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All-terrain microrobots possess significant potential in modern medical applications due to their superior maneuverability in complex terrains and confined spaces. However, conventional microrobots often struggle with adaptability and operational difficulties in variable environments. This study introduces a magnetic torque-driven all-terrain multiped microrobot (MTMR) to address these challenges. By coupling the structure's multiple symmetries with different uniform magnetic fields, such as rotating and oscillating fields, the MTMR demonstrates various locomotion modes, including rolling, tumbling, walking, jumping, and their combinations. Experimental results indicate that the robot can navigate diverse terrains, including flat surfaces, steep slopes (up to 75°), and gaps over twice its body height. Additionally, the MTMR performs well in confined spaces, capable of passing through slits (0.1 body length) and low tunnels (0.25 body length). The robot shows potential for clinical applications like minimally invasive hemostasis in internal bleeding and thrombus removal from blood vessels through accurate cargo manipulation capability. Moreover, the MTMR can carry temperature sensors to monitor environmental temperature changes in real time while simultaneously manipulating objects, displaying its potential for in-situ sensing and parallel task implementation. This all-terrain microrobot technology demonstrates notable adaptability and versatility, providing a solid foundation for practical applications in interventional medicine.

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Aiming at the problems of poor adjustment effect, weak anti-disturbance ability, and low robustness of the traditional sliding mode algorithm for permanent magnet synchronous motor speed sensorless, a permanent magnet synchronous motor speed observation method combining super-twisting sliding mode control algorithm and fuzzy control is proposed to accelerate the convergence speed of the system and improve the anti-disturbance ability. Fuzzy rules are used to solve the problem of obtaining the upper bound of the boundary function in the super-twisting algorithm. Moreover, the fuzzy algorithm is used to output the variable sliding mode gain instead of the fixed sliding mode coefficient to improve the system robustness and suppress the jitter. The simulation results show that the overshoot of the control system is 4%, the lag time is not more than 0.003 ms, the speed error is not more than 1%, and the response and adjustment time is not more than 0.02 s. The proposed control strategy improves the tracking accuracy and response speed of the system, suppresses the sliding mode chattering, and enhances the anti-interference ability of the system.

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OBJECTIVE: This study assessed the outcome of shaping the mesial roots of mandibular first molars containing band-shaped isthmuses with an isthmus floor located at the apical third with Reciproc Blue and Rotate instruments in terms of canal transportation, canal aberrations and unprepared apical canals. MATERIALS AND METHODS: Pair-matched mesial roots of mandibular first molars according to their isthmus location (distance from apical foramina) and size were constructed based on quantitative measurements (length, major and minor diameter at isthmus roof and floor) on preoperative micro-CT scanning (n = 10). The pair-matched specimens were prepared either using Reciproc Blue R25 (25.08v) or Rotate (15.04, 20.05, 25.06) instruments and then subjected to a second micro-CT scanning. Micro-CT scans were analysed to evaluate the canal transportation at the apical foramen and isthmus floor levels and the frequency of procedural errors (separated instruments, artificial canal preparation, cross shaping and unprepared apical canals). Canal transportation values were compared using Mann-Whitney U, and the distribution of procedural errors was compared with chi-square tests with a 5% significance threshold. RESULTS: Greater transportation values were detected in the apical foramen level compared to the isthmus floor in both groups. No significant difference was detected between Rotate and Reciproc Blue groups in terms of absolute transportation values and the incidence of procedural errors (p > .05). CONCLUSION: Preparation of mesial root canals containing a band-shaped isthmus at the apical portion with Reciproc Blue and Rotate instruments caused transportation of the original canal position at the isthmus floor and the apical foramen levels and resulted in procedural errors. CLINICAL RELEVANCE: This ex vivo micro-CT study using controlled pair-matched specimens showed that presence of a band-shaped isthmus complicates canal preparation procedure irrespective of the preparation systems.

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The aim of this study was to compare the cyclic fatigue resistance of nickel-titanium instruments inside single and double-curved canals at different temperatures. 160 HyFlex EDM #20.05 (HEDM), VDW.ROTATE #20.05 and #25.06, Mtwo #25.06 were randomised (n = 10) for the dynamic cyclic fatigue tests according to the curvature (i.e. single and double) at 20° ± 1°C and 35° ± 1°C. The number of cycles to fracture (NCF) was analysed by two-way ANOVA with p < 0.05. Fatigue resistance of all instruments significantly decreased at body temperature in single and double curvatures, except for HEDM in double curvature. The NCF was significantly lower in double curvature than single at both temperatures for all files, except for VDW.ROTATE #20.05 at 35° ± 1°C. Within the study limitations, temperature significantly impaired cyclic fatigue resistance of all files except HEDM #20.05 in double curvature. Similarly, double curvature had a detrimental effect on cyclic fatigue resistance of all files except for VDW.ROTATE #20.05 at body temperature.

