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Kolade OU, Brink A, Ayeni AO, More S, Holness J. Optimizing PSMA scintigraphy for resource limited settings - a retrospective comparative study. Cancer Imaging 2024; 24:46. [PMID: 38556864 PMCID: PMC10983723 DOI: 10.1186/s40644-024-00693-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Accepted: 03/20/2024] [Indexed: 04/02/2024] Open
Abstract
BACKGROUND PSMA PET/CT is the most sensitive molecular imaging modality for prostate cancer (PCa), yet much of the developing world has little or no access to PET/CT. [99mTc]Tc-PSMA scintigraphy (PS) is a cheaper and more accessible gamma camera-based alternative. However, many resource-constrained departments have only a single camera without tomographic or hybrid imaging functionality, and camera time is frequently in high demand. Simplifying imaging protocols by limiting the field of view (FOV) and omitting SPECT/CT or even SPECT may provide a partial solution. The aim was thus to determine the adequacy of PS planar-only and/or SPECT-only imaging protocols with a limited FOV. METHODS The scans of 95 patients with histologically proven PCa who underwent PS with full-body planar and multi-FOV SPECT/CT were reviewed. The detection rates for uptake in the prostate gland/bed and in metastases were compared on planar, SPECT, and SPECT/CT. The agreement between modalities was calculated for the detection of metastases and for staging. The impact of imaging a limited FOV was determined. RESULTS Pathological prostatic uptake was seen in all cases on SPECT/CT (excluding two post-prostatectomy patients), 90.3% of cases on SPECT, and 15.1% on planar images (p < 0.001). Eleven (11.7%) patients had seminal vesicle involvement on SPECT/CT, which was undetectable/indistinguishable on planar images and SPECT. The agreement between modalities was moderate to good (κ = 0.41 to 0.61) for the detection of nodal metastases, with detection rates that did not differ significantly (SPECT/CT = 11.6%, SPECT = 8.4%, planar = 5.3%). Detection rates for bone metastases were 14.7% (SPECT/CT) and 11.6% (SPECT and planar). Agreement between modalities for the detection of bone metastases was good (κ = 0.73 to 0.77). Three (3.1%) patients had visceral metastases on SPECT/CT, two of which were detected on SPECT and planar. There was good agreement between modalities for the TNM staging of patients (κ = 0.70 to 0.88). No metastatic lesions were missed on the limited FOV images. CONCLUSION When PS scintigraphy is performed, SPECT/CT is recommended. However, the lack of SPECT/CT capabilities should not preclude the use of PS in the presence of limited resources, as both planar and SPECT imaging are adequate and will correctly stage most PCa patients. Furthermore, time-based optimisations are achievable by limiting the FOV to exclude the distal lower limbs.
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Affiliation(s)
- Olumayowa U Kolade
- Division of Nuclear Medicine, Department of Radiation Medicine, University of Cape Town, Cape Town, South Africa.
- Department of Nuclear Medicine, University College Hospital, Ibadan, Oyo State, Nigeria.
