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This paper is concerned with the problem of collision-free path planning for manipulators in multi-obstacle scenarios. Aiming at overcoming the deficiencies of existing algorithms in excessive time consumption and poor expansion quality, a path planning algorithm named Fast Bi-directional Rapidly-exploring Random Tree (FBi-RRT) with novel heuristic node expansion is proposed, which includes a selective-expansion strategy and a vertical-exploration strategy. The selective-expansion strategy is designed to guide the selection of the nearest-neighbor node to avoid the repeated expansion failure, thereby shortening the overall planning time. Also, the vertical-exploration strategy is developed to regulate the expansion direction of the collision nodes to escape from the obstacle space with less blindness, thus improving the expansion quality and further reducing time cost. Compared with previous planning algorithms, FBi-RRT can generate a feasible path for manipulators in a drastically shorter time. To validate the effectiveness of the proposed heuristic node expansion, FBi-RRT is conducted on a 6-DOF manipulator and tested in five scenarios. The experimental results demonstrate that FBi-RRT outperforms the existing methods in time consumption and expansion quality. [ABSTRACT FROM AUTHOR]

This article discusses the use of tofacitinib, an oral Janus kinase (JAK) inhibitor, for the treatment of synovitis, acne, pustulosis, hyperostosis, and osteitis (SAPHO) syndrome, a rare autoinflammatory disease. Tofacitinib has shown significant improvements in pain, skin lesions, inflammation, and quality of life in patients with SAPHO syndrome. However, there is limited data on its use during pregnancy. The article presents a case report of an unintended pregnancy in a patient with SAPHO syndrome who was treated with tofacitinib. The patient had a healthy pregnancy and delivered a healthy baby after discontinuing the medication. The article suggests that further monitoring of pregnancy outcomes in tofacitinib-treated patients is needed. [Extracted from the article]

Comprehensive Summary: Hemostatic hydrogels are widely applied for wound management of damaged tissues, traumatic wounds, and surgical incisions. Some hydrogels composed of bioactive components, including fibrin and thrombin, showed great promise in the clinic due to their good pro‐coagulation effect. With the expanding knowledge of cascade reaction of blood coagulation and emerging bioactive substances, massive bioactive hydrogels consisting of peptides, hemocoagulase, polyphosphate (polyP), etc., have been developed as effective hemostatic materials. Based on the coagulation process and mechanism, we summarize the role of reported bioactive hydrogels in hemostasis in this review. We conclude the key points in the coagulation process, including activation of coagulation factors, fibrinogen polymerization, etc., then discuss how to design bioactive hydrogels to accelerate coagulation targeted to these points. Finally, we conclude the progress and propose a perspective of bioactive hydrogels with a pro‐coagulation effect for hemostasis. [ABSTRACT FROM AUTHOR]

Comprehensive Summary: Hemostatic hydrogels are widely applied for wound management of damaged tissues, traumatic wounds, and surgical incisions. Some hydrogels composed of bioactive components, including fibrin and thrombin, showed great promise in the clinic due to their good pro‐coagulation effect. With the expanding knowledge of cascade reaction of blood coagulation and emerging bioactive substances, massive bioactive hydrogels consisting of peptides, hemocoagulase, polyphosphate (polyP), etc., have been developed as effective hemostatic materials. Based on the coagulation process and mechanism, we summarize the role of reported bioactive hydrogels in hemostasis in this review. We conclude the key points in the coagulation process, including activation of coagulation factors, fibrinogen polymerization, etc., then discuss how to design bioactive hydrogels to accelerate coagulation targeted to these points. Finally, we conclude the progress and propose a perspective of bioactive hydrogels with a pro‐coagulation effect for hemostasis. [ABSTRACT FROM AUTHOR]