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A Robotic System with Robust Remote Center of Motion Constraint for endometrial regeneration Surgery

Chinese Journal of Mechanical Engineering 2022年第4期35卷 169-181页

作者： Jianhua Li Chongyang Wang Zhenxing Wang Xiong Zheng Zhidong Wang Jichun Tan Hao Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang Jianzhu University Shenyang 110168China Chiba Institute of Technology Chiba 275-0016Japan Shengjing Hospital of China Medical University Shenyang 110016China

Surgical robots have been widely used in diferent procedures to improve and facilitate the ***,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem *** regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the *** this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the *** center of motion(RCM)constraint is required to protect the cervix of the ***,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are ***,a task-decoupled method is used to improve the robustness of the RCM *** confrm that the proposed method is more robust and achieves higher RCM *** addition,the master-slave control of a robot with RCM constraint is also *** study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

关键词： endometrial regeneration Surgical robot Remote center of motion Task decoupled

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Effect of autologous bone marrow stem cells-scaffold transplantation on the ongoing pregnancy rate in intrauterine adhesion women:a randomized,controlled trial

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Science China(Life Sciences) 2024年第1期67卷 113-121页

作者： Hui Zhu Taishun Li Peizhen Xu Lijun Ding Xianghong Zhu Bin Wang Xiaoqiu Tang Juan Li Pengfeng Zhu Huiyan Wang Chenyan Dai Haixiang Sun Jianwu Dai Yali Hu Department of Obstetrics and Gynecology Nanjing Drum Tower HospitalAffiliated Hospital of Medical SchoolNanjing UniversityNanjing 210008China Department of Biostatistics Nanjing Drum Tower HospitalAffiliated Hospital of Medical SchoolNanjing UniversityNanjing 210008China Department of Gynecology Changzhou Maternal and Child Health Care HospitalChangzhou Medical CenterNanjing Medical UniversityChangzhou 213004China Clinical Center for Stem Cell Research Nanjing Drum Tower HospitalAffiliated Hospital of Medical SchoolNanjing UniversityNanjing 210008China Department of Hematology Nanjing Drum Tower HospitalAffiliated Hospital of Medical SchoolNanjing UniversityNanjing 210008China Institute of Genetics and Developmental Biology Chinese Academy of SciencesBeijing 100190China

Intrauterine adhesion is a major cause of female reproductive *** we and others uncontrolled pilot studies showed that treatment with autologous bone marrow stem cells made a few patients with severe intrauterine adhesion obtain live birth,no large sample randomized controlled studies on this therapeutic strategy in such patients have been reported so *** verify if the therapy of autologous bone marrow stem cells-scaffold is superior to traditional treatment in moderate to severe intrauterine adhesion patients in increasing their ongoing pregnancy rate,we conducted this randomized controlled clinical *** 195 participants with moderate to severe intrauterine adhesion were screened and 152 of them were randomly assigned in a 1:1 ratio to either group with autologous bone marrow stem cells-scaffold plus Foley balloon catheter or group with only Foley balloon catheter(control group)from February 2016 to January *** per-protocol analysis included 140 participants:72 in bone marrow stem cells-scaffold group and 68 in control *** ongoing pregnancy occurred in 45/72(62.5%)participants in the bone marrow stem cells-scaffold group which was significantly higher than that in the control group(28/68,41.2%)(RR=1.52,95%CI 1.08–2.12,P=0.012).The situation was similar in live birth rate(bone marrow stem cells-scaffold group 56.9%(41/72)*** group 38.2%(26/68),RR=1.49,95%CI 1.04–2.14,P=0.027).Compared with control group,participants in bone marrow stem cells-scaffold group showed more menstrual blood volume in the 3rd and 6th cycles and maximal endometrial thickness in the 6th cycle after hysteroscopic *** incidence of mild placenta accrete was increased in bone marrow stem cells-scaffold group and no severe adverse effects were *** conclusion,transplantation of bone marrow stem cells-scaffold into uterine cavities of the participants with moderate to severe intrauterine adhesion increased their ongoing pregnancy and

关键词： intrauterine adhesion Asherman’s syndrome uterine infertility autologous bone marrow stem cells transplantation endometrial regeneration ongoing pregnancy rate

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In situ delivery of apoptotic bodies derived from mesenchymal stem cells via a hyaluronic acid hydrogel:A therapy for intrauterine adhesions

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Bioactive Materials 2022年第6期7卷 107-119页

作者： Liaobing Xin Cheng Wei Xiaomei Tong Yangyang Dai Dong Huang Jianmin Chen Lie Ma Songying Zhang Assisted Reproduction Unit Department of Obstetrics and GynecologySir Run Run Shaw HospitalSchool of MedicineZhejiang UniversityHangzhou310016China MOE Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringZhejiang UniversityHangzhou310027China Key Laboratory of Reproductive Dysfunction Management of Zhejiang Province.No.3 Qingchun East Road Jianggan DistrictHangzhou310016China

Stem cell-based and stem cell-derived exosome-based therapies have shown promising potential for endometrial regeneration and the clinical treatment of intrauterine adhesions(IUAs).Evidence shows that apoptosis occurs in a majority of grafted stem cells,and apoptotic bodies(ABs)play a critical role in compensatory tissue ***,the therapeutic potential of AB-based therapy and its mechanism have not been explored in ***,a cell-free therapeutic strategy was developed by incorporating mesenchymal stem cell-derived ABs into a hyaluronic acid(HA)hydrogel to achieve endometrial regeneration and fertility ***,we found that the ABs could induce macrophage immunomodulation,cell proliferation,and angiogenesis in *** HA hydrogel promoted the retention of ABs and facilitated their continuous *** a murine model of acute endometrial damage and a rat model of IUAs,in situ injection of the AB-laden HA hydrogel could efficiently reduce fibrosis and promote endometrial regeneration,resulting in the fertility ***,ABs show good potential as therapeutic vesicles,and the AB-laden HA hydrogel appears to be a clinically feasible and cell-free alternative for endometrial regeneration and IUA treatment.

关键词： Apoptotic bodies Mesenchymal stem cells endometrial regeneration Intrauterine adhesions Tissue engineering

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