| | - Anita Brink
- Division of Nuclear Medicine, Department of Radiation Medicine, University of Cape Town, Cape Town, South Africa
- Division of Human Health, Department of Nuclear Sciences and Applications, International Atomic Energy Agency (IAEA), Vienna, Austria
| | - Akinwale O Ayeni
- Division of Nuclear Medicine, Department of Radiation Medicine, University of Cape Town, Cape Town, South Africa
- Department of Nuclear Medicine, Klerksdorp/Tshepong Hospital Complex, Klerksdorp, South Africa
- Division of Nuclear Medicine, Department of Radiation Sciences, University of the Witwatersrand, Johannesburg, South Africa
| | - Stuart More
- Division of Nuclear Medicine, Department of Radiation Medicine, University of Cape Town, Cape Town, South Africa
| | - Jennifer Holness
- Division of Nuclear Medicine, Department of Radiation Medicine, University of Cape Town, Cape Town, South Africa
- Division of Nuclear Medicine, Department of Medical Imaging and Clinical Oncology, Stellenbosch University, Cape Town, South Africa
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Serrano B, Amblard R, Beaumont T, Hugonnet F, Dietz M, Berthier F, Garnier N, Villeneuve R, Nataf V, Mocquot F, Montemagno C, Faraggi M, Paulmier B. Quantitative analysis of 99mTc-pertechnetate thyroid uptake with a large-field CZT gamma camera: feasibility and comparison between SPECT/CT and planar acquisitions. EJNMMI Phys 2023; 10:45. [PMID: 37522931 PMCID: PMC10390438 DOI: 10.1186/s40658-023-00566-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/03/2023] [Accepted: 07/24/2023] [Indexed: 08/01/2023] Open
Abstract
PURPOSE The main objective of this study was to evaluate the ability of a large field Cadmium Zinc Telluride (CZT) camera to estimate thyroid uptake (TU) on single photon emission computed tomography (SPECT) images with and without attenuation correction (Tomo-AC and Tomo-NoAC) compared with Planar acquisition in a series of 23 consecutive patients. The secondary objective was to determine radiation doses for the tracer administration and for the additional Computed Tomography (CT) scan. METHODS Cross-calibration factors were determined using a thyroid phantom, for Planar, Tomo-AC and Tomo-NoAC images. Then Planar and SPECT/CT acquisitions centered on the thyroid were performed on 5 anthropomorphic phantoms with activity ranging from 0.4 to 10 MBq, and 23 patients after administration of 79.2 ± 3.7 MBq of [99mTc]-pertechnetate. We estimated the absolute thyroid activity (AThA) for the anthropomorphic phantoms and the TU for the patients. Radiation dose was also determined using International Commission on Radiological Protection (ICRP) reports and VirtualDoseTMCT software. RESULTS Cross-calibration factors were 66.2 ± 4.9, 60.7 ± 0.7 and 26.5 ± 0.3 counts/(MBq s), respectively, for Planar, Tomo-AC and Tomo-NoAC images. Theoretical and estimated AThA for Planar, Tomo-AC and Tomo-NoAC images were statistically highly correlated (r < 0.99; P < 10-4) and the average of the relative percentage difference between theoretical and estimated AThA were (8.6 ± 17.8), (- 1.3 ± 5.2) and (12.8 ± 5.7) %, respectively. Comparisons between TU based on different pairs of images (Planar vs Tomo-AC, Planar vs Tomo-NoAC and Tomo-AC vs Tomo-NoAC) showed statistically significant correlation (r = 0.972, 0.961 and 0.935, respectively; P < 10-3). Effective and thyroid absorbed doses were, respectively (0.34CT + 0.95NM) mSv, and (3.88CT + 1.74NM) mGy. CONCLUSION AThA estimation using Planar and SPECT/CT acquisitions on a new generation of CZT large-field cameras is feasible. In addition, TU on SPECT/CT was as accurate as conventional planar acquisition, but the CT induced additional thyroid exposure. Trial registration Name of the registry: Thyroid Uptake Quantification on a New Generation of Gamma Camera (QUANTHYC). TRIAL NUMBER NCT05049551. Registered September 20, 2021-Retrospectively registered, https://clinicaltrials.gov/ct2/show/record/NCT05049551?cntry=MC&draw=2&rank=4 .
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Affiliation(s)
- Benjamin Serrano
- Medical Physics Department, Centre Hospitalier Princesse Grace, Monaco, Monaco.
