Delicate Manipulation Research Articles

Real-Space Topology-Engineering of Skyrmionic Spin Textures in a van der Waals Ferromagnet Fe3GaTe2.

Realizing magnetic skyrmions in two-dimensional (2D) van der Waals (vdW) ferromagnets offers unparalleled prospects for future spintronic applications. The room-temperature ferromagnet Fe3GaTe2 provides an ideal platform for tailoring these magnetic solitons. Here, skyrmions of distinct topological charges are artificially introduced and engineered by using magnetic force microscopy (MFM). The skyrmion lattice is realized by a specific field-cooling process and can be further erased and painted via delicate manipulation of the tip stray field. The skyrmion lattice with opposite topological charges (S = ±1) can be tailored at the target regions to form topological skyrmion junctions (TSJs) with specific configurations. The delicate interplay of TSJs and spin-polarized device current were finally investigated via the in situ transport measurements, alongside the topological stability of TSJs. Our results demonstrate that Fe3GaTe2 not only serves as a potential building block for skyrmion-based spintronic devices, but also presents prospects for Fe3GaTe2-based heterostructures with the engineered topological spin textures.

A Novel Approach to the Structural Design of Dual‐State Emission Luminogens by Combining Tetraphenylethylene with Anthracene via Dihydroisoxazole

AbstractDual‐state emission luminescent materials (DSEgens), which exhibit bright emissions in boththe solid state and solution, have been attracting research interest in the design of multifunctional materials.The delicate manipulation of molecular structures remains challenging in the synthesis of DSEgens. In this article, two novel molecules with dual‐state emission were synthesized by combining tetraphenylethylene with anthracene via dihydroisoxazole. Tetraphenylethylene acts as a solid‐state emitter, while the anthracene core functions as an emitter in the solution state to achieve DSE fluorescence properties. The THF/DCM mixture resulted in successfully obtaining the crystal structures of TPE−An−H and TPE−An−Cl. The quantum yields (QYs) of TPE−An−H were 31 % and 42 % in EA and the solid state, respectively, while TPE−An−Cl exhibited QYs of 32 % and 34 %. The novel synthesis method in this paper combines AIE with ACQ via dihydroisoxazole to achieve dual‐state emission, offering a new and concise approach.

Evaluation of Printing Parameters on 3D Extrusion Printing of Pluronic Hydrogels and Machine Learning Guided Parameter Recommendation.

Bioprinting is an emerging technology for the construction of complex three-dimensional (3D) constructs used in various biomedical applications. One of the challenges in this field is the delicate manipulation of material properties and various disparate printing parameters to create structures with high fidelity. Understanding the effects of certain parameters and identifying optimal parameters for creating highly accurate structures are therefore a worthwhile subject to investigate. The objective of this study is to investigate high-impact print parameters on the printing printability and develop a preliminary machine learning model to optimize printing parameters. The results of this study will lead to an exploration of machine learning applications in bioprinting and to an improved understanding between 3D printing parameters and structural printability. Reported results include the effects of rheological property, nozzle gauge, nozzle temperature, path height, and ink composition on the printability of Pluronic F127. The developed Support Vector Machine model generated a process map to assist the selection of optimal printing parameters to yield high quality prints with high probability (>75%). Future work with more generalized machine learning models in bioprinting is also discussed in this article. The finding of this study provides a simple tool to improve printability of extrusion-based bioprinting with minimum experimentations.

Portrait relighting for 3D light-field display based on radiance fields

Relighting a portrait scene from a photographs or video requires accounting for high-order light transport effects and accurate estimation of portrait scene geometry, specular reflections, shadows, and subsurface scattering. A delicate manipulation of the lighting can be performed while keeping the scene albedo and geometry unaltered. A radiance field-based approach to light-field rendering of portrait scenes is proposed in this work. The method requires only a mobile phone with a flash and an inexpensive polarization foil for data acquisition. Two groups of portrait images are captured using cross-polarized light and parallel polarized light. Subsequently, two multi-layer perceptrons (MLPs) are employed to extract the material information (Albedo, Normals, Specular) of the portrait individually. The extracted material information, along with an ambient light map, is utilized in physically-based rendering to generate portrait images. The final result is optimized using a coarse-to-fine optimization scheme. Finally, a light-field image is generated through light-field encoding. Our approach achieves higher quality light-field portrait scenes with controllable illumination, realistic shadows, and subsurface scattering (as shown in Fig. 1). The method we propose can be applied to small-sized light-field displays to enhance the lighting quality of portrait reconstructions, and lay the foundation for future applications in light-field communication and related fields.

