Exact and Computationally Robust Solutions for Cylindrical Magnets Systems with Programmable Magnetization.

Magnetic systems based on permanent magnets are receiving growing attention, in particular for micro/millirobotics and biomedical applications. Their design landscape is expanded by the possibility to program magnetization, yet enabling analytical results, crucial for containing computational costs, are lacking. The dipole approximation is systematically used (and often strained), because exact and computationally robust solutions are to be unveiled even for common geometries such as cylindrical magnets, which are ubiquitously used in fundamental research and applications.

Design, fabrication, and characterization of a multimodal reconfigurable bioreactor for bone tissue engineering.

In the past decades, bone tissue engineering developed and exploited many typologies of bioreactors, which, besides providing proper culture conditions, aimed at integrating those bio-physical stimulations that cells experience in vivo, to promote osteogenic differentiation. Nevertheless, the highly challenging combination and deployment of many stimulation systems into a single bioreactor led to the generation of several unimodal bioreactors, investigating one or at mostly two of the required biophysical stimuli. These systems miss the physiological mimicry of bone cells environment, and often produced contrasting results, thus making the knowledge of bone mechanotransduction fragmented and often inconsistent.

Toward Mechanochromic Soft Material-Based Visual Feedback for Electronics-Free Surgical Effectors.

A chromogenically reversible, mechanochromic pressure sensor is integrated into a mininvasive surgical grasper compatible with the da Vinci robotic surgical system. The sensorized effector, also featuring two soft-material jaws, encompasses a mechanochromic polymeric inset doped with functionalized spiropyran (SP) molecule, designed to activate mechanochromism at a chosen pressure and providing a reversible color change. Considering such tools are systematically in the visual field of the operator during surgery, color change of the mechanochromic effector can help avoid tissue damage.

Light-assisted electrospinning monitoring for soft polymeric nanofibers.

A real-time tool to monitor the electrospinning process is fundamental to improve the reproducibility and quality of the resulting nanofibers. Hereby, a novel optical system integrated through coaxial needle is proposed as monitoring tool for electrospinning process. An optical fiber (OF) is inserted in the inner needle, while the external needle is used to feed the polymeric solution (PEO/water) drawn by the process.

Soft Graspers for Safe and Effective Tissue Clutching in Minimally Invasive Surgery.

Objective: Surgical graspers must be safe, not to damage tissue, and effective, to establish a stable contact for operation. For conventional rigid graspers, these requirements are conflicting and tissue damage is often induced. We thus proposed novel soft graspers, based on morphing jaws that increase contact area with clutching force.

Haptic Intracorporeal Palpation Using a Cable-Driven Parallel Robot: A User Study.

Objective: Intraoperative palpation is a surgical gesture jeopardized by the lack of haptic feedback which affects robotic minimally invasive surgery. Restoring the force reflection in teleoperated systems may improve both surgeons' performance and procedures' outcome.

Methods: A force-based sensing approach was developed, based on a cable-driven parallel manipulator with anticipated seamless and low-cost integration capabilities in teleoperated robotic surgery.

Polydopamine Nanoparticles as an Organic and Biodegradable Multitasking Tool for Neuroprotection and Remote Neuronal Stimulation.

Oxidative stress represents a common issue in most neurological diseases, causing severe impairments of neuronal cell physiological activity that ultimately lead to neuron loss of function and cellular death. In this work, lipid-coated polydopamine nanoparticles (L-PDNPs) are proposed both as antioxidant and neuroprotective agents, and as a photothermal conversion platform able to stimulate neuronal activity. L-PDNPs showed the ability to counteract reactive oxygen species (ROS) accumulation in differentiated SH-SY5Y, prevented mitochondrial ROS-induced dysfunctions and stimulated neurite outgrowth.

A novel microwave tool for robotic liver resection in minimally invasive surgery.

Introduction: During the last two decades, many surgical procedures have evolved from open surgery to minimally invasive surgery (MIS). This limited invasiveness has motivated the development of robotic assistance platforms to obtain better surgical outcomes. Nowadays, the da Vinci robot is a commercial tele-robotic platform widely used for different surgical applications.

A Machine-Learning-Based Approach to Solve Both Contact Location and Force in Soft Material Tactile Sensors.

This study addresses a design and calibration methodology based on numerical finite element method (FEM) modeling for the development of a soft tactile sensor able to simultaneously solve the magnitude and the application location of a normal load exerted onto its surface. The sensor entails the integration of a Bragg grating fiber optic sensor in a Dragon Skin 10 polymer brick (110 mm length, 24 mm width). The soft polymer mediates the transmission of the applied load to the buried fiber Bragg gratings (FBGs), and we also investigated the effect of sensor thickness on receptive field and sensitivity, both with the developed model and experimentally.

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery.

Background: Hollow, bendable manipulators can advance implant delivery in minimally invasive surgery, by circumventing the drawbacks of straight-line delivery and fostering single-port approaches. Variable stiffness manipulators are sought to be safe and effective.

Methods: We designed and experimentally assessed a cable-driven articulated/continuum manipulator, devised for cardiac valve delivery.

Correction to: On the reproducibility of expert-operated and robotic ultrasound acquisitions.

The original version of this article unfortunately contained a mistake.

