiments and traction tests were performed to test the stability and dependability of the system.

关键词： Above Ground Marker Master clock hardware design Magnetic Flux Leakage Detector

来源： cnki会议评论

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precision Clinical Medicine 2024年第2期7卷 109-121页

作者： Guo Li Lu Chen Hua Bai Li Zhang Jie wang Weimin Li CAMS Key Laboratory of Translational Research on Lung Cancer State Key Laboratory of Molecular OncologyDepartment of Medical OncologyNational Cancer Center/National Clinical Research Center for Cancer/Cancer HospitalChinese Academy of Medical Sciences Peking Union Medical CollegeBeijing 100021China department of Pulmonary and Critical Care Medicine West China HospitalSichuan UniversityChengdu 610041China Institute of Respiratory Health Frontiers Science Center for Disease-related Molecular NetworkWest China HospitalSichuan UniversityChengdu 610041China precision Medicine Center Precision Medicine Key Laboratory of Sichuan ProvinceWest China HospitalSichuan UniversityChengdu 610041China State Key Laboratory of Respiratory Health and Multimorbidity West China HospitalChengdu 610041China The Research Units of West china Chinese Academy of Medical SciencesWest China HospitalChengdu 610041China

Background:Lung squamous cell carcinoma(Lusc)lacks effective targeted therapies and has a poor *** of squalene epoxidase(SQLE)has been implicated in metabolic disorders and ***,the role of SQLE as a monooxygenase involved in ***:We analyzed the expression and prognosis of lung adenocarcinoma(LUAD)and LUSC samples from GEO and TCGA *** proliferative activity of the tumors after intervention of SQLE was verified by cell and animal ***-1 assay,flow cytometry,and Western blot were used to show changes in apoptosis after intervention of *** cytometry and fluorescence assay of ROs levels were used to indicate oxidative stress ***:We investigated the unique role of SQLE expression in the diagnosis and prognosis prediction of *** of SQLE or treatment with the SQLE inhibitor terbinafine can suppress the proliferation of LUsC cells by inducing apoptosis and reactive oxygen species ***,depletion of SQLE also results in the impairment of lipid peroxidation and ferroptosis resistance such as upregulation of glutathione peroxidase ***,prevention of SQLE in synergy with glutathione peroxidase 4 inhibitor RSL3 effectively mitigates the proliferation and growth of ***:Our study indicates that the low expression of sQLE employs adaptive survival through regulating the balance of apoptosis and ferroptosis *** future,the combinational therapy of targeting sQLE and ferroptosis could be a promising approach in treating LUSC.

关键词： lung squamous cell carcinoma squalene epoxidase terbinafine RoS ferroptosis

Preparation and Structure-Property Regulation Mechanism of Reversible Thermochromic Polydiacetylene

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Chinese Journal of Polymer Science 2024年第8期42卷 1111-1121页

作者： Zhi-Qing Ge Shuo Yan Zu-Xiong Pan Shan Lei Xuan-Zhi Mao Chu Zhao Mo-Zhen wang Xue-Wu Ge Key Laboratory of precision and Intelligent Chemistry Department of Polymer Science and EngineeringUniversity of Science and Technology of ChinaHefei 230026China Marshall Laboratory of Biomedical Engineering International Cancer CenterLaboratory of Evolutionary Theranostics(LET)School of Biomedical EngineeringShenzhen University Medical SchoolShenzhen UniversityShenzhen 518055China Shanghai Institute of Applied Physics Chinese Academy of SciencesShanghai 201800China university of Chinese Academy of Sciences Beijing 100049China

The thermochromic mechanism and the structure-property regulation principle of reversible thermochromic polydiacetylene(PDA)materials have always been a challenging *** this work,a series of diacetylene monomers(m-PCDA)containing phenyl and amide or carboxyl groups were synthesized from 10,12.pentacosadiynoic acid(PCDA)through the esterification or amidation *** effects of the number and the distribution of the functional groups in m-PCDA molecules on their solid-state polymerization capability,and the thermochromic mechanism of their corresponding polymers(m-PDA)were investigated and discussed in *** results show that the m-PCDA monomers containing both benzene ring and groups that can form hydrogen bonding interactions have strong intermolecular interaction,and are easy to carry out the solid phase polymerization under 2.4-nm UV irradiation to obtain the corresponding new thermochromic m-PDA *** thermochromic behavior of m-PDA depends on its melting *** initial color-change temperature(blue to red)is determined by the onset melting tem perature,and the temperature range in which reversible color recovery can be achieved by repeat heating-cooling treatment is determined by its melting *** to the proposed thermochromic mechanism of PDA,various new PDA materials with precise thermochromic temperatu res and reversible thermochromic temperature ra nges can be designed and synthesized through the appropriate introduction of benzene ring and groups that can form hydrogen bonding interactions into the molecular structure of linear diacetylene *** work provides a perspective to the precise molecular structure design and the property regulation of the reversible thermochromic PDA materials.

关键词： Polydiacetylene Thermochromism Hydrogen bonding Chemical modification