| | - Régis Amblard
- Medical Physics Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - Tiffany Beaumont
- Laboratoire d'évaluation de la dose interne, Institut de Radioprotection et de Sûreté Nucléaire, Fontenay-aux-Roses, France
| | - Florent Hugonnet
- Nuclear Medicine Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - Matthieu Dietz
- Nuclear Medicine Department, Hospices Civils de Lyon, Lyon, France
| | - Frédéric Berthier
- Department of Biostatistics, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - Nicolas Garnier
- Medical Physics Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - Rémy Villeneuve
- Medical Physics Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - Valérie Nataf
- Nuclear Medicine Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - François Mocquot
- Nuclear Medicine Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | | | - Marc Faraggi
- Nuclear Medicine Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
| | - Benoît Paulmier
- Nuclear Medicine Department, Centre Hospitalier Princesse Grace, Monaco, Monaco
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Kar S, Bairagi S, Haridas A, Joshi G, Jemmis ED, Ghosh S. Hexagonal Planar [B 6 H 6 ] within a [B 6 H 12 ] Borate Complex: Structure and Bonding of [(Cp*Ti) 2 (μ-ɳ 6 : ɳ 6 -B 6 H 6 )(μ-H) 6 ]. Angew Chem Int Ed Engl 2022; 61:e202208293. [PMID: 35770914 DOI: 10.1002/anie.202208293] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/06/2022] [Indexed: 11/10/2022]
Abstract
Isolation of planar [B6 H6 ] is a long-awaited goal in boron chemistry. Several attempts in the past to stabilize [B6 H6 ] were unsuccessful due to the domination of polyhedral geometries. Herein, we report the synthesis of a triple-decker sandwich complex of titanium [(Cp*Ti)2 (μ-η6 : η6 -B6 H6 )(μ-H)6 ] (1), which features the first-ever experimentally achieved nearly planar six-membered [B6 H6 ] ring, albeit within a [B6 H12 ] borate. The small deviation from planarity is a direct consequence of the predicted structural pattern of the middle ring in 24 Valence Electron Count (VEC) triple-decker complexes. The large ring size of [B6 H6 ] in 1 brings the metal-metal distance into the bonding range. However, significant electron delocalization from the M-M bonding orbital to the bridging hydrogen and B-B skeleton in the middle decreases its bond strength.
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Affiliation(s)
- Sourav Kar
- Department of Chemistry, Indian Institute of Technology Madras, Chennai, 600036, India
| | - Subhash Bairagi
- Department of Chemistry, Indian Institute of Technology Madras, Chennai, 600036, India
| | - Anagha Haridas
- Department of Chemistry, Indian Institute of Technology Madras, Chennai, 600036, India
| | - Gaurav Joshi
- Inorganic and Physical Chemistry Department, Indian Institute of Science, Bangalore, 560012, India
| | - Eluvathingal D Jemmis
- Inorganic and Physical Chemistry Department, Indian Institute of Science, Bangalore, 560012, India
| | - Sundargopal Ghosh
- Department of Chemistry, Indian Institute of Technology Madras, Chennai, 600036, India
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Mulet L, Barreto I, Cohen GN, Damato AL, Mauceri T, Pursley J, Deufel CL. Protocol for the measurement of the absorbed dose rate to water for a planar 32P beta emitting brachytherapy source: A multi-institutional validation. Brachytherapy 2022; 21:120-127. [PMID: 34706854 PMCID: PMC8810704 DOI: 10.1016/j.brachy.2021.08.001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2021] [Revised: 08/04/2021] [Accepted: 08/08/2021] [Indexed: 01/03/2023]
Abstract
PURPOSE This is a multi-institutional report on inter-observer and inter-instrument variation in the calibration of the absorbed dose rate for a planar 32P beta emitting brachytherapy source. Measurement accuracy is essential since the dose profile is steep and the source is used for the treatment of tumors that are located in close proximity to healthy nervous system structures. METHODS AND MATERIALS An RIC-100 32P source was calibrated by three institutions using their own equipment and following their standard procedures. The first institution calibrated the source with an electron diode and EBT3 film. The second institution used an electron diode. The third institution used HD810 film. Additionally, each institution was asked to calibrate the source using an electron diode and procedure that was shared among all institutions and shipped along with the radiation source. The dose rate was reported in units of cGy*min-1 at a water equivalent depth of 1 mm. RESULTS Close agreement was observed in the measurements from different users and equipment. The variation across all diode detectors and institutions had a standard deviation of 1.8% and maximum difference of 4.6%. The observed variation among two different diode systems used within the same institution had a mean difference of 1.6% and a maximum variation of 1.8%. The variations among film and diode systems used within the same institution had a mean difference of 2.9% and a maximum variation of 4.3% CONCLUSIONS: The absorbed dose rate measurement protocol of the planar beta-emitting 32P source permits consistent dosimetry across three institutions and five different electron diode and radiochromic film systems. The methodologies presented herein should enable measurement consistency among other clinical users, which will help ensure high quality patient treatments and outcomes analysis.
