Objectives:The use of current robotic systems to assist in percutaneous coronary intervention(PCI)fundamentally differs from performing conventional PCI.To overcome this problem,we developed a novel master-slave robot...Objectives:The use of current robotic systems to assist in percutaneous coronary intervention(PCI)fundamentally differs from performing conventional PCI.To overcome this problem,we developed a novel master-slave robotic control system to assist in PCI,and evaluated its safety and feasibility in the delivery and manipulation of coronary guidewires in vitro and in vivo.Methods:The novel robotic assist PCI system is composed of three parts:1)a master actuator,which imitates the traditional torque used by surgeons in conventional PCI,2)a slave actuator,including a guidewire delivery system and force monitoring equipment,and 3)a local area network based communication system.Results:The experiment was performed in six pigs.Both robotic and manual control completed the operation with no device-or procedure-associated complications.An experienced interventional cardiologist who was afirst-time user of the novel robotic PCI system was able to advance the guidewire into a distal branch of a coronary artery within a similar time to that required with the manual procedure.Conclusion:This early in vivo experiment with the novel robotic assisted PCI control system demonstrated that its feasibility,safety,and procedural effectiveness are comparable to those of manual operation.The novel robotic-assisted PCI control system required significantly less time to learn than other currently available systems.展开更多
The terahertz(THz)wave is at the intersection between photonics and electronics in the electromagnetic spectrum.Since the vibration mode of many biomedical molecules and the weak interaction mode inside the molecules ...The terahertz(THz)wave is at the intersection between photonics and electronics in the electromagnetic spectrum.Since the vibration mode of many biomedical molecules and the weak interaction mode inside the molecules fall in the THz regime,utilizing THz radiation as a signal source to operate substance information sensing has its unique advantages.Recently,the metamaterial sensor(metasensor)has greatly enhanced the interaction between signal and substances and spectral selectivity on the subwavelength scale.However,most past review articles have demonstrated the THz metasensor in terms of their structures,applications,or materials.Until recently,with the rapid development of metasensing technologies,the molecular information has paid much more attention to the platform of THz metasensors.In this review,we comprehensively introduce the THz metasensor for detecting not only the featureless refractive index but also the vibrational/chiral molecular information of analytes.The objectives of this review are to improve metasensing specificity either by chemical material-assisted analyte capture or by physical molecular information.Later,to boost THz absorption features in a certain frequency,the resonant responses of metasensors can be tuned to the molecular vibrational modes of target molecules,while frequency multiplexing techniques are reviewed to enhance broadband THz spectroscopic fingerprints.The chiral metasensors are also summarized to specific identification chiral molecules.Finally,the potential prospects of next generation THz metasensors are discussed.Compared to featureless refractive index metasensing,the specific metasensor platforms accelerated by material modification and molecular information will lead to greater impact in the advancement of trace detection of conformational dynamics of biomolecules in practical applications.展开更多
基金supported by the Capital Health Research and Development of Special(2020-4-2243)Beijing Municipal Administration of Hospitals Incubating Program(No.PX2021039)+1 种基金Beijing Hospitals Authority Ascent Plan(No.DFL20190902)Beijing Hospitals Authority Clinical Medicine Development of Special Funding Support(No.ZYLX201831).
文摘Objectives:The use of current robotic systems to assist in percutaneous coronary intervention(PCI)fundamentally differs from performing conventional PCI.To overcome this problem,we developed a novel master-slave robotic control system to assist in PCI,and evaluated its safety and feasibility in the delivery and manipulation of coronary guidewires in vitro and in vivo.Methods:The novel robotic assist PCI system is composed of three parts:1)a master actuator,which imitates the traditional torque used by surgeons in conventional PCI,2)a slave actuator,including a guidewire delivery system and force monitoring equipment,and 3)a local area network based communication system.Results:The experiment was performed in six pigs.Both robotic and manual control completed the operation with no device-or procedure-associated complications.An experienced interventional cardiologist who was afirst-time user of the novel robotic PCI system was able to advance the guidewire into a distal branch of a coronary artery within a similar time to that required with the manual procedure.Conclusion:This early in vivo experiment with the novel robotic assisted PCI control system demonstrated that its feasibility,safety,and procedural effectiveness are comparable to those of manual operation.The novel robotic-assisted PCI control system required significantly less time to learn than other currently available systems.
基金Basic Science Center Project of the National Natural Science Foundation of China(61988102)National Natural Science Foundation of China(62275157)+1 种基金Shanghai Shuguang Program(18SG44)111 Project(D18014)。
文摘The terahertz(THz)wave is at the intersection between photonics and electronics in the electromagnetic spectrum.Since the vibration mode of many biomedical molecules and the weak interaction mode inside the molecules fall in the THz regime,utilizing THz radiation as a signal source to operate substance information sensing has its unique advantages.Recently,the metamaterial sensor(metasensor)has greatly enhanced the interaction between signal and substances and spectral selectivity on the subwavelength scale.However,most past review articles have demonstrated the THz metasensor in terms of their structures,applications,or materials.Until recently,with the rapid development of metasensing technologies,the molecular information has paid much more attention to the platform of THz metasensors.In this review,we comprehensively introduce the THz metasensor for detecting not only the featureless refractive index but also the vibrational/chiral molecular information of analytes.The objectives of this review are to improve metasensing specificity either by chemical material-assisted analyte capture or by physical molecular information.Later,to boost THz absorption features in a certain frequency,the resonant responses of metasensors can be tuned to the molecular vibrational modes of target molecules,while frequency multiplexing techniques are reviewed to enhance broadband THz spectroscopic fingerprints.The chiral metasensors are also summarized to specific identification chiral molecules.Finally,the potential prospects of next generation THz metasensors are discussed.Compared to featureless refractive index metasensing,the specific metasensor platforms accelerated by material modification and molecular information will lead to greater impact in the advancement of trace detection of conformational dynamics of biomolecules in practical applications.