A cable‐driven underwater robotic system for delicate manipulation of marine biology samples

AbstractUnderwater robotic systems have the potential to assist and complement humans in dangerous or remote environments, such as in the monitoring, sampling, or manipulation of sensitive underwater species. Here we present the design, modeling, and development of an underwater manipulator (UM) with a lightweight cable‐driven structure that allows for delicate deep‐sea reef sampling. The compact and lightweight design of the UM and gripper decreases the coupling effect between the UM and the underwater vehicle (UV) significantly. The UM and gripper are equipped with force sensors, enabling them for soft and sensitive object manipulation and grasping. The accurate force exertion capabilities of the UM ensure efficient operation in the process of localization and approaching reef samples, such as the corals and sponges. The active force control of the tendon‐driven gripper ensures gentle/delicate grasping, handling, and transporting of the marine samples without damaging their tissues. A complete simulation of the UM is provided for deriving the required specifications of actuators and sensors to be compatible with the UVs with a speed range of 1–4 Knots. The system's performance for accurate trajectory tracking and delicate grasping of two different types of underwater species (a sponge skeleton and a Neptune's necklace seaweed) is verified using a model‐free robust‐adaptive position/force controller.

Transportation of Objects on an Inclined Plane Oscillating in the Longitudinal Direction Applying Dynamic Dry Friction Manipulations

A transportation system requires an asymmetry to achieve objects’ motion on an oscillating surface. Transportation methods based on vibrational techniques usually employ different types of asymmetries, such as temporal (time) asymmetry, kinematic asymmetry, wave asymmetry or power asymmetry. However, transporting an object on an inclined angle requires a relatively high net frictional force over each period of vibrational cycles due to the gravitational potential energy exerted on the object. This paper investigates the transportation of an object upward on an inclined plane that harmonically oscillates in its longitudinal direction. The novelty of this research is attributed to the upward motion of the object on the inclined plane, which is achieved by creating an additional asymmetry of the system through dry friction dynamic manipulations. For this reason, periodic dynamic dry friction manipulations have been employed to create the asymmetry of frictional conditions, resulting in a net frictional force that outweighs the gravitational force. A mathematical model has been developed using the Lagrange method, which describes the moving object’s motion. Moreover, the theoretical findings and results confirmed that the object’s velocity and direction can be controlled by dynamic dry friction manipulations. To demonstrate the technical feasibility of the proposed method, an experimental investigation was carried out where the results demonstrated that the control parameters significantly influence the characteristics of the directional motion of the moving object. This transportation method is beneficial for various modern industries engaged in transportation and manipulation tasks with objects spanning a broad range of sizes, including those operating at small scales for applications in lab-on-a-chip technology, micro-assembly lines, micro-feeder systems and other delicate component manipulation systems. The presented research advances the classical theories of vibrational transportation on inclined surfaces.

Manzaneda's Tool: Adaptation of the Piezotome for Rib Remodeling Surgery without Incisions.

For rib remodeling surgery without incisions (RibXcar), a piezotome is used, which is a piezoelectric device that allows for selective and delicate manipulation of the bone, thanks to microvibrations that facilitate precise and smooth cuts. The piezotome, in its original form, requires the adaptation of the tip shape to perform costal surgery; therefore, Manzaneda's tool was created, which is composed of three parts: first, modification of the shape of the tip of the piezotome; second, the experimentation with materials for coating the tip of the piezotome; and third, the sterilization of the piece. We found that the material that best adheres and protects the adapted tip of the piezotome is the Rust-Oleum High Heat. After applying the tip coating, the piece was sterilized, and finally, Manzaneda's tool was obtained, which is specifically for use in RibXcar rib remodeling surgery. Manzaneda's tool is a safe and customizable tool for RibXcar surgery.

A case report of perihilar cholangiocarcinoma in a patient with situsinversus totalis.

Situsinversus totalis is a rare congenital malformation in which organs are positioned in a mirror-image relationship to normal conditions. It often presents with vascular and biliary malformations. Only a few reports have pointed out the surgical difficulties in patients with situsinversus totalis, especially in those with perihilar cholangiocarcinoma. This report describes a 66-year-old male patient who underwent left hemihepatectomy (S5, 6, 7, and 8) with combined resection of the caudate lobe (S1), extrahepatic bile duct, and regional lymph nodes for perihilar cholangiocarcinoma with situsinversus totalis. Cholangiocarcinoma was mainly located in the perihilar area and progressed extensively into the bile duct. Surgery was performed after careful evaluation of the unusual anatomy. Although several vascular anomalies required delicate manipulation, the procedures were performed without major intraoperative complications. Postoperatively, bile leakage occurred, but the patient recovered with drainage treatment. The patient was discharged on the 29th postoperative day. Adjuvant chemotherapy with S-1 was administered for approximately 6months. There was no recurrence 15months postoperatively. Appropriate imaging studies and an understanding of unusual anatomy make surgery safe and provide suitable treatment for patients with situsinversus totalis.