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Affiliation(s)
- Liana Mulet
- Department of Radiology, University of Florida, Gainesville, FL 32608
| | - Izabella Barreto
- Department of Radiology, University of Florida, Gainesville, FL 32608
| | - Gil’ad N. Cohen
- Department of Medical Physics, Memorial Sloan Kettering Cancer Center, New York, NY
| | - Antonio L. Damato
- Department of Medical Physics, Memorial Sloan Kettering Cancer Center, New York, NY
| | - Thomas Mauceri
- Department of Radiation Oncology, Massachusetts General Hospital, Boston, MA
| | - Jennifer Pursley
- Department of Radiation Oncology, Massachusetts General Hospital, Boston, MA
| | - Christopher L. Deufel
- Department of Radiation Oncology, Mayo Clinic, Rochester, MN 55905,Corresponding author: , Tel: 1-507-293-4019 Fax: 1-507-284-0079
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Calabrò E, Matteocci F, Paci B, Cinà L, Vesce L, Barichello J, Generosi A, Reale A, Di Carlo A. Easy Strategy to Enhance Thermal Stability of Planar PSCs by Perovskite Defect Passivation and Low-Temperature Carbon-Based Electrode. ACS Appl Mater Interfaces 2020; 12:32536-32547. [PMID: 32588625 DOI: 10.1021/acsami.0c05878] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Organic-inorganic lead halide perovskite has recently emerged as an efficient absorber material for solution process photovoltaic (PV) technology, with certified efficiency exceeding 25%. The development of low-temperature (LT) processing is a challenging topic for decreasing the energy payback time of perovskite solar cell (PSC) technology. In this context, the LT planar n-i-p architecture meets all the requirements in terms of efficiency, scalability, and processability. However, the long-term stability of the LT planar PSC under heat and moisture stress conditions has not been carefully assessed. Here, a detailed study on thermal and moisture stability of large-area (1 cm2) LT planar PSCs is presented. In particular, the key role in thermal stability of potassium iodide (KI) insertion in the perovskite composition is demonstrated. It is found that defect passivation of triple-cation perovskite by KI doping inhibits the halide migration induced by thermal stress at 85 °C and delays the formation of degradation subproducts. T80, defined as the time when the cell retains 80% of initial efficiency, is evaluated both for reference undoped devices and KI-doped ones. The results show that T80 increases 3 times when KI doping is used. Moreover, an HTL-free architecture where the Au top electrode is replaced with low-T screen-printable carbon paste is proposed. The combination of the carbon-based HTL-free architecture and KI-doped perovskite permits T80 to increase from 40 to 414 h in unsealed devices.
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Affiliation(s)
- Emanuele Calabrò
- C.H.O.S.E. (Centre for Hybrid and Organic Solar Energy), Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico 1, Rome 00133, Italy
| | - Fabio Matteocci
- C.H.O.S.E. (Centre for Hybrid and Organic Solar Energy), Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico 1, Rome 00133, Italy
| | - Barbara Paci
- Istituto di Struttura della Materia-CNR (ISM-CNR), Area della Ricerca di Roma - Tor Vergata, Via del Fosso del Cavaliere 100, I-00133 Roma, Italy
| | - Lucio Cinà
- Cicci Research srl, via Giordania 227, Grosseto 58100, Italy
| | - Luigi Vesce
- C.H.O.S.E. (Centre for Hybrid and Organic Solar Energy), Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico 1, Rome 00133, Italy
| | - Jessica Barichello
- C.H.O.S.E. (Centre for Hybrid and Organic Solar Energy), Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico 1, Rome 00133, Italy
| | - Amanda Generosi
- Istituto di Struttura della Materia-CNR (ISM-CNR), Area della Ricerca di Roma - Tor Vergata, Via del Fosso del Cavaliere 100, I-00133 Roma, Italy
| | - Andrea Reale
- C.H.O.S.E. (Centre for Hybrid and Organic Solar Energy), Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico 1, Rome 00133, Italy
| | - Aldo Di Carlo
- C.H.O.S.E. (Centre for Hybrid and Organic Solar Energy), Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico 1, Rome 00133, Italy
- Istituto di Struttura della Materia-CNR (ISM-CNR), Area della Ricerca di Roma - Tor Vergata, Via del Fosso del Cavaliere 100, I-00133 Roma, Italy
- LASE - Laboratory for Advanced Solar Energy, National University of Science and Technology "MISiS", 119049 Leninskiy prosect 6, Moscow, Russia
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Stratmann H, Hellmund M, Veith U, End N, Teubner W. Indicators for lack of systemic availability of organic pigments. Regul Toxicol Pharmacol 2020; 115:104719. [PMID: 32565410 DOI: 10.1016/j.yrtph.2020.104719] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/19/2019] [Revised: 06/10/2020] [Accepted: 06/16/2020] [Indexed: 01/27/2023]
