Search Results (514)

The actomyosin complex—nature’s dynamic engine composed of actin filaments and myosin motors—is emerging as a versatile tool for bio-integrated nanotechnology. This review explores the growing potential of actomyosin-powered systems in biosensing and actuation applications, highlighting their compatibility with physiological conditions, responsiveness to biochemical and physical cues and modular adaptability. We begin with a comparative overview of natural and synthetic nanomachines, positioning actomyosin as a uniquely scalable and biocompatible platform. We then discuss experimental advances in controlling actomyosin activity through ATP, calcium, heat, light and electric fields, as well as their integration into in vitro motility assays, soft robotics and neural interface systems. Emphasis is placed on longstanding efforts to harness actomyosin as a biosensing element—capable of converting chemical or environmental signals into measurable mechanical or electrical outputs that can be used to provide valuable clinical and basic science information such as functional consequences of disease-associated genetic variants in cardiovascular genes. We also highlight engineering challenges such as stability, spatial control and upscaling, and examine speculative future directions, including emotion-responsive nanodevices. By bridging cell biology and bioengineering, actomyosin-based systems offer promising avenues for real-time sensing, diagnostics and therapeutic feedback in next-generation biosensors. Full article

This study investigates the 3RPUR (3-Revolute–Prismatic–Universal–Revolute) variable parallel mechanism, employing screw theory and linear geometry to analyze the geometric relationships and constraint characteristics of the RPUR (Revolute–Prismatic–Universal–Revolute) limb kinematic pairs. The findings reveal that the constraint moment in the always remains perpendicular to the two axes of the U pair, forming an equivalent plane. Through the locking/unlocking mechanism of universal joints (U pair), the mechanism achieves dynamic degree-of-freedom reconstruction, enabling seamless switching between three translational (3T) and three translational-one-rotation (3T1R) motion modes. The continuity between motion and degrees of freedom during the variable cell process is demonstrated. This research reveals a strict 1:1 linear coupling between the rotational angle of the moving platform around the Z-axis and the U pair’s rotation angle under 3T1R mode. Simulation experiments validate the feasibility and coupling characteristics of both motion modes, providing theoretical and technical support for this mechanism’s adaptation to complex working conditions in mobile robotics applications, particularly where reconfigurable parallel mechanisms are required for multi-task flexibility. Full article

Background/Objectives: Small renal masses (SRMs) are being detected more often due to the increasing use of imaging techniques. Many of these lesions are benign or grow slowly, but a small proportion can exhibit aggressive behavior. Several reports have shown that synchronous metastases may occur even in small renal cell carcinomas (RCCs). Our aim is to assess the malignant potential and the metastatic risk of very small RCCs (≤2 cm). Methods: We reviewed consecutive patients who underwent partial nephrectomy for SRMs at our tertiary referral center between 2005 and 2024, focusing on those with a maximum pathologic diameter ≤ 2 cm. Clinical and pathological data were collected, and cases with aggressive features were described. In addition, a literature search on the Medline/PubMed database was performed to identify previously published cases of RCC ≤ 2 cm and to assess their risk of synchronous metastases (SM). Results: Among 578 patients who underwent partial nephrectomy, 116 patients (20%) had tumors ≤ 2 cm, 90 (77.5%) of which were malignant, whereas 22.5% were benign (oncocytoma = 13%; angiomyolipoma = 5%). Median age and tumor size were 51 yrs and 1.7 cm, respectively. Histology showed clear cell (72.2%), papillary (20%), chromophobe (6.6%), and mixed (0.9%). Two patients (2.2%) experienced aggressive disease: one with synchronous metastases and one with recurrence and later progression. From the literature, we identified 16 additional cases of RCC ≤ 2 cm with synchronous metastases and found an important heterogeneity of results regarding the metastatic potential of SRMs. Conclusions: Although uncommon, synchronous metastases can occur in RCCs even smaller than 1–2 cm. Reported rates for SM of SRMs across the literature range between 1% and 13%, with higher risk observed in tumors larger than 3 cm, but without an absolute safe cutoff. Tumor size alone is therefore insufficient to exclude aggressive potential. Clinical decision-making should consider histology, grade, patient age, radiologic features, and emerging molecular markers to guide surveillance and treatment in this growing patient population. Full article

