Objective:To develop an artificial intelligence (AI)-guided intravitreal injection robot system to accurately detect the injection point on the ocular surface and guide the robotic arm to complete the intravitreal injection positioning task through 3D position calculation.Methods:The Dikablis subset of the TEyeD dataset was used.Training set, testing set, and validation set were constructed by using equal interval sampling strategy.The system read the ocular surface color RGB image with an RGBD camera, then used a PatchCrop-Transformer-based injection point detection algorithm to detect and locate key points such as the pupil, iris, and eyelid in the image.Next, it extracted the local 3D point cloud data near the injection point based on the depth information obtained by the camera.Through principal component analysis (PCA) of the local area point cloud data, the injection point and injection direction were determined.The key information was then passed to the robotic arm system.The end of the robotic arm adopted a remote center of motion (RCM) mechanism.After solving the forward and inverse kinematics, the joint movement path was obtained, and the robotic arm was controlled to move to 2 cm above the injection point.After confirmation by the doctor, the insertion, injection, and withdrawal operations were completed to ensure the stability and repeatability of the injection process.The mean square error (MSE) of key points localization and the success detection rate (SDR) within different pixel error ranges (2, 5, and 10 pixels) of the study method were compared with those of the NFDP, SLPT, and StarLoss methods, and the effects of random weight enhancement, fixed weight enhancement, and no enhancement methods on the MSE of key points localization were evaluated.The repeatability and absolute positioning accuracy of the robotic arm system were also evaluated.Results:After adding random weight enhancement, the model of this study outperformed the fixed weight enhancement and no enhancement methods in both MSE and SDR.The MSEs of the model proposed in this study for overall eye, pupil, and iris localization were 4.25, 2.41, and 1.54, respectively, which were lower than those of the NFDP, StarLoss, and SLPT methods.Within the error ranges of 5 and 10 pixels, the SDRs of the model proposed in this study were 72.09% and 92.68%, respectively, which were higher than those of the NFDP, StarLoss, and SLPT methods.The single-axis repeatability errors and absolute positioning errors of the robotic arm were within ±5 μm.Conclusions:The AI-guided intravitreal injection robot system integrates RGBD images to achieve automatic recognition of the ocular injection point and high-precision motion control through RCM mechanism design and corresponding kinematic solution methods.

Objective:To develop an artificial intelligence (AI)-guided intravitreal injection robot system to accurately detect the injection point on the ocular surface and guide the robotic arm to complete the intravitreal injection positioning task through 3D position calculation.Methods:The Dikablis subset of the TEyeD dataset was used.Training set, testing set, and validation set were constructed by using equal interval sampling strategy.The system read the ocular surface color RGB image with an RGBD camera, then used a PatchCrop-Transformer-based injection point detection algorithm to detect and locate key points such as the pupil, iris, and eyelid in the image.Next, it extracted the local 3D point cloud data near the injection point based on the depth information obtained by the camera.Through principal component analysis (PCA) of the local area point cloud data, the injection point and injection direction were determined.The key information was then passed to the robotic arm system.The end of the robotic arm adopted a remote center of motion (RCM) mechanism.After solving the forward and inverse kinematics, the joint movement path was obtained, and the robotic arm was controlled to move to 2 cm above the injection point.After confirmation by the doctor, the insertion, injection, and withdrawal operations were completed to ensure the stability and repeatability of the injection process.The mean square error (MSE) of key points localization and the success detection rate (SDR) within different pixel error ranges (2, 5, and 10 pixels) of the study method were compared with those of the NFDP, SLPT, and StarLoss methods, and the effects of random weight enhancement, fixed weight enhancement, and no enhancement methods on the MSE of key points localization were evaluated.The repeatability and absolute positioning accuracy of the robotic arm system were also evaluated.Results:After adding random weight enhancement, the model of this study outperformed the fixed weight enhancement and no enhancement methods in both MSE and SDR.The MSEs of the model proposed in this study for overall eye, pupil, and iris localization were 4.25, 2.41, and 1.54, respectively, which were lower than those of the NFDP, StarLoss, and SLPT methods.Within the error ranges of 5 and 10 pixels, the SDRs of the model proposed in this study were 72.09% and 92.68%, respectively, which were higher than those of the NFDP, StarLoss, and SLPT methods.The single-axis repeatability errors and absolute positioning errors of the robotic arm were within ±5 μm.Conclusions:The AI-guided intravitreal injection robot system integrates RGBD images to achieve automatic recognition of the ocular injection point and high-precision motion control through RCM mechanism design and corresponding kinematic solution methods.

Polycyclic aromatic hydrocarbons (PAHs) are compounds with more than two benzene rings, widely exist in the environment, and can affect human health in various ways. Previous studies on the health effects of PAHs mainly focused on their carcinogenicity, teratogenicity, and effects on pulmonary diseases, cardiovascular diseases, etc. In recent years, increasing attention has been paid to the negative influence of PAHs to inflammatory skin diseases (especially psoriasis, atopic dermatitis, and lupus erythematosus). This review summarizes recent research advances in the role of PAHs in the occurrence and development of inflammatory skin diseases.

