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PubMed2003

High-precision, high-throughput stability determinations facilitated by robotics and a semiautomated titrating fluorometer.

The use of statistical modeling to test hypotheses concerning the determinants of protein structure requires stability data (e.g., the free energy of denaturation in H(2)O, DeltaG(HOH)) from hundreds of protein mutants. Fluorescence-monitored chemical denaturation provides a convenient method for high-precision, high-throughput DeltaG(HOH) determination. For eglin c we find that a throughput of about 20 min per protein can be attained in a two-channel semiautomated titrating fluorometer. We find also that the use of robotics for protein purification and preparation of the solutions for chemical denaturation gives highly precise DeltaG(HOH) values in which the standard deviation of values from multiple preparations (+/-0.051 kcal/mol) differs very little from multiple measurements from a single preparation (+/-0.040 kcal/mol). Since the variance introduced into model fitting by DeltaG(HOH) increases as the square of measurement error, there is a premium on precision. In fact, the fraction of stability behavior explicable by otherwise perfect models goes from 98% to only 50% over the error range commonly reported for chemical denaturation measurements (0.1-0.6 kcal/mol). We have found that the precision of chemical denaturation DeltaG(HOH) measurements depends most heavily on the precision of the instrument used, followed by protein purity and the capacity to precisely prepare the solutions used for titrations.

Amino Acid Substitution↗

PubMedDate not supplied

London University Search Instrument: a combinatorial robot for high-throughput methods in ceramic science.

This paper describes the design, construction, and operation of the London University Search Instrument (LUSI) which was recently commissioned to create and test combinatorial libraries of ceramic compositions. The instrument uses commercially available powders, milled as necessary to create thick-film libraries by ink-jet printing. Multicomponent mixtures are prepared by well plate reformatting of ceramic inks. The library tiles are robotically loaded into a flatbed furnace and, when fired, transferred to a 2-axis high-resolution measurement table fitted with a hot plate where measurements of, for example, optical or electrical properties can be made. Data are transferred to a dedicated high-performance computer. The possibilities for remote interrogation and search steering are discussed.

Aluminum Oxide↗

PubMed2006

An integrated proteomic workflow for two-dimensional differential gel electrophoresis and robotic spot picking.

New technologies have advanced the field of proteomics, and a number of companies have developed innovative platforms to drive this research. However, significant challenges are often encountered when trying to integrate complementary technologies from multiple manufacturers. We have developed a software and hardware solution to integrate the Ettan two-dimensional difference gel electrophoresis (2-D DIGE) system (GE Healthcare) with the Investigator ProPic spot picking robot (Genomic Solutions). We have analyzed protein sample preparations from bacterial and mammalian sources to demonstrate a new workflow with increased throughput for gel-based proteomics.

Electrophoresis, Gel, Two-Dimensional↗

PubMed1994

Rapid arrayed filter production using the 'ORCA' robot.

By adapting a commercially available, general purpose laboratory robot, it is possible to produce high-density gridded hybridization filters of clone colonies or DNA products. We are using this system to produce 60-90, 8 x 12 cm filters in an 8-hour day, each containing 3,456 clones arranged in 96, 6 x 6 grids.

Chromosomes, Human, Pair 19↗

PubMed2002

Robots in invertebrate neuroscience.

Can we now build artificial animals? A combination of robot technology and neuroethological knowledge is enabling the development of realistic physical models of biological systems. And such systems are not only of interest to engineers. By exploring identified neural control circuits in the appropriate functional and environmental context, new insights are also provided to biologists.

Animals↗

PubMed2005

Robotics: self-reproducing machines.

Self-reproduction is central to biological life for long-term sustainability and evolutionary adaptation. Although these traits would also be desirable in many engineered systems, the principles of self-reproduction have not been exploited in machine design. Here we create simple machines that act as autonomous modular robots and are capable of physical self-reproduction using a set of cubes.

Animals↗

PubMed2003

Environmentally mediated synergy between perception and behaviour in mobile robots.