This paper introduces a new quadruped spider robot platform specializing in environmental reconnaissance and mapping. The robot measures 180 mm × 180 mm × 95 mm and weighs 385 g, including the battery, providing a compact yet capable platform for reconnaissance missions. The robot consists of an ESP32 microcontroller and eight servos that are disposed in a biomimetic layout to achieve the biological gait of an arachnid. One of the major design revolutions is in the power distribution network (PDN) of the robot, in which two DC-DC buck converters (LM2596M) are used to isolate the power domains of the computation and the mechanical subsystems, thereby enhancing reliability and the lifespan of the robot. The theoretical analysis demonstrates that this dual-domain architecture reduces computational-domain voltage fluctuations by 85.9% compared to single-converter designs, with a measured voltage stability improving from 0.87 V to 0.12 V under servo load spikes. Its proprietary Bluetooth protocol allows for both the sending and receiving of controls and environmental data with fewer than 120 ms of latency at up to 12 m of distance. The robot’s mapping system employs a novel motion-compensated probabilistic algorithm that integrates ultrasonic sensor data with IMU-based motion estimation using recursive Bayesian updates. The occupancy grid uses 5 cm × 5 cm cells with confidence tracking, where each cell’s probability is updated using recursive Bayesian inference with confidence weighting to guide data fusion. Experimental verification in different environments indicates that the mapping accuracy (92.7% to ground-truth measurements) and stable pattern of the sensor reading remain, even when measuring the complex gait transition. Long-range field tests conducted over 100 m traversals in challenging outdoor environments with slopes of up to 15° and obstacle densities of 0.3 objects/m² demonstrate sustained performance, with 89.2% mapping accuracy. The energy saving of the robot was an 86.4% operating-time improvement over the single-regulator designs. This work contributes to the championing of low-cost, high-performance robotic platforms for reconnaissance tasks, especially in search and rescue, the exploration of hazardous environments, and educational robotics. Full article

A 75-year-old Jehovah’s Witness with recent ST-elevation myocardial infarction (STEMI) underwent percutaneous coronary intervention (PCI) with stenting of the proximal LAD. She was later diagnosed with gallbladder cancer and required urgent surgery but firmly refused allogeneic blood transfusion. This posed a major challenge, as the surgery was expected to cause significant bleeding, and the patient had undergone coronary stenting within the previous three months, which is when the risk of stent thrombosis is highest if dual antiplatelet therapy (DAPT) is interrupted. After conducting a careful multidisciplinary discussion and obtaining informed consent, both aspirin and clopidogrel were discontinued five days preoperatively. Through comprehensive blood conservation strategies—including acute normovolemic hemodilution (ANH), intraoperative cell salvage, and robotic-assisted minimally invasive surgery—the patient successfully underwent extended cholecystectomy without transfusion. This case highlights the possibility of safe, completely transfusion-free major surgery in patients with recent PCI and high thrombotic risk when individualized perioperative planning is applied. Full article

C. albicans has recently been described as a secondary colonizer associated with periodontal infections. This study aimed to determine the expression patterns of ALS and SAP family genes in C. albicans strains isolated from patients with periodontal disease (n = 268), and a control group of healthy individuals without any clinical signs of periodontal disease (n = 100) was included. C. albicans and the ALS and SAP genes were identified using polymerase chain reaction (PCR). An in vitro infection model was used with the strains using the human gingival fibroblast cell line. RNA was extracted using a QIAcube robotic workstation (Qiagen). A QuantiTect Reverse Transcription Kit (Qiagen) was used for first-strand cDNA synthesis. ALS and SAP gene expression in the strains was determined using real-time PCR. A total of 82.5% (n = 66) of the C. albicans strains were isolated from patients with moderate periodontitis, 10% (n = 8) from patients with chronic periodontitis, and 7.5% (n = 6) from patients with gingivitis. In the group of healthy individuals, C. albicans was identified in 9% (9/100). Overall, the most frequently expressed ALS genes in the strains from the three diagnoses were ALS1 (77/80), ALS3 (67/80), ALS4 (67/80), ALS6 (77/80), ALS7 (62/80), and ALS9 (73/80), while the most frequently expressed SAP genes were SAP1 (76/80), SAP6 (57/80), SAP9 (78/80), and SAP10 (77/80). The overall frequencies of expression of the ALS4, ALS9, SAP2, SAP3, SAP6, and SAP genes in the strains were statistically different across the three diagnoses. We identified different profiles of expression of the ALS and SAP genes in the strains of C. albicans that contribute directly to the degree of periodontal disease. Therefore, our findings may contribute to improving our knowledge of the molecular mechanisms of C. albicans in the pathogenesis of periodontal disease. Full article