Cell Membrane-Coated Magnetic Nanocubes with a Homotypic Targeting Ability Increase Intracellular Temperature due to ROS Scavenging and Act as a Versatile Theranostic System for Glioblastoma Multiforme.

In this study, hybrid nanocubes composed of magnetite (Fe O ) and manganese dioxide (MnO ), coated with U-251 MG cell-derived membranes (CM-NCubes) are synthesized. The CM-NCubes demonstrate a concentration-dependent oxygen generation (up to 15%), and, for the first time in the literature, an intracellular increase of temperature (6 °C) due to the exothermic scavenging reaction of hydrogen peroxide (H O ) is showed. Internalization studies demonstrate that the CM-NCubes are internalized much faster and at a higher extent by the homotypic U-251 MG cell line compared to other cerebral cell lines.

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor.

Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties.

Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks.

Background: It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclusive studies are still missing, and the interest in force reflection is rising again.

Methods: We integrated a seven-DoF master into the da Vinci Research Kit.

A variable-stiffness tendril-like soft robot based on reversible osmotic actuation.

Soft robots hold promise for well-matched interactions with delicate objects, humans and unstructured environments owing to their intrinsic material compliance. Movement and stiffness modulation, which is challenging yet needed for an effective demonstration, can be devised by drawing inspiration from plants. Plants use a coordinated and reversible modulation of intracellular turgor (pressure) to tune their stiffness and achieve macroscopic movements.

Nutlin-loaded magnetic solid lipid nanoparticles for targeted glioblastoma treatment.

Aim: Glioblastoma multiforme is one of the deadliest forms of cancer, and current treatments are limited to palliative cares. The present study proposes a nanotechnology-based solution able to improve both drug efficacy and its delivery efficiency.

Materials & Methods: Nutlin-3a and superparamagnetic nanoparticles were encapsulated in solid lipid nanoparticles, and the obtained nanovectors (nutlin-loaded magnetic solid lipid nanoparticle [Nut-Mag-SLNs]) were characterized by analyzing both their physicochemical properties and their effects on U-87 MG glioblastoma cells.

An Intravascular Magnetic Catheter Enables the Retrieval of Nanoagents from the Bloodstream.

The clinical adoption of nanoscale agents for targeted therapy is still hampered by the quest for a balance between therapy efficacy and side effects on healthy tissues, due to nanoparticle biodistribution and undesired drug accumulation issues. Here, an intravascular catheter able to efficiently retrieve from the bloodstream magnetic nanocarriers not contributing to therapy, thus minimizing their uncontrollable dispersion and consequently attenuating possible side effects, is proposed. The device consists of a miniature module, based on 27 permanent magnets arranged in two coaxial series, integrated into a clinically used 12 French catheter.

A 3D Real-Scale, Biomimetic, and Biohybrid Model of the Blood-Brain Barrier Fabricated through Two-Photon Lithography.

The investigation of the crossing of exogenous substances through the blood-brain barrier (BBB) is object of intensive research in biomedicine, and one of the main obstacles for reliable in vitro evaluations is represented by the difficulties at the base of developing realistic models of the barrier, which could resemble as most accurately as possible the in vivo environment. Here, for the first time, a 1:1 scale, biomimetic, and biohybrid BBB model is proposed. Microtubes inspired to the brain capillaries were fabricated through two-photon lithography and used as scaffolds for the co-culturing of endothelial-like bEnd.

Encapsulation of Piezoelectric Transducers for Sensory Augmentation and Substitution with Wearable Haptic Devices.

The integration of polymeric actuators in haptic displays is widespread nowadays, especially in virtual reality and rehabilitation applications. However, we are still far from optimizing the transducer ability in conveying sensory information. Here, we present a vibrotactile actuator characterized by a piezoelectric disk embedded in a polydimethylsiloxane (PDMS) shell.

Ultrasound-activated piezoelectric P(VDF-TrFE)/boron nitride nanotube composite films promote differentiation of human SaOS-2 osteoblast-like cells.

Piezoelectric films of poly(vinylidenedifluoride-trifluoroethylene) (P(VDF-TrFE)) and of P(VDF-TrFE)/boron nitride nanotubes (BNNTs) were prepared by cast-annealing and used for SaOS-2 osteoblast-like cell culture. Films were characterized in terms of surface and bulk features, and composite films demonstrated enhanced piezoresponse compared to plain polymeric films (d increased by ~80%). Osteogenic differentiation was evaluated in terms of calcium deposition, collagen I secretion, and transcriptional levels of marker genes (Alpl, Col1a1, Ibsp, and Sparc) in cells either exposed or not to ultrasounds (US); finally, a numerical model suggested that the induced voltage (~20-60 mV) is suitable for cell stimulation.

Piezoelectric Effects of Materials on Bio-Interfaces.

Electrical stimulation of cells and tissues is an important approach of interaction with living matter, which has been traditionally exploited in the clinical practice for a wide range of pathological conditions, in particular, related to excitable tissues. Standard methods of stimulation are, however, often invasive, being based on electrodes and wires used to carry current to the intended site. The possibility to achieve an indirect electrical stimulation, by means of piezoelectric materials, is therefore of outstanding interest for all the biomedical research, and it emerged in the latest decade as a most promising tool in many bioapplications.