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This study aimed to evaluate the influence of continuous chelation on apical transportation and centrality in shaped curved canals prepared with a martensitic file system and evaluated by micro-CT. Twenty-four lower molar canals with a curvature of 25º-40º were scanned pre-operatively with micro-CT and divided into 2 groups according to two different irrigation regimens (n = 12). Group 1 was irrigated with NaOCl, group 2 with Dual Rinse. All canals were prepared with VDW.ROTATE system. The samples were scanned post-operatively and evaluated at 1, 3 and 5 mm from the apex to determine apical transportation and canal centrality using VG Studio software. Statistical analysis was performed with SPSS software using the non-parametric Mann-Whitney test. No statistically significant differences were found between the two groups for both apical transportation and canal centrality at any of the levels studied (p < 05). The use of continuous chelation during the instrumentation of the canals with martensitic alloy files does not produce greater transportation and does not generate changes in centralization compared to NaOCl-only irrigation. Combined chelation and disinfection while shaping with martensitic NiTi can simplify the irrigation regimen without inducing iatrogenic aberrations.

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Introduction: This study aimed to evaluate the shaping ability of TruNatomy (Dentsply Maillefer, Ballaigues, Switzerland), VDW.ROTATE (VDW GmbH, Munich, Germany) and ProTaper Gold (Dentsply Maillefer, Ballaigues, Switzerland) during the preparation of resin-printed mandibular molar mesial root canals. Materials and Methods: Thirty-three printed resin-based mandibular mesial roots with two canals were obtained from extract tooth cone-beam computed tomography (CBCT) image. The printed teeth were divided into three groups (n = 11) according to the system used for root canal preparation: TruNatomy, VDW.ROTATE, and ProTaper Gold. The specimens were scanned using CBCT imaging before and after root canal preparation. Then images were registered using a dedicated software and changes in the canal area, volume, untouched canal surface, and the maximum and minimum dentin wall wear were calculated. Statistical Analysis Used: Data were statistically analyzed using Shapiro-Wilk for normality, one-way ANOVA, and Tukey or Kruskal-Wallis H tests with alpha set at 5%. Results: No differences were observed for changes in the canal area, volume, untouched canal surface area, and minimum dentine wall wear parameters for the whole canal length (P > 0.05). The mean of untouched canal surface area for the TruNatomy, VDW.ROTATE, and ProTaper Gold was 40%, 44%, and 44%, respectively. The maximum dentine wall wear was significantly lower in the ProTaper Gold group than in the TruNatomy and VDW.ROTATE groups (P < 0.05). Conclusions: TruNatomy, VDW.ROTATE, and ProTaper Gold systems showed similar shaping ability in printed resin-based mandibular mesial roots without clinically significant errors. A large amount of untouched canal surface area was observed for all systems.

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Background: Robotic percutaneous coronary intervention (R-PCI) is being preferred over traditional PCI procedures owing to reduced radiation exposure to the personnel performing this technique. However, there are some challenges in using pressure wires in R-PCI. Case summary: This is the first article reporting the usage of pressure wire navigation in R-PCI. We have discussed a case of severe mid-right coronary artery disease, managed with physiology-assisted R-PCI. Software features of R-PCI such as Rotate-On-Retract were effectively used to negotiate Pressure Wire™ X across the tortuous artery. Stenting was successfully carried out with Pressure Wire™ X/R-PCI without any adverse events during or after the procedure. Discussion: Pressure Wire™ X was used with certain modifications to negotiate tortuous arteries. The R-PCI procedure was carried out successfully without any adverse events during or after the procedure.

