PurposeIn this work we present a dual-phase diffusion tensor imaging (DTI) technique that incorporates a correction scheme for the cardiac material strain, based on 3D myocardial tagging.Methods In vivo dual-phase cardiac DTI with a stimulated echo approach and 3D tagging was performed in 10 healthy volunteers. The time course of material strain was estimated from the tagging data and used to correct for strain effects in the diffusion weighted acquisition. Mean diffusivity, fractional anisotropy, helix, transverse and sheet angles were calculated and compared between systole and diastole, with and without strain correction. Data acquired at the systolic sweet spot, where the effects of strain are eliminated, served as a reference.ResultsThe impact of strain correction on helix angle was small. However, large differences were observed in the transverse and sheet angle values, with and without strain correction. The standard deviation of systolic transverse angles was significantly reduced from 35.9±3.9° to 27.8°±3.5° (p<0.001) upon strain-correction indicating more coherent fiber tracks after correction. Myocyte aggregate structure was aligned more longitudinally in systole compared to diastole as reflected by an increased transmural range of helix angles (71.8°±3.9° systole vs. 55.6°±5.6°, p<0.001 diastole). While diastolic sheet angle histograms had dominant counts at high sheet angle values, systolic histograms showed lower sheet angle values indicating a reorientation of myocyte sheets during contraction.ConclusionAn approach for dual-phase cardiac DTI with correction for material strain has been successfully implemented. This technique allows assessing dynamic changes in myofiber architecture between systole and diastole, and emphasizes the need for strain correction when sheet architecture in the heart is imaged with a stimulated echo approach.
We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)-a tool from hybrid control theory-as a filtering criterion that instantaneously assesses the impact of user actions on a dynamic system over a time window into the future. As a result, the filter is permissive to many chosen strategies, minimally engaging, and skill-sensitive-qualities desired when evaluating human actions. Through a human study with 28 healthy volunteers, we show that the criterion exhibits a low, but significant, negative correlation between skill level, as estimated from task-specific measures in unassisted trials, and the rate of controller intervention during assistance. Moreover, a MIG-based filter can be utilized to create a shared control scheme for training or assistance. In the human study, we observe a substantial training effect when using a MIG-based filter to perform cart-pendulum inversion, particularly when comparing improvement via the RMS error measure. Using simulation of a controlled spring-loaded inverted pendulum (SLIP) as a test case, we observe that the MIG criterion could be used for assistance to guarantee either task completion or safety of a joint human-robot system, while maintaining the system's flexibility with respect to user-chosen strategies.
We describe an extracorporeal staple technique used to treat severe colostomy stenosis under analgo-sedation, thus avoiding relaparotomy. The surgery is performed under short-term sedation. The orifice of the stoma is widened and overgrowing skin is excised. The volume and diameter of the stoma are assessed. The anvil of a circular stapler device is inserted into the lumen of the colostomy. First bowel layers and then skin are closed with purse-string sutures. One firing of the stapler is used to reshape the stoma. The procedure takes around 20–30 min. One circular stapler is used. The patient can be discharged the same day or a day after surgery. No complications were noted in operated patients. At 6- and 12-month follow-ups, a slight narrowing of the colostomy was visible, but no recurrence of the stricture was noted. The described technique is an interesting, easy and safe alternative to previous methods of treatment for stenosed end-colostomy. Importantly, it is an extra-abdominal procedure and may be offered to patients with a history of multiple abdominal operations or with serious coexisting medical conditions in the one-day surgery setting.
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human–robot interaction has been significantly more effective than unassisted practice or human-mediated training. This article describes a hybrid shared control robot, which enhances task learning through kinesthetic feedback. The assistance assesses user actions using a task-specific evaluation criterion and selectively accepts or rejects them at each time instant. Through two human subject studies (total [Formula: see text]), we show that this hybrid approach of switching between full transparency and full rejection of user inputs leads to increased skill acquisition and short-term retention compared with unassisted practice. Moreover, we show that the shared control paradigm exhibits features previously shown to promote successful training. It avoids user passivity by only rejecting user actions and allowing failure at the task. It improves performance during assistance, providing meaningful task-specific feedback. It is sensitive to initial skill of the user and behaves as an “assist-as-needed” control scheme, adapting its engagement in real time based on the performance and needs of the user. Unlike other successful algorithms, it does not require explicit modulation of the level of impedance or error amplification during training and it is permissive to a range of strategies because of its evaluation criterion. We demonstrate that the proposed hybrid shared control paradigm with a task-based minimal intervention criterion significantly enhances task-specific training.
There is evidence that the same mycobacterial heat shock proteins (Mtb-HSPs), especially HSP16, the main marker of mycobacteria dormant stage, occur in sarcoid tissues and in circulated immune complexes and prompt the immune responses against the different genetic background, leading to the development of acute sarcoidosis (SA)/Löfgren syndrome, chronic SA, latent tuberculosis (TB), or active TB. In SA there is increased monocytes phagocytic activity, decreased clearance of antigens/immune complexes by monocytes, which are resistant to apoptosis, and decreased serum microbicidal/degradable nitrate⁄nitrite (NOx) concentration. Reduction in NOx may result from the reaction of NOx with superoxide with subsequent production of peroxynitrite (ONOO-). In this study, therefore, we evaluated NOx and ONOO- levels in supernatants of peripheral blood mononuclear cells cultures treated with Mtb-HSPs from 20 SA patients, 19 TB patients, and 21 healthy volunteers using Griess and rhodamine fluorescence methods. We found significantly greater NOx and ONOO- concentrations with/without Mtb-HSPs stimulation in SA and TB patients than in controls. However, there were significantly lower NOx and higher ONOO- levels after Mtb-HSPs induction in SA than TB patients. In summary, in contrast to active TB, increased ONOO- concentration may explain the low level of NOx with induction of M. tuberculosis genetic dormancy program via higher Mtb-HSP16 expression in SA.
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