This paper systematically reviews the research progress of underwater soft grasping devices in the field of bionic structure, function integration, and tactile sensing technology by drawing on the structural characteristics of marine organisms such as octopuses, jellyfish, and sea anemones (such as suction cups, umbrella-like muscles, and stinging cells). This paper analyzes the inspiration for the design, the application of innovative materials, and the integration of sensing and driving from marine organisms, including a review of soft robotics technologies, such as shape memory alloys (SMA), ionic polymer metal composite materials (IPMCs), magnetic nanocomposite cilia, etc. The research results emphasize that bionic soft robots have the potential for transformation in completely changing underwater operations by providing enhanced flexibility, efficiency, and environmental adaptability. This work provides a bionic design paradigm and perception-driven integration method for underwater soft operation systems, thereby promoting equipment innovation in the fields of deep-sea exploration and ecological protection. Full article

Voronoi partitioning is a fundamental geometric concept with applications across computational geometry, robotics, optimization, and resource allocation. While Euclidean distance is the most commonly used metric, alternative distance functions can significantly influence the shape and properties of Voronoi cells. This paper presents a comprehensive mathematical analysis of various distance metrics used in Voronoi partitioning, including Euclidean, Manhattan, Minkowski, weighted, anisotropic, and geodesic metrics. We analyze their mathematical formulations, geometric properties, topological implications, and computational complexity. This work aims to provide a theoretical framework for selecting appropriate metrics for Voronoi-based modeling in diverse applications. Full article

Background/Objectives: Recurrences of squamous cell carcinoma (SCC) at the base of the tongue (BoT) after primary radiochemotherapy (RT-CHT) are associated with low survival rates, poor functional outcomes, and high morbidity following salvage surgery. Transoral robotic surgery (TORS) has emerged as a less invasive alternative to open surgical approaches. This study aims to describe our clinical experience with TORS in patients with BoT SCC recurrence after RT-CHT, focusing on oncological outcomes—relapse-free survival (RFS) and disease-specific survival (DSS)—as well as functional outcomes, particularly swallowing function. Methods: We conducted a retrospective review of four patients who underwent salvage TORS for BoT recurrence between September 2013 and September 2014 at a single tertiary referral center. All patients had been previously treated with primary RT-CHT for oropharyngeal squamous cell carcinomas. Oncological events (recurrence, death) and functional endpoints (dietary limitations, MD Anderson Dysphagia Inventory [MDADI] scores) were retrieved from medical records. Results: Four patients were included. All achieved unrestricted oral intake by one month post-TORS, showing functional improvement compared to their preoperative status. Three of the four patients remained free of locoregional recurrence during follow-up. No major perioperative complications were reported. Conclusions: In selected patients with BoT SCC recurrence after primary RT-CHT, TORS may offer a viable and less morbid salvage treatment option with favorable early functional outcomes and acceptable oncologic control. Based on both our institutional experience and the supporting literature, we propose selection criteria to guide TORS indication in this clinical setting. Full article

The growing need for efficient battery reuse and recycling requires rapid, reliable methods to assess the state of health (SoH) of lithium-ion cells. Conventional SoH estimation based on full charge–discharge cycling is slow, energy-intensive, and unsuitable for dismantled cells with unknown histories. This work presents an automated diagnostic approach using Electrochemical Impedance Spectroscopy (EIS) combined with Electrical Equivalent Circuit (EEC) modeling for fast, non-invasive SoH estimation. A correlation between fitted EIS parameters and cell degradation stages was established through controlled aging tests on NMC-based lithium-ion cells. The methodology was implemented in custom software (BaterurgIA) integrated into a robotic testing bench, enabling automatic EIS acquisition, data fitting, and SoH determination. The system achieves SoH estimation with 5–10% accuracy for cells in intermediate and advanced degradation stages, while additional parameters improve sensitivity during early aging. Compared to conventional cycling methods, the proposed approach reduces diagnostic time from hours to minutes, minimizes energy consumption, and offers predictive insights into internal degradation mechanisms. This enables fast and reliable cell grading for reuse, reconditioning, or recycling, supporting the development of scalable solutions for battery second-life applications and circular economy initiatives. Full article

