Background: Carotid artery stenosis (CAS), typically resulting from atherosclerotic progression, is more common than intracranial atherosclerotic disease in patients with cerebrovascular disease. Prior literature has incompletely established the relationship of Pentraxin 3 (PTX3) and CAS complexity and severity. This study aims to more thoroughly evaluate the association of plasma PTX3 levels and the prevalence and severity of CAS in patients with cerebrovascular disease. Methods: 206 patients with ischemic stroke underwent multiphase computerized tomography angiography (CTA) of the head and neck to assess the presence and severity of carotid artery stenosis. Patients were divided into groups with either no carotid artery stenosis (CAS-free) or carotid artery stenosis (CAS). The CAS group was further divided into groups based on the degree of stenosis and the number of involved vessels. The PTX3 and Tumor Necrosis Factor-alpha (TNF-α) concentration were measured by ELISA. Results: Plasma levels of PTX3, TNF-α, and low-density lipoprotein cholesterol (LDL-C) were increased significantly in the CAS group patients versus the CAS-free group (p=0.000, 0.002, 0.002, respectively). Within the CAS group, PTX3, TNF-α, and LDL-C were significantly elevated in stenosis of ≥50% group compared to <50% group (p=0.001, 0.002, 0.049, respectively). The multivariate logistic binary regression analysis revealed that increased age, elevated levels of PTX3, LDL-C, and TNF-α were all independent risk factors for occurrence of carotid stenosis. PTX3 level correlated with the severity of carotid stenosis. Conclusions: High plasma PTX3 levels, TNF-α, and LDL-C are significantly correlated with the prevalence and severity of carotid artery stenosis. PTX3 may be a more powerful predictor for the severity of carotid artery stenosis.

Objective : To remove blood from an incision and find the incision spot is a key task during surgery, or else over discharge of blood will endanger a patient’s life. However, the repetitive manual blood removal involves plenty of workload contributing fatigue of surgeons. Thus, it is valuable to design a robotic system which can automatically remove blood on the incision surface. Methods : In this paper, we design a robotic system to fulfill the surgical task of the blood removal. The system consists of a pair of dual cameras, a 6-DoF robotic arm, an aspirator whose handle is fixed to a robotic arm, and a pump connected to the aspirator. Further, a path-planning algorithm is designed to generate a path, which the aspirator tip should follow to remove blood. Results : In a group of simulating bleeding experiments on ex vivo porcine tissue, the contour of the blood region is detected, and the reconstructed spatial coordinates of the detected blood contour is obtained afterward. The BRR robot cleans thoroughly the blood running out the incision. Conclusions : This study contributes the first result on designing an autonomous blood removal medical robot. The skill of the surgical blood removal operation, which is manually operated by surgeons nowadays, is alternatively grasped by the proposed BRR medical robot.

Objective: Biopsies are the gold standard for clinical diagnosis. However, a discrepancy between the biopsy sample and target tissue because of misplacement of the biopsy spoon can lead to errors in the diagnosis and subsequent treatment. Thus, correctly determining whether the needle tip is in the tumor is crucial for accurate biopsy results. Methods: A biopsy needle system was designed with a steerable, flexible, and superelastic concentric tube; electrodes to monitor the electrical resistivity; and load cells to monitor the insertion force. The degrees of freedom were analyzed for two working modes: straight-line and deflection. Results: Experimental results showed that the system could perceive the tissue type in online based on the electrical resistivity. In addition, changes in the insertion force indicated transitions between the interfaces of adjacent tissue layers. Conclusion: The two monitoring methods guarantee that the biopsy spoon is at the desired position inside the tumor during an operation. Significance: The proposed biopsy needle system can be integrated into an autonomous robotic biopsy system.