Abstract
Experimental data of all 143 organic pigments registered with the European Chemicals Agency, of which 88 were listed in a nanomaterial inventory, was retrieved from the registered substance fact sheets. Availability of the data was 93% for solubility, 82% for bacterial mutagenicity, 79% for acute oral toxicity, 75% for irritation, 59% for skin sensitisation, 36% for repeated dose toxicity and 34% for each clastogenicity and mutagenicity in mammalian cells and 23% for toxicity to reproduction. Pigments mostly had a water and octanol solubility of significantly below 0.1 mg/L, but fourteen were found to be of higher solubility. None were irritating to skin and eyes. Except for the metal salt and the β-naphthol pigments, none of the insoluble pigments showed adverse effects up to limit doses indicating that poor solubility prevents systemic uptake of toxicologically relevant amounts. The few available toxicokinetic data shows absence of metabolism or significant uptake and is in support of this. Occasional effects observed on bacterial mutagenicity and skin sensitisation are attributed to impurities. There is no indication that for organic pigments other particle characteristics such as surface area or morphology have an impact on the investigated toxicological endpoints.
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Affiliation(s)
- Heidi Stratmann
- Department of Product Safety, BASF Schweiz AG, Basel, Switzerland.
| | - Maria Hellmund
- Department of Product Safety Services, BASF Services Europe GmbH, Berlin, Germany.
| | - Ulrich Veith
- Department of Product Stewardship, BASF Colors & Effects Switzerland AG, Basel, Switzerland.
| | - Nicole End
- Department of Product Stewardship, BASF Colors & Effects Switzerland AG, Basel, Switzerland.
| | - Wera Teubner
- Department of Product Safety Services, BASF Services Europe GmbH, Berlin, Germany.
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Ramonaheng K, van Staden JA, du Raan H. Validation of a Monte Carlo modelled gamma camera for Lutetium-177 imaging. Appl Radiat Isot 2020; 163:109200. [PMID: 32561041 DOI: 10.1016/j.apradiso.2020.109200] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/15/2019] [Revised: 02/11/2020] [Accepted: 04/08/2020] [Indexed: 10/24/2022]
Abstract
This study validated a model of the Siemens Symbia T16 dual-head SPECT/CT gamma camera created using the Monte Carlo program SIMIND for 177Lu. The validation was done by comparing experimental and simulated gamma camera performance criteria tests for the 177Lu 208 keV photopeak with a medium-energy collimator. Results showed good agreement between the experimental and simulated values. These results illustrated that SIMIND could emulate the Symbia T16 successfully and therefore, can be used with confidence to model 177Lu images.
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Affiliation(s)
- K Ramonaheng
- Department of Medical Physics, University of the Free State, PO Box 339, Bloemfontein, 9300, South Africa.
| | - J A van Staden
- Department of Medical Physics, University of the Free State, PO Box 339, Bloemfontein, 9300, South Africa
| | - H du Raan
- Department of Medical Physics, University of the Free State, PO Box 339, Bloemfontein, 9300, South Africa
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Deepa P. Does the stability of the stacking motif surpass the planar motif in 2-amino-4-nitrophenol? - a CCSD(T) analysis. J Mol Model 2018; 25:6. [PMID: 30564979 DOI: 10.1007/s00894-018-3884-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/06/2018] [Accepted: 11/28/2018] [Indexed: 10/27/2022]
Abstract
In this work we analyzed O-H...O, O-H...N, and N-H...O contacts existing in the 2-amino-4-nitrophenol structure engaged in ANP molecules through quantum chemical methods. Furthermore, the above contacts were favored to comprehensively understand the stability of noncovalent interactions, π stacking and hydrogen bonding, surviving in 2-amino-4-nitrophenol. The geometries of π stacking and hydrogen bond interactions between two 2-amino-4-nitrophenols were optimized at BLYP-D3/def2-QZVP with dispersion 3 and MP2/cc-pVTZ levels of theory, and their stability was compared using the CCSD(T) interaction energies. The analyses predicted a particularly strong π stacking interaction of 2-amino-4-nitrophenol with hydrogen bond due to the narrow equivalent configuration of NO2 interactions with the other 2-amino-4-nitrophenols. Furthermore, this work focused on analyzing the stability of the individual hydrogen bonds existing in planar and stacked arrangements. Graphical abstract Stacked and planar motif in 2-amino-4-nitrophenol.