Autonomous Mobile Robots (AMRs) are increasingly important in Industry 4.0 intralogistics but creating path planning systems that adapt to dynamic and uncertain Flexible Manufacturing Systems (FMS), especially managing conflicts among multiple AMRs with a need for scalable decentralised solutions, remains a significant challenge. This research introduces a dynamic path planning system for AMRs designed for reactive adaptation to FMS disturbances and generalisation across factory layouts, incorporating support for multiple AMRs with integrated conflict avoidance. The system is built on a Multi-Agent Systems (MAS) architecture, where software AMR agents independently calculate their paths using a hybrid Genetic Algorithm (GA) that employs Cell-Based Decomposition (CBD) and optimises path length, smoothness, and overlap via a multi-objective fitness function. Multi-AMR conflict avoidance is implemented using the Iterative Exclusion Principle (IEP), which facilitates priority-based planning, knowledge sharing through Predictive Collision Avoidance (PCA), and iterative replanning among agents communicating via a blackboard agent. Verification demonstrated the system’s ability to successfully avoid deadlocks for up to nine AMRs and exhibit good scalability. Validation in a simulated FMS environment confirmed robust adaptation to various disturbances, including static and dynamic obstacles, while maintaining stable run times and consistent path quality. These results affirm the practical feasibility of this hybrid GA and MAS-based approach for dynamic AMR control in complex industrial settings. Full article

Background: Sclerosing perivascular epithelioid cell tumors (PEComas) are rare mesenchymal neoplasms, typically benign but occasionally exhibiting aggressive behavior. This study reports a case of sclerosing PEComa of the adrenal gland that was treated with robotic partial adrenalectomy, with 13 years of follow-up and a review of the literature. Methods: A 48-year-old woman presented with abdominal pain. Imaging revealed a 10 × 9 cm adrenal mass displacing adjacent structures. MRI and 18F-FDG PET-CT suggested angiomyolipoma. Robotic partial adrenalectomy was performed. Intraoperative frozen section analysis identified the mass as angiomyolipoma, while final histopathology confirmed it as a sclerosing PEComa. Results: This case highlights the advantages of robotic surgery in the management of large adrenal tumors, allowing complete tumor removal while preserving functional adrenal tissue. The extended 13-year follow-up is significant, given the potential for recurrence or malignant transformation reported in other cases. A literature review identified 39 reported cases of sclerosing PEComas, with few documenting long-term outcomes. Conclusions: This is a documented case of robotic partial adrenalectomy for sclerosing PEComa. The findings support robotic surgery as a safe effective approach for managing this rare tumor, with excellent functional and oncological results. Extended follow-up reinforces the tumor’s benign behavior and the importance of long-term monitoring in PEComas. Full article