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The apically extruded debris caused by TruNatomy System (TRN), RACE EVO system (RE) and VDW Rotate (VR) systems in mandibular anterior teeth with ribbon-shaped root canals were compared. The root canals (n = 20 in each group) were irrigated with NaOCl 2.5%, and the extruded debris was collected at pre-weighted Eppendorf tubes. The amount of apically extruded debris (mg) and the treatment time (s) were recorded. Tukey pairwise comparisons were performed to compare groups with a 95% confidence level. VR had significantly less debris extrusion values and treatment time than RE and TRN (P < 0.05). Although no difference was observed between RE and TRN in terms of apically extruded debris (P > 0.05), a significant difference in favour of RE was observed in terms of treatment time (P < 0.05). All the instruments extruded debris at varying weights.

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Conventional uniaxial techniques generally require shifting objects or projection grating with the assistance of a high-precision mechanical moving component. To overcome this limitation, we propose a novel uniaxial 3-D shape measurement system with auto-synchronous phase-shifting and defocusing by using a tilted and fixed projection grating. The tilted focused image plane (FIP), which is reflected by a mirror at about 90 degrees, could be shifted across the measured surface by slightly rotating the mirror within a small angle range. This procedure will simultaneously introduce the change in defocusing and phase-shifting of the fringe. The modulation curve of each point can be deciphered by Fourier fringe analysis after a sequence of fringe intensities is acquired. Since both the measured object and projection grating are fixed, the proposed method could make the measurement system more compact and flexible. Both computer simulation and experiments are carried out to demonstrate the validity of this proposed system.

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Introducción: La gestión del cuidado de enfermería, en las personas mayores es un desafío actual para la profesión. Lo que implica planificar y coordinar cuidados seguros y de calidad. Donde se atribuye la necesidad de integrar el enfoque de las teorías y su práctica en el cuidado sistémico y dinámico a la persona en su realidad total. Objetivo: Analizar los puntos de encuentro entre las teorías de Swanson y Roy en el cuidado continuo del adulto mayor con cáncer de próstata. Métodos: Revisión bibliográfica sistemática, durante 2019, de artículos publicados desde 2009 hasta 2019 en las bases de datos SciELO y Google académico. La pregunta guía se elaboró a través del acrónimo PICo. La estrategia de búsqueda se realizó mediante aceptación de los descriptores en Ciencias de la Salud (DeCS) "Teorías de enfermería", "Modelo de adaptación de Callista Roy", "Teoría de Kristen Swanson", "Cuidados continuos", "Adulto mayor", "Neoplasia de la próstata" y "Enfermedades crónicas" con el operador booleano AND, se utilizó el diagrama de flujo (PRISMA). El análisis de contenido permitió interpretar los referentes teóricos y la organización del conocimiento de las 13 bibliografías seleccionadas. Conclusiones: Resulta limitada la producción científica encontrada en relación al alcance de las teorías de Swanson y Roy en la atención al paciente con cáncer. Ambas teorías tienen implícitas, en la fundamentación de sus componentes, un acercamiento biopsicosocial al modo de cuidar en la práctica clínica y la cultura del cuidado continuo en el adulto mayor con cáncer de próstata, desde la perspectiva de enfermería(AU)

Introduction: Nursing care management in the elderly is a current challenge for the profession. This implies planning and coordinating safe and quality care, processes requiring to integrate theoretical approach and their praxis into systemic and dynamic care to the person in a total reality. Objective: To analyze the meeting points between the theories of Swanson and Roy in the continuous care of the elderly with prostate cancer. Methods: Systematic bibliographic review, carried out during 2019, of articles published from 2009 to 2019 in the SciELO and Google Scholar databases. The guiding question was developed through the acronym PICO. The search strategy was carried out by accepting the following descriptors in Health Sciences (DeCS): teorías de enfermería [nursing theories], modelo de adaptación de Callista Roy [Callista Roy's adaptation model], teoría de Kristen Swanson [Kristen Swanson's theory], cuidados continuos [continuous cares], adulto mayor [elderly], neoplasia de la próstata [prostate neoplasm] and enfermedades crónicas [chronic diseases] with the Boolean operator AND. The flow diagram (PRISMA) was used. Content analysis allowed to interpret the theoretical references and to organize knowledge of the thirteen selected bibliographies. Conclusions: There is limited scientific production found about the scope of Swanson's and Roy´s theories regarding the care of patients with cancer. Both theories include implicitly, in the foundation of their components, a biopsychosocial approach to the way of caring, in clinical praxis, as well as the culture of continuous care for the elderly with prostate cancer, from the nursing perspective(AU)

