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Interventional oncology offers minimally invasive treatments for malignant tumors for curative and palliative purposes based on the percutaneous insertion of needles or catheters into the target location under image guidance. Robotic systems have been gaining increasing attention as tools that provide potential advantages for image-guided interventions. Among the robotic systems developed for intervention, those relevant to the oncology field are mainly those for guiding or driving the needles in non-vascular interventional procedures such as biopsy and tumor ablation. Needle-guiding robots support planning the needle path and align the needle robotically according to the planned trajectory, which is combined with subsequent manual needle insertion by the physician through the needle guide. Needle-driving robots can advance the needle robotically after determining its orientation. Although a wide variety of robotic systems have been developed, only a limited number of these systems have reached the clinical phase or commercialization thus far. The results of previous studies suggest that such interventional robots have the potential to increase the accuracy of needle placement, facilitate out-of-plane needle insertion, decrease the learning curve, and reduce radiation exposure. On the other hand, increased complexity and costs may be a concern when using robotic systems compared with conventional manual procedures. Further data should be collected to comprehensively assess the value of robotic systems in interventional oncology., (© 2023. The Author(s) under exclusive licence to Japan Society of Clinical Oncology.)

When a snake robot explores a collapsed house as a rescue robot, it needs to move through various obstacles, some of which may be made of soft materials, such as mattresses. In this study, we call mattress-like environment as a soft floor, which deforms when some force is added to it. We focused on the central pattern generator (CPG) network as a control for the snake robot to propel itself on the soft floor and constructed a CPG network that feeds back contact information between the robot and the floor. A genetic algorithm was used to determine the parameters of the CPG network suitable for the soft floor. To verify the obtained parameters, comparative simulations were conducted using the parameters obtained for the soft and hard floor, and the parameters were confirmed to be appropriate for each environment. By observing the difference in snake robot's propulsion depending on the presence or absence of the tactile sensor feedback signal, we confirmed the effectiveness of the tactile sensor considered in the parameter search., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2023 Tamura and Kamegawa.)

The movement capabilities of snake robots allow them to be applied in a variety of applications. We realized a snake robot climbing in crowded pipes. In this paper, we implement a sinusoidal curve control method that allows the snake robot to move faster. The control method is composed of a hybrid force-position controller that allows the snake robot to move more stably. We conducted experiments to confirm the effectiveness of the proposed method. The experimental results show that the proposed method is stable and effective compared to the previous control method that we had implemented in the snake robot.

Water pollution derived from organic pollutants is one of the global environmental problems. The Fenton reaction using Fe 2+ as a homogeneous catalyst has been known as one of clean methods for oxidative degradation of organic pollutants. Here, a layered double hydroxide (Fe 2+ Al 3+ -LDH) containing Fe 2+ and Al 3+ in the structure was used to develop a "heterogeneous" Fenton catalyst capable of mineralizing organic pollutants. We found that sulfate ion (SO 4 2- ) immobilized on the Fe 2+ Al 3+ -LDH significantly facilitated oxidative degradation (mineralization) of phenol as a model compound of water pollutants to carbon dioxide (CO 2 ) in a heterogeneous Fenton process. The phenol conversion and mineralization efficiency to CO 2 reached >99% and ca. 50%, respectively, even with a reaction time of only 60 min., (© 2021 Wiley-VCH GmbH.)

A cubic quadruple perovskite oxide CeMn 3 Cr 4 O 12 has been synthesized under high-pressure and high-temperature conditions of 8 GPa and 1273 K. The X-ray absorption spectroscopy reveals that the Ce ions are in a trivalent state, as represented by the ionic model of Ce 3+ Mn 3+ 3 Cr 3+ 4 O 12 . The magnetic study demonstrates three independent antiferromagnetic transitions attributed to Ce (∼10 K), Mn (46 K), and Cr (133 K) ions. Furthermore, a magnetic field-induced antiferromagnetic-to-ferromagnetic (metamagnetic) transition of Ce 3+ 4f moments is observed at low temperatures below 20 K, exhibiting a rare example of metamagnetism in the Ce 3+ -oxides. This finding represents that the 3d-electron magnetic sublattices play a role in the metamagnetism of 4f-electron magnetic moments, demonstrating a new aspect of the 3d-4f complex electron systems.

Nanoporous silica solids can offer opportunities for hosting photocatalytic components such as various tetra-coordinated transition metal ions to form systems referred to as "single-site photocatalysts". Under UV/visible-light irradiation, they form charge transfer excited states, which exhibit a localized charge separation and thus behave differently from those of bulk semiconductor photocatalysts exemplified by TiO 2 . This account presents an overview of the design of advanced functional materials based on the unique photo-excited mechanisms of single-site photocatalysts. Firstly, the incorporation of single-site photocatalysts within transparent porous silica films will be introduced, which exhibit not only unique photocatalytic properties, but also high surface hydrophilicity with self-cleaning and antifogging applications. Secondary, photo-assisted deposition (PAD) of metal precursors on single-site photocatalysts opens up a new route to prepare nanoparticles. Thirdly, visible light sensitive photocatalysts with single and/or binary oxides moieties can be prepared so as to use solar light, the ideal energy source., (© 2019 The Chemical Society of Japan & Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.)