Why do marionette lines appear? Exploring the anatomical perspectives and role of thread-based interventions.

The pathogenesis of marionette lines involves a complex interplay of anatomical, physiological, and age-related factors leading to the development of wrinkles around the oral commissures. This exploration delves into the distinct anatomical predispositions observed among different ethnicities, emphasizing the role of compact modiolus structures and muscle compositions. Notably, individuals of East Asian descent exhibit inherent facial structures that predispose them to pronounced sagging around the oral commissures during aging. The emergence of distinct facial lines, such as the commissural line and the melolabial fold, contributes to the formation of marionette lines. This specific wrinkle pattern, resembling a marionette puppet's mouth contours, is influenced by various factors like bone resorption, gravitational forces, fat compartment variations, muscle compression, ligament tethering, and skin aging. Treatment strategies for marionette lines encompass diverse interventions, including filler injections, botulinum neurotoxin, surgeries targeting fat reduction, thread lifting, and volumizing fillers. These approaches aim to address the underlying causes and mitigate the appearance of marionette lines. Botulinum neurotoxin injections, for instance, weaken specific facial muscles, reducing downward strain and aiding in tissue retraction. Anatomical considerations during procedures are crucial to avoid nerve or vascular damage. Delicate manipulation and precise entry points are essential to prevent inadvertent injuries, particularly concerning blood vessels like the facial artery and nerves like the mental nerve. Technical guidelines for procedures targeting marionette lines involve specific techniques like cogged thread reverse methods and volumizing thread placements. Attention to entry points, tissue engagement, and the direction of threads is crucial for effective treatment outcomes, minimizing complications, and ensuring patient safety.

Two-Dimensional Spin-Crossover Molecular Solid Solutions with Tunable Transition Temperatures across 90 K.

Spin-crossover (SCO) materials exhibit remarkable potential as bistable switches in molecular devices. However, the spin transition temperatures (Tc) of known compounds are unable to cover the entire ambient temperature spectrum, largely limiting their practical utility. This study reports an exemplary two-dimensional SCO solid solution system, [FeIII(H0.5LCl)2-2x(H0.5LF)2x]·H2O (H0.5LX = 5-X-2-hydroxybenzylidene-hydrazinecarbothioamide, X = F or Cl, x = 0 to 1), in which the adjacent layers are adhered via hydrogen bonding. Notably, the Tc of this system can be fine-tuned across 90 K (227-316 K) in a linear manner by modulating the fraction x of the LF ligand. Elevating x results in strengthened hydrogen bonding between adjacent layers, which leads to enhanced intermolecular interactions between adjacent SCO molecules. Single-crystal diffraction analysis and periodic density functional theory calculations revealed that such a special kind of alteration in interlayer interactions strengthens the FeIIIN2O2S2 ligand field and corresponding SCO energy barrier, consequently resulting in increased Tc. This work provides a new pathway for tuning the Tc of SCO materials through delicate manipulation of molecular interactions, which could expand the application of bistable molecular solids to a much wider temperature regime.

Non-invasive methods for heart rate measurement in fish based on photoplethysmography.

Heart rate is a crucial physiological indicator for fish, but current measurement methods are often invasive or require delicate manipulation. In this study, we introduced two non-invasive and easy-to-operate methods based on photoplethysmography, namely reflectance-type photoplethysmography (PPG) and remote photoplethysmography (rPPG), which we applied to the large yellow croaker (Larimichthys crocea). PPG showed perfect synchronization with electrocardiogram (ECG), with a Pearson's correlation coefficient of 0.99999. For rPPG, the results showed good agreement with ECG. Under active provision of green light, the Pearson's correlation coefficient was 0.966, surpassing the value of 0.947 under natural light. Additionally, the root mean square error was 0.810, which was lower than the value of 1.30 under natural light, indicating not only that the rPPG method had relatively high accuracy but also that green light may have the potential to further improve its accuracy.