BACKGROUND:As a common complication of diabetes mellitus,male reproductive disorders have received increasing attention in recent years.Ganoderma spore have hypoglycemic,antioxidant and anti-inflammatory effects,but the regulatory mechanism for diabetic testicular tissue has not been fully elucidated. OBJECTIVE:To investigate the effect of ganoderma spore on the PTEN-induced kinase 1/E3 ubiquitin ligase pathway and cell apoptosis in testicular tissue of diabetic rats. METHODS:Forty male Sprague-Dawley rats were randomly divided into normal group,high fat and high sugar group,diabetic group and ganoderma spore group,with 10 rats in each group.The latter three groups were given high fat/high sugar diet until the end of the experiment.After 1 month of high fat/high sugar diet,the diabetic and ganoderma spore groups were given intraperitoneal injection of streptozotocin(30 mg/kg per day)to establish type 2 diabetic rat models.After successful modeling,the ganoderma spore group was intragastrically given ganoderma spore(300 mg/kg per day),and the other groups were given the same amount of normal saline for continuous 12 weeks.The sperm number and morphology were detected.The histopathological changes of the testicle were observed.Serum testosterone and oxidative stress levels in testicular tissue were measured.The levels of PTEN-induced kinase 1,E3 ubiquitin ligase,and anti-nucleoporin p62 were analyzed by immunohistochemistry and the expression of PTEN-induced kinase 1,E3 ubiquitin ligase,anti-nucleoporin p62,programmed cell death-1,microtubule-associated protein light chain 3 Ⅱ/Ⅰ,caspase 3,cleaved-caspase 3 were detected by western blot assay. RESULTS AND CONCLUSION:Compared with the normal group and the high fat and high sugar group,the diabetic group had decreased sperm number(P＜0.01),increased sperm malformation rate(P＜0.01),and decreased serum testosterone level(P＜0.01).Compared with the diabetic group,ganoderma spore intervention could increase the sperm number(P＜0.05),decrease the malformation rate(P＜0.01),and increase the serum testosterone level(P＜0.01).Compared with the normal group and the high fat and high sugar group,the malondialdehyde level in testis tissue was increased in the diabetic group(P＜0.01),while the levels of glutathione deoxidase and superoxide dismutase decreased(P＜0.01).Compared with the diabetic group,the malondialdehyde level in testis tissue was decreased in the ganoderma spore group(P＜0.01),and the levels of glutathione deoxidase and superoxide dismutase increased(P＜0.01).Immunohistochemical staining showed that compared with the normal group and the high fat and high sugar group,the positive expressions of PTEN-induced kinase 1 and E3 ubiquitin ligase in testicular tissue were decreased in the diabetic group,while the positive expressions of anti-nucleoporin p62 were increased.Compared with the diabetic group,the positive expressions of PTEN-induced kinase 1 and E3 ubiquitin ligase in testicular tissue e were increased in the ganoderma spore group,while the positive expression of anti-nucleoporin p62 was decreased.Western blot assay results indicated that compared to the normal group and the high fat and high sugar group,the expression of PTEN-induced kinase 1 and E3 ubiquitin ligase,programmed cell death-1 and the ratio of microtubule-associated protein light chain 3 Ⅱ/Ⅰ protein were decreased in the diabetic group(P＜0.05 or P＜0.01),while the expressions of anti-nucleoporin p62,caspase3 and cleaved-caspase3 were increased(P＜0.01).Compared with the diabetic group,ganoderma spore intervention could elevate the expression of PTEN-induced kinase 1 and E3 ubiquitin ligase,programmed cell death-1 and the ratio of microtubule-associated protein light chain 3 Ⅱ/Ⅰ protein(P＜0.05 or P＜0.01)as well as reduce the expressions of anti-nucleoporin p62,caspase3 and cleaved-caspase3(P＜0.05 or P＜0.01).Overall,ganoderma spores may activate the PTEN-induced kinase 1/E3 ubiquitin ligase pathway to enhance autophagy in testicular tissue and reduce apoptosis in tissue cells,so as to protect testicular tissue.

