RESUMEN
In general wire-driven continuum robot mechanisms, the wires are used to control the motion of the devices attached at the distal end. The slack and taut wire is one of the challenging issues to solve in flexible mechanism. This phenomenon becomes worse when the continuum robot is inserted into the natural orifices of the human body, which inherently have uncertain curvilinear geometries consisting of multiple curvatures. Inspired by the unique characteristic of DNA-helix structure that the length of the helix remains almost constant regardless of the deflection of the DNA structure, this article proposes a new idea to design useful flexible mechanism to resolve slack of wires. Using modern Lie-group screw theory, the analytic model for length of helix wire wrapped around a single flexible backbone is proposed and then extended to a general model with multiple flexible backbones and different curvatures. Taking advantage of this helix type wire mechanism, we designed and implemented a flexible surgical device suitable for laryngopharyngeal surgery. The effectiveness of the proposed flexible mechanism is demonstrated through both simulation and phantom experiment.
Asunto(s)
Hilos Ortopédicos , ADN , Diseño de Equipo , Humanos , Movimiento (Física) , Fantasmas de ImagenRESUMEN
It is highly challenging to develop fast and sensitive fluorescent methods for monitoring organic mercury in purely aqueous solutions as well as live cells. Especially, selective fluorescent detection of methylmercury over inorganic mercury ions has not been reported. We developed a fast and sensitive fluorescent detection method for Hg2+ ions as well as methylmercury using an amino acid-based fluorescent probe (1) and SDS micelles. The fluorescent probe in SDS micelles detected sensitively and selectively Hg2+ ions and methylmercury among 16 metal ions in purely aqueous solution by the enhancement of the red emission at 575 nm, and the detection of methylmercury was completed within 1 min. The probe in SDS micelles with EDTA showed highly sensitive and selective turn on detection for methylmercury over Hg2+. The limit of detection was 9.1 nM for Hg2+ (1.8 ppb, R2 = 0.989) and 206 nM for CH3Hg+ (R2 = 0.997). 1 rapidly penetrated live cells and detected intracellular Hg2+ ions as well as CH3Hg+ by the enhancement of both red emissions and green emissions. Subsequent treatment of EDTA into the cell confirmed the selective detection of methylmercury in the cells. The present work indicated that the fluorescent probe with micelle systems provided a fast, sensitive, and selective detection method for monitoring inorganic mercury as well as methyl mercury.
Asunto(s)
Colorantes Fluorescentes/química , Compuestos de Metilmercurio/análisis , Contaminantes Químicos del Agua/química , Células A549 , Humanos , Micelas , Conformación Molecular , Imagen Óptica , Soluciones , Espectrometría de FluorescenciaRESUMEN
The development of a fluorescence method for the selective ratiometric detection of Al3+ ions in pure aqueous solutions and live cells is still a significant challenge. In the present study, we synthesized a new type of fluorescent probe using an Al3+-triggered self-assembly based on the dipeptide receptor and an aggregation-induced emission fluorophore. The fluorescent probe (1) bearing cyanostilbene with excitation by visible light detected Al3+ ions sensitively in pure aqueous buffered solution by ratiometric red-emission at 600 nm. 1 provided a highly selective ratiometric detection of Al3+ among 16 metal ions in aqueous solution. 1 exhibited sensitive ratiometric response to Al3+ in aqueous buffered solutions at pH ranging from 5 to 7.4. The detection limit (145 nM, R2 = 0.999) for Al3+ ions in pure aqueous solution was much lower than the maximum allowable level of Al3+ in drinking water demanded by the Environmental Protection Agency (EPA). The probe provided an efficient approach to detect low concentrations of Al3+ in ground water, tap water, and live cells by ratiometric red-emissions at 600 nm. The binding study using dynamic light scattering, NMR, IR, and TEM revealed that the complex between 1 and Al3+ self-assembled to form nanoparticles, resulting in the enhancement of the emission at 600 nm and a concomitant decrease in the emission at 535 nm.