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Affiliation(s)
- Palanisamy Deepa
- Department of Physics, Manonmaniam Sundaranar University, Tirunelveli, 627012, India.
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Chang CK, Washabaugh EP, Gwozdziowski A, Remy CD, Krishnan C. A Semi-passive Planar Manipulandum for Upper-Extremity Rehabilitation. Ann Biomed Eng 2018; 46:1047-1065. [PMID: 29626272 DOI: 10.1007/s10439-018-2020-z] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/27/2017] [Accepted: 03/29/2018] [Indexed: 10/17/2022]
Abstract
Robotic rehabilitation is a promising approach to treat individuals with neurological or orthopedic disorders. However, despite significant advancements in the field of rehabilitation robotics, this technology has found limited traction in clinical practice. A key reason for this issue is that most robots are expensive, bulky, and not scalable for in-home rehabilitation. Here, we introduce a semi-passive rehabilitation robot (SepaRRo) that uses controllable passive actuators (i.e., brakes) to provide controllable resistances at the end-effector over a large workspace in a manner that is cost-effective and safe for in-home use. We also validated the device through theoretical analyses, hardware experiments, and human subject experiments. We found that by including kinematic redundancies in the robot's linkages, the device was able to provide controllable resistances to purely resist the movement of the end-effector, or to gently steer (i.e., perturb) its motion away from the intended path. When testing these capabilities on human subjects, we found that many of the upper-extremity muscles could be selectively targeted based on the forcefield prescribed to the user. These results indicate that SepaRRo could serve as a low-cost therapeutic tool for upper-extremity rehabilitation; however, further testing is required to evaluate its therapeutic benefits in patient population.
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Affiliation(s)
- Chih-Kang Chang
- Neuromuscular and Rehabilitation Robotics Laboratory (NeuRRo Lab), Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA
| | - Edward P Washabaugh
- Neuromuscular and Rehabilitation Robotics Laboratory (NeuRRo Lab), Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA.,Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA
| | - Andrew Gwozdziowski
- Neuromuscular and Rehabilitation Robotics Laboratory (NeuRRo Lab), Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA
| | - C David Remy
- RAM Lab, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA.,Michigan Robotics, College of Engineering, University of Michigan, Ann Arbor, MI, USA
| | - Chandramouli Krishnan
- Neuromuscular and Rehabilitation Robotics Laboratory (NeuRRo Lab), Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA. .,Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA. .,Michigan Robotics, College of Engineering, University of Michigan, Ann Arbor, MI, USA.
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Abstract
Searching for materials and technologies of efficient CO2 capture is of the utmost importance to reduce the CO2 impact on the environment. Therefore, the (AlN)n clusters (n = 3-5) are researched using density functional theoretical calculations. The results of the optimization show that the most stable structures of (AlN)n clusters all display planar configurations at B3LYP and G3B3 methods, which are consistent with the reported results. For these planar clusters, we further systematically studied their interactions with carbon dioxide molecules to understand their adsorption behavior at the B3LYP/6-311+G(d,p) level, including geometric optimization, binding energy, bond index, and electrostatic. We found that the planar structures of (AlN)n (n = 3-5) can capture 3-5 CO2 molecules. The result indicates that (AlN)n (n = 3-5) clusters binding with CO2 is an exothermic process (the capture of every CO2 molecule on (AlN)n clusters releases at least 30 kcal mol-1 in relative free energy values). These analysis results are expected to further motivate the applications of clusters to be efficient CO2 capture materials.
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Affiliation(s)
- Chen Guo
- College of Science, Northeast Agricultural University, Harbin, Heilongjiang, People's Republic of China, 150030.
| | - Chong Wang
- Department of Chemistry, College of Science, Northeast Forestry University, Harbin, 150040, People's Republic of China
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