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INTRODUCTION: The present study aimed to compare the torsional strength of the initial files of the Mtwo (VDW, Munich, Germany) and novel Rotate systems (VDW, Munich, Germany) with the ProGlider (Dentsply Sirona, Ballaigues, Switzerland) and R-Pilot (VDW) glide path instruments. METHODS: The Mtwo (10/.04), ProGlider (16/.02), R-Pilot (12.5/.04), and Rotate (15/.04) glide path files were compared regarding their torsional strength, which was tested using a specially designed test device (N = 20). The data obtained were statistically analyzed at 5% significance level using 1-way analysis of variance and the post hoc Tukey test. The fragment surfaces and separated instruments were examined with ×50, ×100, and ×1000 magnification under a scanning electron microscope. RESULTS: The R-Pilot group showed the highest torsional strength value among all groups (P < .05), whereas there was no significant difference between the torsional strength values of the Mtwo and ProGlider groups (P > .05). The Rotate group had the lowest torsional strength among all groups (P < .05). The Mtwo group showed the lowest angle of rotation among all groups (P < .05). CONCLUSIONS: Although the R-Pilot glide path file exhibited the highest torsional strength in all groups, Rotate showed the highest angle of rotation. Differences in torsional resistance of the instruments may be associated with their manufacturing methods and design features.

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To evaluate monotonic torsional resistance and fatigue resistance of novel SCOPE RS instruments and to compare ROTATE, Hyflex CM, OneCurve, and ProTaper Next instruments as a counterpart. The instrument groups were as follows: SCOPE RS; ROTATE; HyflexCM; OneCurve; ProTaperNext. The cyclic fatigue resistance of unused instruments was tested at both room and body temperatures (n = 10). The time to fracture, the mean number of cycles until failure, and the length of the fractured fragments were analyzed. The monotonic torsional resistance of new instruments was measured in accordingly American National Standards/American Dental Association No. 28 and International Organization for Standardization 3630-1:2008 specifications (n = 10). The maximum torque and angular deflection at break were recorded. The fractographic examination was performed by scanning electron microscope. Energy-dispersive X-ray spectroscopy was used to investigate the microstructure of NiTi instruments. One-way ANOVA with Games-Howell Post Hoc multiple comparisons tests were used (p < .05). The ROTATE had superior cyclic fatigue resistance than other groups in both temperature conditions (p < .01). However, it exhibited lower torsional resistance than SCOPE RS (p < .01). SCOPE RS had superior torsional resistance than other groups (p < .01). Micrographs revealed typical features of fatigue behaviors in all groups. Weight percentages of the Ni and Ti revealed similarity for all instruments. The novel SCOPE RS instruments presented superior monotonic torsional resistance but failed to show any improvement in the cyclic fatigue resistance compared with its counterparts, ROTATE, HyflexCM, and OneCurve.

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OBJECTIVE: The aim of this study was to compare the cyclic fatigue resistance at body temperature and phase transformation behaviors of novel Rotate instrument (25.06) with rotating Mtwo (25.06) and reciprocating Reciproc Blue (25.08) and Reciproc (25.08) instruments. MATERIALS AND METHODS: The Rotate, Reciproc Blue, Reciproc, and Mtwo instruments free of visible deformations were collected and tested in a static cyclic fatigue test method, which has a ceramic block containing an artificial canal with 60° angle of curvature and a 5-mm radius of curvature at 37 °C (n = 16). All instruments were operated until fracture occurred, and both time to fracture (TF) and the lengths of the fractured fragments were recorded. TF data was analyzed with one-way ANOVA followed by post hoc Tukey tests and Weibull analysis, and fractured fragment length data were subjected to one-way ANOVA and post hoc Tukey tests (P < 0.05). Two unused instruments from each brand were also subjected to differential scanning calorimetry (DSC) analysis to determine their phase transformation temperatures. RESULTS: The Reciproc Blue instruments showed significantly higher TF values and reliability than the other groups (P < 0.05). Rotate instruments exhibited greater cyclic fatigue resistance than the Reciproc and Mtwo instruments (P < 0.05). No significant difference was detected among the fractured fragment lengths (P > 0.05). The lowest austenite finish temperature was exhibited by the Mtwo, which presented a single transformation peak, followed by the Rotate, Reciproc Blue, and Reciproc instruments which all presented two peaks during transformation. CONCLUSIONS: Cyclic fatigue resistance of instruments manufactured from thermally treated Blue wire instruments was superior to those of the Mtwo and Reciproc, whereas reciprocating the Blue wire showed the highest resistance. CLINICAL RELEVANCE: The present study compared the cyclic fatigue resistance of the novel Rotate instrument with similar instruments manufactured from conventional nickel-titanium, m-wire, and Blue wire at body temperature and reported that Blue-treated instruments exhibited superior cyclic fatigue resistance.