The notion that behaviour influences perception seems self-evident, but the mechanism of their interaction is not known. Perception and behaviour are usually considered to be separate processes. In this view, perceptual learning constructs compact representations of sensory events, reflecting their statistical properties, independently of behavioural relevance. Behavioural learning, however, forms associations between perception and action, organized by reinforcement, without regard for the construction of perception. It is generally assumed that the interaction between these two processes is internal to the agent, and can be explained solely in terms of the neuronal substrate. Here we show, instead, that perception and behaviour can interact synergistically via the environment. Using simulated and real mobile robots, we demonstrate that perceptual learning directly supports behavioural learning and so promotes a progressive structuring of behaviour. This structuring leads to a systematic bias in input sampling, which directly affects the organization of the perceptual system. This external, environmentally mediated feedback matches the perceptual system to the emerging behavioural structure, so that the behaviour is stabilized.

Adaptation, Physiological↗

PubMed1999

Fully automated determination of vitamins A and E in milk-based products using a robotic station-HPLC arrangement.

An automated method, which includes an extraction procedure based on the AOAC official method of analysis for vitamins A and E in milk-based infant formula, was developed. The whole procedure is carried out automatically in a robotic station coupled to a liquid chromatograph with a UV detector for individual separation and quantification of the vitamins. Different commercial products (milk, infant formula and nutritional supplements) were analysed, and the data were compared with those obtained using the manual AOAC extraction method. Relative standard deviations using the automated method were 5.92 and 2.57% for vitamin A and E, respectively.

Animals↗

PubMed2000

The determination of carbonyl compounds in air using a robotic sampling preparation system integrated to a gas chromatograph with a nitrogen-phosphorus detector.

A totally automated solid phase extraction gas chromatography procedure was developed for the sampling and analysis of carbonyl compounds in air. In this system, two PrepStation modules were used, one for the preparation and elution of 2,4-dinitrophenylhydrazine silica cartridges, and the other for air sampling. The sample collected by the sampling module was eluted to an autosampler vial in the PrepStation module and then transferred to the gas chromatograph for analysis via a robotic arm. The sampling module was modified to enable air sampling via an external pump. A typical run by this technique required 142 min, 100 min for air sampling and 42 min for the other operations, including a GC analysis time of 25 min. Recoveries of at least 85% were obtained for all compounds studied. The detection limits for formaldehyde, acetaldehyde and acetone were 2.2, 2.7 and 2.2 ppbv, respectively. All operations, including the conditioning of the cartridges, were performed without any intervention from the analyst.

Air Pollutants↗

PubMed2003

Powder dispensing robot for sample preparation.

An automated powder dispensing station capable of transferring milligram quantities (1-100 mg) of powder for sample preparation was developed and integrated into a commercial robotic workstation (Zymark Prelude). The system's performance was optimized with respect to vacuum flow rate and powder transfer tube cross sectional area, and shown to possess excellent powder dispensing accuracy (RSD = < or = 0.1% for target weights < or = 15 mg) and precision (RSD = 3.43%) for a vanillin sample. Using the commercial features of the Zymark Prelude workstation (liquid handling, weighing, and vortexing/mixing) and the custom powder dispensing station, multiple sets of analytical calibration standards were prepared and subsequently analyzed by FIA in order to assess the system's robustness for sample preparation.

Drug Industry↗

PubMed2000

Automated extraction and amplification of DNA from whole blood using a robotic workstation and an integrated thermocycler.

Growing knowledge of the genetic basis of inheritable diseases has resulted in a rapidly increasing demand for DNA mutation analysis. Current methods are reliable and suitable for low-throughput mutation analyses, but are unable to cope with the increasing demand for genetic analyses, necessitating the development of new, fully automated and reliable methods. We developed a semi-automated method for DNA mutation analysis by integrating a thermocycler into a robotic pipetting workstation. DNA was extracted from 84 samples of 10 microl of EDTA-treated whole blood using magnetic beads within 2 h. Directly after isolation, the DNA was automatically transferred to an integrated thermocycler for amplification. Our semi-automated method proved to be reliable and robust, showing unambiguously interpretable PCR signals without occurrence of contamination. It is also faster than conventional manual methods. Only a brief manual intervention is required to remove and refit the seal of the PCR plate. This semi-automated assay is a step forward in the development of fully automated assays for DNA mutation analysis.