Joint angle prediction for a cable-driven gripper with variable joint stiffness through numerical modeling and machine learning

Soft grippers in automation, particularly those with variable joint stiffness, offer promising possibilities for precise manipulation tasks. However, accurately predicting finger joint bending angles in this field poses significant challenges due to the soft and complex nature of the grippers, making modeling and angle prediction difficult. This paper presents the development of a predictive model for precisely controlling bending angles in multi-material printed soft grippers with variable stiffness, which are pivotal for delicate manipulation tasks in automation. In particular, we explore a cable-driven gripper design made of thermoplastic polyurethane and conductive polylactic acid materials, featuring integrated resistive joints for stiffness modulation through controlled Joule heating. A data-driven modeling approach, combining numerical modeling of the gripper and machine learning techniques, was employed for the development of the predictive model. We performed static structural simulations using ANSYS Workbench to measure bending angles under various conditions for developing datasets for model training. In this work, we evaluated several machine learning models such as linear regression, decision tree, and K-nearest neighbor regression models to predict the correlation between temperature, pull distance, and bending angle. The K-nearest neighbor regression model demonstrated the highest accuracy, with a mean absolute error of approximately 11%. These findings underline the importance of precise angle prediction models in enhancing the functionality and reliability of soft grippers, paving the way for their broader application in automation and robotics.

Novel Operation Mechanism and Multifunctional Applications of Bubble Microrobots.

Microrobots have emerged as powerful tools for manipulating particles, cells, and assembling biological tissue structures at the microscale. However, achieving precise and flexible operation of arbitrary-shaped microstructures in 3D space remains a challenge. In this study, three novel operation methods based on bubble microrobots are proposed to enable delicate and multifunctional manipulation of various microstructures. These methods include 3D turnover, fixed-point rotation, and 3D ejection. By harnessing the combined principles of the effect of the heat flow field and surface tension of an optothermally generated bubble, the bubble microrobot can perform tasks such as flipping an SIA humanoid structure, rotating a bird-like structure, and launching a hollow rocket-like structure. The proposed multi-mode operation of bubble microrobots enables diverse attitude adjustments of microstructures with different sizes and shapes in both 2D and 3D spaces. As a demonstration, a biological microenvironment of brain glioblastoma is constructed by the bubble microrobot. The simplicity, versatility, and flexibility of this proposed method hold great promise for applications in micromanipulation, assembly, and tissue engineering.

Blefaroplastia de Roberts-Bistner para correção de agenesia palpebral bilateral um gato

Eyelid agenesis, also known as palpebral coloboma, is the most frequent congenital abnormality of feline´s eyelid compromising the patient's ocular health. The treatment of choice is blepharoplasty, which can be performed using different surgical techniques, depending on the extent of the coloboma. This paper reports a feline case diagnosed with coloboma in approximately 50% of the temporal and bilateral upper eyelid, which was treated using the Roberts-Bistner technique. Attention to the primary surgical care and delicate manipulation of tissues allowed maximum use of the wholly healed flaps. Trichiasis is a common complication inherent to traditional coloboma correction techniques and despite this was observed in both eyes a few weeks after surgery, the, reconstructive blepharoplasty provided adequate eyelid function and good cosmesis for the correction of eyelid agenesis in this patient.

Magnetothermal soft actuators from recycled face mask materials

Polymeric soft actuators offer numerous advantages such as lightweight, compactness, safety and versatility, making them suitable for applications requiring delicate manipulation and adaptability. However, their susceptibility to wear and degradation results in a shorter service life compared to conventional metallic actuators, leading to increased waste generation. To address this issue, this paper presents a sustainable approach to utilising waste materials, specifically repurposing stretchable strings from used disposable facemasks, to create magnetic nanoparticles infused yarn actuators. An innovative infusion technique is presented to aid in the scalable manufacturing of high-volume magnetic yarn actuators. The developed actuators demonstrate magnetothermally induced linear actuation comparable to their virgin counterparts. The actuators are fabricated in different structures, including braided-straight, braided-twisted and braided-coiled, with the coiled configuration showing the highest actuation strain and straight yarn generating maximum stress. The technology also proves to be energy-efficient compared to the prior art, making it suitable for various applications including soft robotics, compliant exoskeletons, smart prostheses and e-textiles. Repurposing abundant waste materials into soft actuators offers a promising solution for managing waste generated from end-of-service soft devices.