Objectives: To evaluate outcomes of patients undergoing lung segmentectomy using open thoracotomy, Video-Assisted Thoracoscopic Surgery (VATS), or Robotic-Assisted Thoracoscopic Surgery (RATS) approaches. Methods: A total of 157 patients (mean age: 68.7 years; 58% male) who underwent lung segmentectomy from 2015 to 2024 at the Thoracic Surgery of Siena were retrospectively enrolled and divided into groups based on the surgical approach: thoracotomy (n = 60), VATS (n = 58), and RATS (n = 39). No significant differences were observed between groups in terms of age, gender, or tumor stage. Peri-operative outcomes, and, in patients with non-small cell lung cancer (NSCLC, n = 104), long-term outcomes, were analyzed. Group comparisons were conducted using Kruskal–Wallis, Dunn’s test, Chi-squared, or Fisher’s exact test and Kaplan–Meier analysis with log-rank test. Results: Conversion rate was 13% and 0% for VATS and RATS, respectively (p = 0.005). Pleural effusion on first post-operative day was lower in RATS than VATS (p = 0.0006) and open (p < 0.0001). The maximum Visual Analogue Scale (VAS) value recorded was lower in RATS than open (p = 0.016) and VATS (p = 0.013). Surgery time was longer for RATS than open (p = 0.001) and VATS (p = 0.013). No differences were found in hospital stay and post-operative complications. In patients with NSCLC, the median follow-up was 25 months. The 90-day mortality rate was 9.5% in thoracotomy, 0% in VATS and RATS (p = 0.05). The 1- and 2-year overall survival was higher in VATS and RATS groups than thoracotomy (p = 0.001 and p = 0.040, respectively). The number of harvested lymph nodes was larger in the open group (p = 0.010), while a higher number of stations were harvested in RATS and open than VATS (p = 0.001). No differences were found in local recurrence (p= 0.08). Conclusions: RATS segmentectomy ensures a lower conversion rate, less post-operative pain, reduced daily pleural effusion, and a greater number of harvested lymph node stations compared to VATS, providing comparable peri-operative outcomes. RATS and VATS segmentectomy offer an advantage over the open approach in short- and long-term survival. Full article

The objective was to propose a human–robot bidirectional trust-triggered cyber–physical–human (CPH) system framework for human–robot collaborative assembly in flexible manufacturing and investigate the impact of modulating communications in the CPH system on system performance and human–robot interactions (HRIs). As the research method, we developed a one human–one robot hybrid cell where a human and a robot collaborated with each other to perform the assembly operation of different manufacturing components in a flexible manufacturing setup. We configured the human–robot collaborative system in three interconnected components of a CPH system: (i) cyber system, (ii) physical system, and (iii) human system. We divided the functions of the CPH system into three interconnected modules: (i) communication, (ii) computing or computation, and (iii) control. We derived a model to compute the human and robot’s bidirectional trust in each other in real time. We implemented the trust-triggered CPH framework on the human–robot collaborative assembly setup and modulated the communication methods among the cyber, physical, and human components of the CPH system in different innovative ways in three separate experiments. The research results show that modulating the communication methods triggered by bidirectional trust impacts on the effectiveness of the CPH system in terms of human–robot interactions, and task performance (efficiency and quality) differently. The results show that communication methods with an appropriate combination of a higher number of communication modes (cues) produces better HRIs and task performance. Based on a comparative study, it was concluded that the results prove the efficacy and superiority of configuring the HRC system in the form of a modular CPH system over using conventional HRC systems in terms of HRI and task performance. Configuring human–robot collaborative systems in the form of a CPH system can transform the design, development, analysis, and control of the systems and enhance their scope, ease, and effectiveness for various applications, such as industrial manufacturing, construction, transport and logistics, forestry, etc. Full article

Sustainable path-planning algorithms are essential for executing complex user-defined missions by mobile robots. Addressing various scenarios with a unified criterion during the design phase is often impractical due to the potential for unforeseen situations. Therefore, it is important to incorporate the concept of adaptive autonomy for path planning. This approach allows the system to autonomously select the best path-planning strategy. The technique utilizes dynamic programming with an adaptive memory size, leveraging a cellular decomposition technique to divide the map into convex cells. The path is divided into three segments: the first segment connects the starting point to the center of the starting cell, the second segment connects the center of the goal cell to the goal point, and the third segment connects the center of the starting cell to the center of the goal cell. Since each cell is convex, internal path planning simply requires a straight line between two points within a cell. Path planning uses an improved $A^{\ast }$ (I-$A^{\ast }$) algorithm, which evaluates the feasibility of a direct path to the goal from the current position during execution. When a direct path is discovered, the algorithm promptly returns and saves it in memory. The memory size is proportional to the square of the total number of cells, and it stores paths between the centers of cells. By storing and reusing previously calculated paths, this method significantly reduces redundant computation and supports long-term sustainability in mobile robot deployments. The final phase of the path-planning process involves pruning, which eliminates unnecessary waypoints. This approach obviates the need for repetitive path planning across different scenarios thanks to its compact memory size. As a result, paths can be swiftly retrieved from memory when needed, enabling efficient and prompt navigation. Simulation results indicate that this algorithm consistently outperforms other algorithms in finding the shortest path quickly. Full article