DNA↗

PubMed2002

The cerebellum in action: a simulation and robotics study.

The control or prediction of the precise timing of events are central aspects of the many tasks assigned to the cerebellum. Despite much detailed knowledge of its physiology and anatomy, it remains unclear how the cerebellar circuitry can achieve such an adaptive timing function. We present a computational model pursuing this question for one extensively studied type of cerebellar-mediated learning: the classical conditioning of discrete motor responses. This model combines multiple current assumptions on the function of the cerebellar circuitry and was used to investigate whether plasticity in the cerebellar cortex alone can mediate adaptive conditioned response timing. In particular, we studied the effect of changes in the strength of the synapses formed between parallel fibres and Purkinje cells under the control of a negative feedback loop formed between inferior olive, cerebellar cortex and cerebellar deep nuclei. The learning performance of the model was evaluated at the circuit level in simulated conditioning experiments as well as at the behavioural level using a mobile robot. We demonstrate that the model supports adaptively timed responses under real-world conditions. Thus, in contrast to many other models that have focused on cerebellar-mediated conditioning, we investigated whether and how the suggested underlying mechanisms could give rise to behavioural phenomena.

Animals↗

PubMed2002

Intraoperative transesophageal echocardiography with a special focus on a patient undergoing advanced robotic-assisted procedures.

Intraoperative echocardiography (IOE) has earned a major role in surgical decision-making and helps the cardiac surgeon decide and proceed with appropriate intervention based on the visualized pathology. With the advent of minimally invasive surgical techniques and robotic-assisted operations, more emphasis and dependence has been placed on IOE. We describe our experience with IOE during mitral valve repair at our center, which is one of the pioneer centers for these telemanipulation techniques.

Cooperative Behavior↗

PubMedDate not supplied

Robotic surgery using Zeus MicroWrist technology: the next generation.

BACKGROUND: The use of computer-animated surgical instruments for various cardiac operations has been shown to be feasible, but to date, the available information regarding the operative and technical details of these procedures is still inadequate. METHODS: We used the Zeus (Computer Motion Inc., Goleta, Calif, USA) telemanipulation system to perform the internal mammary artery (IMA) takedown in 56 patients, in 12 of whom we used the newest model with MicroWristTM (Computer Motion Inc., Goleta, Calif, USA) technology. Port orientation was based on thoracic anatomy, the decisive landmarks being the mammillary line and the axillary line. The distance between ports was at least 9 cm, and the patient's arm was positioned with the left shoulder raised and angulated by not more than 90 degrees. RESULTS: Mean setup time was 44 +/- 18 minutes for the first five patients and 16 +/- 7 minutes for the last five patients, with an overall average of 24 +/- 12 minutes. IMA harvest time at the beginning reached a mean of 95 +/- 23 minutes and decreased to 44 +/- 18 minutes in the last five cases. Average IMA takedown time was 58 +/- 17 minutes. The IMA was patent with a good flow in all 56 patients. CONCLUSIONS: The introduction of robotic technology into clinical routine has resulted in safe procedures with a short learning curve. However, basic training in the modality is a must in order to achieve technical excellence.

Cardiac Surgical Procedures↗

PubMed2006

Minimally invasive, robotic, and off-pump mitral valve surgery.

A significant transformation is occurring in the management of mitral valve disease. Earlier surgery is now recommended. Mitral valve repair is the standard of care, and newer methods of reconstructing the mitral valve are developing. Surgery with videoscopic assistance can be effectively performed without sternotomy. Robotics systems are gaining wider adoption. Implantable devices to repair or replace the mitral valve off-pump and percutaneously are emerging.

Cardiopulmonary Bypass↗

PubMed2001

Single- versus two-femoral socket anterior cruciate ligament reconstruction technique: Biomechanical analysis using a robotic simulator.

