The growing discovery and development of novel radiopharmaceuticals and radiolabeling methods requires an increasing capacity for radiochemistry experiments. However, such studies typically rely on radiosynthesizers designed for clinical batch production rather than research, greatly limiting throughput. Two general solutions are being pursued to address this: developing new synthesis optimization algorithms to minimize how many experiments are needed, and developing apparatus with enhanced experiment throughput. We describe here a novel high-throughput system based on performing arrays of droplet-based reactions at 10 μL volume scale in parallel. The automatic robotic platform can perform a set of 64 experiments in ~3 h (from isotope loading to crude product, plus sampling onto TLC plates), plus ~1 h for off-line radio-TLC analysis and radioactivity measurements, rather than the weeks or months that would be needed using a conventional system. We show the high repeatability and low crosstalk of the platform and demonstrate optimization studies for two F-labeled tracers. This novel automated platform greatly increases the practicality of performing arrays of droplet reactions by eliminating human error, vastly reducing tedium and fatigue, minimizing radiation exposure, and freeing up radiochemist time for other intellectually valuable pursuits.
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http://dx.doi.org/10.1016/j.cej.2023.143524 | DOI Listing |
Surg Innov
January 2025
Division of General, Minimally Invasive, and Robotic Surgery, Department of Surgery, University of Illinois at Chicago, Chicago, IL, USA.
Background: Transabdominal pre-peritoneal inguinal hernia repair using the da Vinci Single-Port robot (SP-TAPP) is currently performed in few centers. We aimed to define the learning curve for SP-TAPP by analyzing operative times.
Methods: The operative times of 122 SP-TAPP performed between 2019 and 2024 were retrospectively analyzed.
Sensors (Basel)
January 2025
Department of Automation, "Dunarea de Jos" University of Galati, 800008 Galati, Romania.
This paper deals with a "digital twin" (DT) approach for processing, reprocessing, and scrapping (P/R/S) technology running on a modular production system (MPS) assisted by a mobile cyber-physical robotic system (MCPRS). The main hardware architecture consists of four line-shaped workstations (WSs), a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) and a mobile visual servoing system (MVSS) mounted on the end effector. The system architecture integrates a hierarchical control system where each of the four WSs, in the MPS, is controlled by a Programable Logic Controller (PLC), all connected via Profibus DP to a central PLC.
View Article and Find Full Text PDFSensors (Basel)
January 2025
College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.
To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed.
View Article and Find Full Text PDFSensors (Basel)
January 2025
College of Science and Technology, Ningbo University, Ningbo 315300, China.
Industrial robotic arms are often subject to significant end-effector pose deviations from the target position due to the combined effects of nonlinear deformations such as link flexibility, joint compliance, and end-effector load. To address this issue, a study was conducted on the analysis and compensation of end-position errors in a six-degree-of-freedom robotic arm. The kinematic model of the robotic arm was established using the Denavit-Hartenberg (DH) parameter method, and a rigid-flexible coupled virtual prototype model was developed using ANSYS and ADAMS.
View Article and Find Full Text PDFSensors (Basel)
January 2025
Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA.
Field implementations of fully underground sensor networks face many practical challenges that have limited their overall adoption. Power management is a commonly cited issue, as operators are required to either repeatedly excavate batteries for recharging or develop complex underground power infrastructures. Prior works have proposed wireless inductive power transfer (IPT) as a potential solution to these power management issues, but misalignment is a persistent issue in IPT systems, particularly in applications involving moving vehicles or obscured (e.
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