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This study compared the amount of apically extruded debris associated with different heat-treated Ni-Ti rotary systems during the preparation of curved root canals of mandibular molars. Sixty extracted human mandibular molars were selected. EdgeFile, K3XF, OneCurve (OC) and ROTATE files were used to prepare both mesial canals of teeth. The initial weight of each Eppendorf tube to be used was calculated using an analytical balance prior to instrumentation. After instrumentation, the tubes were then stored for 5 days in an incubator at 70°C. Each tube was reweighed, and the weight of the dry extruded debris was established by subtracting the pre-instrumentation and post-instrumentation weight of the Eppendorf tubes for each group. All files caused apical extrusion of debris. There was no statistical difference between the ROTATE, EdgeFile, OC and K3XF systems (P > 0.05). All the heat-treated Ni-Ti rotary systems led to similar apical debris extrusion during the canal preparation.

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Background. This study aimed to compare the VDW.ROTATE instruments with the Reciproc Blue instruments in different kinematics in terms of the cyclic fatigue resistance. Methods. Sixty instruments, 40 VDW.ROTATE and 20 Reciproc Blue instruments, were divided into three groups (n=20): VDW.ROTATE was used in both continuous rotation and reciprocation, and Reciproc Blue was used in reciprocation only. The cyclic fatigue resistance test was carried out in an artificial canal (60°, r=3 mm) at an intracanal temperature of 35±2°C until fracture, and the time to fracture was recorded in seconds. The data were analyzed statistically using Kruskal-Wallis and Tamhane's T2 tests (P<0.05). Results. DAll the reciprocating motion groups resulted in a longer mean duration to failure than the continuous rotation motion group (P<0.05). Conclusion. It was observed that the Reciproc Blue instruments had higher cyclic fatigue resistance than VDW.ROTATE instruments (P<0.05). Recent studies have shown that reciprocal movement increases cyclic fatigue resistance compared to rotational movement. The VDW.ROTATE instrument, which has a similar size, design, and alloy as the Reciproc Blue instrument, can also be used by clinicians in reciprocating motion with endo motors capable of reciprocating in different directions. However, even if the cyclic fatigue resistance increases by using VDW.ROTATE instruments in reciprocation, the cyclic fatigue resistance is lower than Reciproc Blue instruments.

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To investigate the cyclic fatigue resistance of novel ROTATE instruments and to compare with the same size of One Curve, TF adaptive, and Mtwo instruments using a root canal simulation model. Four-type of 25/0.06 instruments were used: ROTATE, Mtwo, One Curve, TF adaptive. Instruments were divided into two subgroups: Distilled water and 2.5% sodium hypochlorite (n = 20). Instruments were operated at 35°C. The time to fracture and the length of the fractured fragments were compared One-way analysis of variance (ANOVA) followed by Tukey's multiple comparison tests (p < .05). Descriptive analysis was performed for the elemental composition of instruments by Energy-dispersive X-ray spectroscopy. ROTATE demonstrated the lowest Ni content and SD values. ROTATE had significantly higher NCF values than other groups (p < .0001). Sodium hypochlorite was decreased the mean NCF values. This is the first study in the literature on the cyclic fatigue of ROTATE. ROTATE presented higher cyclic fatigue life than One Curve, TF Adaptive, and Mtwo.

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A nanoscale rotating system that consists of a double-walled carbon nanotube (DWCNT) and graphene and is driven by a defect in the graphene is proposed, and its rotating dynamics and driving mechanism are investigated through molecular dynamics simulations. A potential energy difference caused by the presence of the vacancy defect on the graphene substrate causes the outer tube in the DWCNT to stably rotate in a specific direction. The rotational speed of the outer tubem initially increases before reaching a stable speed. This phenomenon indicates that the driving torque is a difference between the sides of the outer tube in the van der Waals potential; this difference in potential is caused by the presence of the defect in the graphene. In addition, the effects of the system temperature, the radius and chiral vectors of the DWCNT, and the location of the defect in the graphene are investigated. The theoretical work reported here should provide a reference for the design of motion systems based on carbon nanotubes and graphene and their applications.