PURPOSE: Although anterior cruciate ligament (ACL) reconstruction with multistrand autogenous hamstring tendons has been widely performed using a single femoral socket (SS), it is currently advocated to individually reconstruct 2 bundles of the ACL using 2 femoral sockets (TS). However, the difference in biomechanical characteristics between them is unknown. The objective of this study was to clarify their biomechanical differences. TYPE OF STUDY: This is a cross-over trial using cadaveric knees. METHODS: Seven intact human cadaveric knees were mounted in a robotic simulator developed in our laboratory. By applying anterior and posterior tibial load up to +/- 100 N at 0 degrees, 15 degrees, 30 degrees, 60 degrees, and 90 degrees of flexion, tibial displacement and load were recorded. After cutting the ACL, the knees underwent ACL reconstruction using TS, followed by that using SS, with 44 or 88 N of initial grafts tension at 20 degrees of flexion. The above-mentioned tests were performed on each reconstructed knee. RESULTS: The tibial displacement in the TS technique was significantly smaller than that in the SS at smaller flexion angles in response to anterior and posterior tibial load of +/- 100 N, and the in situ force in the former was significantly greater than that in the latter at smaller flexion angles. Furthermore, in the TS technique, the posterolateral graft acted dominantly in extension, while the anteromedial graft mainly resisted against anterior tibial load in flexion. However, in the SS technique, the anteriorly located graft functioned more predominantly than the posteriorly located graft at all flexion angles. CONCLUSIONS: The ACL reconstruction via TS using quadrupled hamstring tendons provides better anterior-posterior stability compared with the conventional reconstruction using a single socket.

Aged↗

PubMed2003

Single cannula technique and robotic telescopic assistance in infants and children who require laparoscopic Nissen fundoplication.

BACKGROUND/PURPOSE: Laparoscopic Nissen fundoplication (LNF) is being utilized more extensively in the management of symptomatic gastroesophageal reflux disease in infants and children. The traditional approach utilizes 5 3- to 5-mm cannulas for telescope and instrument access to the peritoneal cavity. The purpose of this study is to report the technique and document the results using a single 5-mm umbilical cannula for LNF, stab incisions for placement of the instruments, and robotic telescope assistance. METHODS: From November 1999 through March 2002, 154 patients underwent LNF by the senior author for pathologic gastroesophageal reflux disease. All operations were performed with a single 5-mm umbilical cannula through which a 4- or 5-mm telescope was placed for operative visualization. Four stab incisions were made through the upper/lateral abdominal wall under direct visualization avoiding the epigastric vessels. Through these stab incisions, instruments were inserted into the peritoneal cavity. The maximum insufflation pressure was 15 mm Hg in all cases. The ability to perform the procedure in the absence of additional operative cannula placement, complications during instrument insertion, the ability to maintain adequate pneumoperitoneum, the patient's age, weight, operating time, and the addition of a gastrostomy were recorded. RESULTS: All but one of the 154 LNFs were completed successfully using this technique. The mean age at operation and mean operating time was 23.9 months (range, 3 weeks to 180 months) and 91 minutes (31 to 160 minutes), respectively. Patients weight ranged from 2.4 to 57 kg (mean, 10.4 kg). Gastrostomies were placed in 52 cases. There were no complications associated with the stab incisions or insertion of the operative instruments through the abdominal wall. Pneumoperitoneum was maintained adequately in all cases. CONCLUSIONS: LNF can be performed safely and effectively with a single umbilical cannula. We recommend its use for pediatric patients who require LNF.

Adolescent↗

PubMed2000

Clinical use of a computer-enhanced surgical robotic system for endoscopic coronary artery bypass grafting on the beating heart.

The aim of the study was to perform endoscopic coronary artery bypass grafting on the beating heart using a surgical robotic system. In the study, the surgical system ZEUS was used in combination with 3D visualization for endoscopic coronary artery bypass grafting in 25 patients. In a total of 10 cases, the coronary artery anastomosis was done on the beating heart using endoscopic stabilizers without cardiopulmonary bypass. In all cases, total OR time ranged from 4.0 to 8.0 hours (median 5.5 h); the times for endoscopic coronary artery anastomoses ranged from 14 to 50 minutes (median 25 minutes) with no difference between arrested-heart or beating-heart procedures. All patients had an uneventful angiographic control result. An endoscopic coronary artery anastomosis is possible on the arrested as well as on the beating heart.

Cardiopulmonary Bypass↗