Understanding the regulatory networks for germ cell fate specification is necessary to developing strategies for improving the efficiency of germ cell production in vitro. In this study, we developed a coupled screening strategy that took advantage of an arrayed bi-molecular fluorescence complementation (BiFC) platform for protein-protein interaction screens and epiblast-like cell (EpiLC)-induction assays using reporter mouse embryonic stem cells (mESCs). Investigation of candidate interaction partners of core human pluripotent factors OCT4, NANOG, KLF4 and SOX2 in EpiLC differentiation assays identified novel primordial germ cell (PGC)-inducing factors including BEN-domain (BEND/Bend) family members. Through RNA-seq, ChIP-seq, and ATAC-seq analyses, we showed that Bend5 worked together with Bend4 and helped mark chromatin boundaries to promote EpiLC induction in vitro. Our findings suggest that BEND/Bend proteins represent a new family of transcriptional modulators and chromatin boundary factors that participate in gene expression regulation during early germline development.
Animals ; Cell Differentiation/genetics* ; Chromatin/metabolism* ; Embryonic Stem Cells ; Germ Cells/metabolism* ; Germ Layers/metabolism* ; Mice

Objective:To explore the application of preimplantation genetic testing (PGT) in the treatment of infertile couples with abnormal chromosome structure, and provide a reference for the promotion and application of PGT technology.Methods:The clinical data of the first batch of patients who received PGT due to chromosomal structural abnormalities in Xinjiang JIAYIN Reproductive Medicine Center from June 2017 to July 2019 were retrospectively analyzed. According to the abnormal type, the patients were divided into three groups: mutual translocation, Roche translocation and inversion. After intracytoplasmic sperm injection (ICSI), the available blastocysts were selected for external trophoblast cell biopsy and next generation sequencing analysis of chromosome of embryonic cells. Embryos with normal detection results were selected for single blastocyst thawing and transplantation. The patient's general information, ovulation induction and embryo culture, blastocyst biopsy results and pregnancy outcome after transplantation were compared among the three groups. Results:A total of 51 patients completed 67 PGT cycles, a total of 189 blastocysts were genetically detected. There were significant differences among the three groups in the ratio of complex abnormal embryos and aneuploidy embryos (all P<0.001), but no significant differences were observed in other data ( P>0.05). There were 16 successful pregnancies out of 33 successful transplant cycles, with a pregnancy rate of 48.5%, and 7 patients had successfully given birth to healthy babies. Conclusion:The clinical application of PGT can effectively improve the fertility of couples with abnormal chromosome structure, and the proportion of embryo abnormalities of different types of carriers is different, which can be used as a genetic reference.

Objective:To explore the application of preimplantation genetic testing (PGT) in the treatment of infertile couples with abnormal chromosome structure, and provide a reference for the promotion and application of PGT technology.Methods:The clinical data of the first batch of patients who received PGT due to chromosomal structural abnormalities in Xinjiang JIAYIN Reproductive Medicine Center from June 2017 to July 2019 were retrospectively analyzed. According to the abnormal type, the patients were divided into three groups: mutual translocation, Roche translocation and inversion. After intracytoplasmic sperm injection (ICSI), the available blastocysts were selected for external trophoblast cell biopsy and next generation sequencing analysis of chromosome of embryonic cells. Embryos with normal detection results were selected for single blastocyst thawing and transplantation. The patient's general information, ovulation induction and embryo culture, blastocyst biopsy results and pregnancy outcome after transplantation were compared among the three groups. Results:A total of 51 patients completed 67 PGT cycles, a total of 189 blastocysts were genetically detected. There were significant differences among the three groups in the ratio of complex abnormal embryos and aneuploidy embryos (all P<0.001), but no significant differences were observed in other data ( P>0.05). There were 16 successful pregnancies out of 33 successful transplant cycles, with a pregnancy rate of 48.5%, and 7 patients had successfully given birth to healthy babies. Conclusion:The clinical application of PGT can effectively improve the fertility of couples with abnormal chromosome structure, and the proportion of embryo abnormalities of different types of carriers is different, which can be used as a genetic reference.

Objective: To investigate the effects of hypoxia on osteogenic differentiation of periodontal ligament cells (PDLCs) and the role of hypoxia inducible factor-1α (HIF-1α) in this process. Methods : Human PDLCs were isolated and identified by checking the expression of vimentin and cytokeratin. PDLCs were cultured in normoxia (20% O2) or hypoxia (1% O2) for 12-72 h. Changes of alkaline phosphatase (ALP) activity and mRNA expressions of osteogenic markers ALP, collagen-I (COL1) and runt related transcription factor 2 (RUNX2) were detected. Western blot was used to detect the expression of HIF-1α. After transfected with HIF1α-siRNA, the expressions of HIF-1αand osteogenic differentiation markers were furthered detected. The statistics were analyzed with SPSS13.0. Results: Positive vimentin but negative cytokeratin were observed in primary cultured PDLCs. ALP activity and mRNA expressions of ALP, COL1 and RUNX2 were decreased in PDLCs in hypoxia for 48 h, while HIF-1α expression was increased. After knocking down of HIF-1α with siRNA, HIF-1α was significantly reduced in PDLCs under hypoxia, while ALP activity and mRNA expressions of osteogenic markers were significantly increased. Conclusion Hypoxia may inhibit osteogenic differentiation of PDLCs via upregulated HIF-1α.