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Background: Trauma-focused treatments (TFTs) for patients with post-traumatic stress disorder (PTSD) are highly effective, yet underused by therapists.Objective: To describe a new way of implementing (adequate use of) TFTs, using a therapist rotation model in which one patient is treated by several therapists.Method: In this article, we will present two examples of working with therapist rotation teams in two treatment settings for TFT of PTSD patients. We explore the experiences with this model from both a therapist and a patient perspective.Results: Our findings were promising in that they suggested that this novel approach reduced the therapists' fear of providing TFT to PTSD patients, increased perceived readiness for TFT, and decreased avoidance behaviour within TFT sessions, possibly leading to better implementation of TFT. In addition, the therapeutic relationship as rated by patients was good, even by patients with insecure attachment styles.Conclusions: We suggest that therapist rotation is a promising novel approach to improve implementation of TFT for PTSD.

Antecedentes: Los tratamientos focalizados en el trauma (TFT en sus siglas en inglés) para pacientes con Trastorno de Estrés Traumático (TEPT) son altamente efectivos, pero todavía los terapeutas no los usan suficientemente. Objetivo: Describir una nueva forma de implementar (el adecuado uso de) tratamientos focalizados en el trauma, por medio del modelo de rotación de terapeuta, en el cual un paciente es tratado por varios terapeutas. Método: En este artículo, presentaremos dos ejemplos de trabajo con equipos de rotación de terapeutas en dos contextos de tratamiento para los TFT de pacientes con TEPT. Nosotros exploramos las experiencias con este modelo desde la perspectiva tanto del terapeuta como del paciente. Resultados: Nuestros hallazgos fueron prometedores en el sentido de que este enfoque original redujo el temor de los terapeutas de proveer los TFT a los pacientes con TEPT, incrementó la disposición percibida sobre los TFT, y disminuyó el comportamiento de evitación en las sesiones de los TFT, conllevando posiblemente a una mejor implementación de los TFT. Adicionalmente, la relación terapéutica fue evaluada por los pacientes como buena, incluso por aquellos pacientes con estilos de apego inseguro. Conclusiones: Nosotros sugerimos que la rotación de terapeuta es un enfoque original promisorio para mejorar la implementación de los TFT para TEPT.

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BACKGROUND: Interlaminar percutaneous endoscopic lumbar discectomy (PELD) is a minimally invasive technique to treat soft disc herniation. However, the currently used single working channel does not allow for safe nerve root retraction. This study aims to describe the rotate and retract technique for safe nerve root retraction during L5-S1 interlaminar PELD. METHODS: A total of 17 patients who underwent interlaminar PELD with the rotate and retract technique between November 2016 and August 2017 were retrospectively evaluated. Both pre- and postoperative visual analog scale (VAS) scores (back and leg) and Oswestry Disability Index (ODI) scores were used for clinical assessment. RESULTS: The mean preoperative VAS scores for back and leg pain were 3.84 ± 1.15 (range, 2-6) and 8.7 ± 0.2 (range, 8-10), respectively. The mean preoperative ODI score was 64.2 ± 13.2 (range, 48-90). The mean VAS scores for back and leg pain decreased to 1.24 ± 1.34 (range, 0-6) and 1.15 ± 0.65 (range, 0-4), respectively, at the last follow-up (P < 0.001). The mean ODI score also improved to 13.2 ± 5.1 (range, 9-29) at the last follow-up (P < 0.001). CONCLUSIONS: The rotate and retract technique for interlaminar PELD is an effective maneuver for the treatment of L5-S1 disc herniations in selected patients if performed by experienced surgeons.

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Glucagon-like peptide-1 (GLP-1) receptors belong to the class B of G protein coupled-receptors and are expressed in pancreas,lungs,GI tract,kidneys,heart and the central nervous system.During episodes of hyperglycemia activation of GLP-1 receptors located on pancreas islet β-cells facilitates insulin release and increases insulin sensitivity to regulate blood sugar.In the central nervous system,activation of GLP-1 receptors produces neuroprotection and analgesia.In this mini-review,we have summarized our recent work:1) identification of microglial GLP-1 receptor/IL-10/ β-endorphin pathway in the spinal cord;2) discovery of the mechanisms of activation of GLP-1 receptors by which analgesic Lamiophlomis rotata and its effective ingredients iridoid glycosides produce antinociception.Our work highlight that spinal microglial GLP-1 receptor might be a human-demonstrated target for the treatment of chronic pain.