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Telecystoscopy can lower the barrier to access critical urologic diagnostics for patients around the world. A major challenge for robotic control of flexible cystoscopes and intuitive teleoperation is the pose estimation of the scope tip. We propose a novel real-time camera localization method using video recordings from a prior cystoscopy and 3D bladder reconstruction to estimate cystoscope pose within the bladder during follow-up telecystoscopy. We map prior video frames into a low-dimensional space as a dictionary so that a new image can be likewise mapped to efficiently retrieve its nearest neighbor among the dictionary images. The cystoscope pose is then estimated by the correspondence among the new image, its nearest dictionary image, and the prior model from 3D reconstruction. We demonstrate performance of our methods using bladder phantoms with varying fidelity and a servo-controlled cystoscope to simulate the use case of bladder surveillance through telecystoscopy. The servo-controlled cystoscope with 3 degrees of freedom (angulation, roll, and insertion axes) was developed for collecting cystoscope videos from bladder phantoms. Cystoscope videos were acquired in a 2.5D bladder phantom (bladder-shape cross-section plus height) with a panorama of a urothelium attached to the inner surface. Scans of the 2.5D phantom were performed in separate arc trajectories each of which is generated by actuation on the angulation with a fixed roll and insertion length. We further included variance in moving speed, imaging distance and existence of bladder tumors. Cystoscope videos were also acquired in a water-filled 3D silicone bladder phantom with hand-painted vasculature. Scans of the 3D phantom were performed in separate circle trajectories each of which is generated by actuation on the roll axis under a fixed angulation and insertion length. These videos were used to create 3D reconstructions, dictionary sets, and test data sets for evaluating the computational efficiency and accuracy of our proposed method in comparison with a method based on global Scale-Invariant Feature Transform (SIFT) features, named SIFT-only. Our method can retrieve the nearest dictionary image for 94–100% of test frames in under 55[Formula: see text]ms per image, whereas the SIFT-only method can only find the image match for 56–100% of test frames in 6000–40000[Formula: see text]ms per image depending on size of the dictionary set and richness of SIFT features in the images. Our method, with a speed of around 20 Hz for the retrieval stage, is a promising tool for real-time image-based scope localization in robotic cystoscopy when prior cystoscopy images are available. 

Strain gradients widely exist in development and physiological activities. The directional movement of cells is essential for proper cell localization, and directional cell migration in responses to gradients of chemicals, rigidity, density, and topography of extracellular matrices have been well‐established. However; it is unclear whether strain gradients imposed on cells are sufficient to drive directional cell migration. In this work, a programmable uniaxial cell stretch device is developed that creates controllable strain gradients without changing substrate stiffness or ligand distributions. It is demonstrated that over 60% of the single rat embryonic fibroblasts migrate toward the lower strain side in static and the 0.1 Hz cyclic stretch conditions at ≈4% per mm strain gradients. It is confirmed that such responses are distinct from durotaxis or haptotaxis. Focal adhesion analysis confirms higher rates of contact area and protrusion formation on the lower strain side of the cell. A 2D extended motor‐clutch model is developed to demonstrate that the strain‐introduced traction force determines integrin fibronectin pairs' catch‐release dynamics, which drives such directional migration. Together, these results establish strain gradient as a novel cue to regulate directional cell migration and may provide new insights in development and tissue repairs.

 

Abstract Bond breaking and forming are essential components of chemical reactions. Recently, the structure and formation of covalent bonds in single molecules have been studied by non-contact atomic force microscopy (AFM). Here, we report the details of a single dative bond breaking process using non-contact AFM. The dative bond between carbon monoxide and ferrous phthalocyanine was ruptured via mechanical forces applied by atomic force microscope tips; the process was quantitatively measured and characterized both experimentally and via quantum-based simulations. Our results show that the bond can be ruptured either by applying an attractive force of ~150 pN or by a repulsive force of ~220 pN with a significant contribution of shear forces, accompanied by changes of the spin state of the system. Our combined experimental and computational studies provide a deeper understanding of the chemical bond breaking process.