Highly ordered superstructures of semiconductor nanocrystals contain abundant nanometer-scale pores between the crystals; however, there have been difficulties in controlling the size and orientation of these nanospaces without the use of a template or a capping reagent. This constraint has affected their development and applications in potential fields including catalysis and optoelectronics adversely. In this study, we synthesized a rod-shaped TiO2 mesocrystal (TMC) having a length of a few hundreds of micrometers and comprising regularly ordered anatase TiO2 nanocrystals that form oriented nanospaces by exposed {001} facets. Finite-difference time-domain (FDTD) calculations of electric fields and in situ fluorescence imaging with a polarization sensitive dye on a single mesocrystal were performed to reveal anisotropic adsorption and excitation of the dyes. Furthermore, the photodegradation of the dyes was found to be more facilitated in nanospaces formed by the specific facets, as compared with the dyes randomly adsorbed on the outer surfaces. Consequently, the selectivity of photocatalytic reactions based on the molecular size and redox was enhanced by introducing the concept of oriented nanospace.

Objectives: To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments., Methods: A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student's t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center., Results: In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4°, 7.0°, and 3.7° in the XY plane and 0.6°, 6.3°, and 0.6° in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively., Conclusion: Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion., Key Points: • Out-of-plane needle insertions performed using our robot were more accurate than smartphone-guided manual insertions in the phantom experiment and were also accurate in the in vivo procedure. • In the phantom experiment, the mean angle errors of the robotic and smartphone-guided manual out-of-plane needle insertions were 0.4° and 3.7° in the XY plane (p < 0.001) and 0.6° and 0.6° in the YZ plane (p = 0.65), respectively. • In the animal experiment, the overall mean distance accuracies of the robotic out-of-plane needle insertions with and without adjustments of needle orientation during insertion were 2.5 mm and 5.0 mm, respectively.

Introduction: This was a prospective, first-in-human trial to evaluate the feasibility and safety of insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy in humans., Materials and Methods: Eligible patients were adults with a lesion ≥ 10 mm in an extremity or the trunk requiring pathological diagnosis with CT fluoroscopy-guided biopsy. Patients in whom at-risk structures were located within 10 mm of the scheduled needle tract were excluded. Ten patients (4 females and 6 males; mean [range] age, 72 [52-87] years) with lesions (mean [range] maximum diameter, 28 [14-52] mm) in the kidney (n = 4), lung (n = 3), mediastinum (n = 1), adrenal gland (n = 1), and muscle (n = 1) were enrolled. The biopsy procedure involved robotic insertion of a biopsy introducer needle followed by manual acquisition of specimens using a biopsy needle. The patients were followed up for 14 days. Feasibility was defined as the distance of ≤ 10 mm between needle tip after insertion and the nearest lesion edge on the CT fluoroscopic images. The safety of robotic insertion was evaluated on the basis of machine-related troubles and adverse events according to the Clavien-Dindo classification., Results: Robotic insertion of the introducer needle was feasible in all patients, enabling pathological diagnosis. There was no machine-related trouble. A total of 11 adverse events occurred in 8 patients, including 10 grade I events and 1 grade IIIa event., Conclusion: Insertion of biopsy introducer needles with our robot was feasible at several locations in the human body., Key Points: • Insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy was feasible at several locations in the human body.

Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine)., Competing Interests: No potential conflict of interest relevant to this article was reported.

Silica-based micro-, meso-, macro-porous materials offer attractive routes for designing single-site photocatalysts, supporting semiconducting nanoparticles, anchoring light-responsive metal complexes, and encapsulating metal nanoparticles to drive photochemical reactions by taking advantage of their large surface area, controllable pore channels, remarkable transparency to UV/vis and tailorable physicochemical surface characteristics. This review mainly focuses on the fascinating photocatalytic properties of silica-supported Ti catalysts from single-site catalysts to nanoparticles, their surface-chemistry engineering, such as the hydrophobic modification and synthesis of thin films, and the fabrication of nanocatalysts including morphology controlled plasmonic nanostructures with localized surface plasmon resonance. The hybridization of visible-light responsive metal complexes with porous materials for the construction of functional inorganic-organic supramolecular photocatalysts is also included. In addition, the latest progress in the application of MOFs as excellent hosts for designing photocatalytic systems is described.

Objective: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine., Materials and Methods: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance., Results: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P = .38) or the locations (P = .53)., Conclusion: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine., (Copyright © 2018 Elsevier B.V. All rights reserved.)

Purpose To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments. Materials and Methods In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated. Results The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was -0.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 μSv, while that during manual insertion was 5.7 μSv on average (P < .001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications. Conclusion Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. © RSNA, 2017 Online supplemental material is available for this article.

Multifunctional surface, having both a superhydrophobic property and a photocatalytic self-cleaning property, was designed through a nanocomposite coating of polytetrafluoroethylene (PTFE) and TiO 2 photocatalyst onto a flat quartz glass with a precise structural controlling by applying a radio frequency magnetron sputtering deposition technique. Systematic water contact angle measurements were carried out in relation to the controlling of the surface structure such as size, height and others. Surface wettability gradually changes from Wenzel state to Cassie-Baxter state by controlling of the surface structure, resulting in a well water repellent behavior. Under irradiation of UV light, nanocomposite coating with a desired surface structure and composition realized an adequate photocatalytic self-cleaning property for keeping a clean surface and inducing unique surface wettability changes.

Complete H2 release from ammonia-borane (NH3BH3, AB) in water was achieved by using platinum-loaded TiO2 (Pt/TiO2) via two consecutive reaction steps, i.e., hydrolysis of AB and photocatalytic decomposition of thus formed NH3 in water, under inert conditions at 298 K.