Delicate manipulation of various foods for a meal assistant robot with an integrated spoon-chopstick mechanism: A force-sensing module and force control

Delicate manipulation of various foods for a meal assistant robot with an integrated spoon-chopstick mechanism: A force-sensing module and force control

Non-destructive fruit firmness evaluation using a soft gripper and vision-based tactile sensing

As fruit firmness is a crucial characteristic associated with the maturity level, its accurate estimation is of great importance to post-harvest processing and wholesale in the industry. Benefiting from the advances of soft robotics, a soft gripper with simultaneous compliant deformation and tactile sensing is proposed in this study for the fruit firmness classification. The gripper design inspired by the fin ray effect can achieve active deformation, which helps simplify the actuation system and improve the delicate manipulation capability. Finite element modelling, along with experimental tests, is first utilized to validate the gripper’s feasibility in compliant and safe fruit grasping, and respiratory tests are then conducted to further demonstrate the non-destructive nature. Moreover, fruit–gripper interaction is captured by visual sensors and then processed using an attention-based CNN–LSTM algorithm to predict firmness information. Tomatoes and nectarines are chosen as the sample fruit for experimental validation. R2 values of their firmness prediction are 0.795 and 0.753, and the accuracy of maturity grading is 84.6% and 81.5%, respectively. In general, the soft gripper provides a promising solution for both safe grasping and non-destructive firmness evaluation, and it is expected to be integrated into automated production lines to pack fruit based on different firmness levels.

Utilization of the internal mammary perforators as the recipient vessels for microsurgical breast reconstruction: A systematic review and meta-analysis of the literature.

The selection of reliable recipient vessels is essential for successful free tissue transfer. The use of internal mammary intercostal perforators (IMAPs), instead of the internal mammary vessels as the recipient vessels, has been described in breast reconstruction. Debates exist regarding the reliability of these perforators as recipient vessels because of their variability in location and caliber. The aim of this paper was to conduct a systematic literature review and meta-analysis to determine the reliability of the IMAPs as recipient vessels. A systematic literature review was performed on the "PubMed," "Medline," "Ovid," and "Cochrane library" databases for articles published from January 1990 to March 2021. Exclusion criteria were non-English studies, reports with case number less than 5, cadaveric or animal studies, and studies with incomplete postoperative outcomes. The reliability of using IMAPs for breast reconstruction was determined by assessing the reported rates of partial or complete flap failure and other complications (fat necrosis, skin necrosis, and requirement for revision surgery). Three hundred and sixteen cases in 13 studies were included for further analysis with more than 85% of the IMAPs suitable for anastomosis being located in the second and third intercostal spaces. Partial or total flap failure was reported in three of 316 patients (0.95%). The rate of other complications such as fat necrosis, skin necrosis, and requirement for revision surgery were all less than 5%. With deliberate preoperative planning, delicate perioperative manipulation, and meticulous microvascular anastomosis, the internal mammary perforators can be used as reliable recipient vessels in microvascular breast reconstruction.

Surgical Equipment for Neuroendoscopic Surgery

The development of endonasal endoscopic surgery has been advanced one step further by the image quality and expressiveness of endoscopes. The widespread use of HD endoscopic cameras has enabled tumor dissection, preservation of vital vessels, and delicate dissection of nerves during endonasal surgery through the close and detailed observation of intracranial structures. The observation of high image quality is essential. In addition, instruments that can be carefully manipulated are essential for achieving this image quality. Traditionally, endoscopic surgery has relied on axial back-and-forth movement in many situations due to the inability of the instruments to move sufficiently laterally, and it has been said that precise and effective instrument movement cannot be achieved. However, the ingenuity of surgical techniques to create an adequate operative field, movements specific to endoscopic surgery, and the emergence of specialized instruments have made delicate manipulation possible. Exoscopes, which appear as adjuncts to endoscopic surgery or alternatives to microscopic surgery, have also influenced the form of endoscopic surgery because, like endoscopes, they are heads-up surgeries. Recent developments in the peripheral equipment related to neuroendoscopic surgery have been described.

An on-chip generator for multi-pattern periodic dynamic flow based on multiple synchronous sources

Periodic dynamic flow, including pulsatile flow and oscillatory flow, has many applications at the microscopic scale in chemistry, biology, and pharmacy. Conventional devices for periodic flow are either bulky, complicated, or inflexible. Here, we propose a novel on-chip flow generator with multi-pattern outputs possessing the obvious advantages of small size, simple structure, and being easy to be implemented. The fluid flow is synergistically driven by the constant pressure and the alternating pressure in a pair of conical channels. We design and fabricate a simple on-chip prototype following this conical-channel-based constant–alternating (C3A) driving method, and validate its performance through both numerical simulation and flow experiment. The results demonstrate the synergistic effects of the constant and alternating pressures on the fluid flow, and can implement four flow modes, i.e., steady flow, oscillatory flow, pulsatile flow, and complex flow, simply by modulating the input voltage. The proposed flow generator with multi-pattern outputs, simple structure and small footprint can be flexibly integrated with other on-chip devices for various biomedical applications, and the proposed strategy utilizing multiple synchronous sources can also inspire more delicate manipulation in the context of microfluidics.