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This paper describes a truss climbing robot we designed and prototyped. The robot has a minimalist design with three motive degrees of freedom that enable movement along three-dimensional truss structures. This robot can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. We present the design(More)
Self-reconfiguring robots are modular robot systems that are physically connected and capable of making different geometric structures. Most current research in this field is focused on homogeneous systems in which all the modules are identical. This article explores the concept of self-assembling robot systems consisting of passive structural modules plus(More)
Intravital microscopy of mouse calvarial bone marrow (BM) is a powerful method for studying hematopoietic stem cells (HSCs) and the BM microenvironment at the cellular level. However, the current method used to access the mouse calvaria allows for only a few imaging times in the same mouse because of scar formation and inflammation induced by multiple(More)
Multiphoton microscopy (MPM) is a nonlinear fluorescence microscopic technique widely used for cellular imaging of thick tissues and live animals in biological studies. However, MPM application to human tissues is limited by weak endogenous fluorescence in tissue and cytotoxicity of exogenous probes. Herein, we describe the applications of moxifloxacin, an(More)
Corneal suturing in keratoplasty is a difficult task due to its high precision and regularity requirements. A robot-assisted microsurgical technique could bring a better prognosis therefore investigation of the suturing motion is an essential preliminary study. Total 20 corneal sutures were performed on porcine eyes manually and the suturing motion was(More)
Ionizing radiation (IR) injury is tissue damage caused by high energy electromagnetic waves such as X-ray and gamma ray. Diagnosis and treatment of IR injury are difficult due to its characteristics of clinically latent post-irradiation periods and the following successive and unpredictable inflammatory bursts. Skin is one of the many sensitive organs to IR(More)
Moxifloxacin and gatifloxacin are fourth-generation fluoroquinolone antibiotics used in the clinic to prevent or treat ocular infections. Their pharmacokinetics in the cornea is usually measured from extracted ocular fluids or tissues, and in vivo direct measurement is difficult. In this study multiphoton microscopy (MPM), which is a 3D optical microscopic(More)
Development of imaging probes is important to access both internal and external organs with optical imaging technologies. We developed a forward-viewing rigid imaging probe for simultaneous wide-field reflectance/fluorescence imaging and optical coherence tomography. To access internal organs through natural orifices or surgical incisions such as the oral(More)
Minimally invasive robotic surgery required disposable endoscopie optical coherence tomography (OCT) for high-resolution deep tissue imaging and cross-contamination prevention. Here, we developed a miniaturized plastic lens by injection molding for developing a disposable endoscopie optical coherence tomography system for the first time. Injection molding(More)
A truss climbing robot has been extensively investigated because of its wide range of promising applications such as construction and inspection of truss structures. It is designed to have degrees of freedom to move in three-dimensional truss structures. Although many degrees of freedom allow the robot to reach various position and orientation, it causes(More)