ABSTRACT
Objectives: We recently introduced a frameless, navigated, robot-driven laser tool for depth electrode implantation as an alternative to frame-based procedures. This method has only been used in cadaver and non-recovery studies. This is the first study to test the robot-driven laser tool in an in vivo recovery animal study. Methods: A preoperative computed tomography (CT) scan was conducted to plan trajectories in sheep specimens. Burr hole craniotomies were performed using a frameless, navigated, robot-driven laser tool. Depth electrodes were implanted after cut-through detection was confirmed. The electrodes were cut at the skin level postoperatively. Postoperative imaging was performed to verify accuracy. Histopathological analysis was performed on the bone, dura, and cortex samples. Results: Fourteen depth electrodes were implanted in two sheep specimens. Anesthetic protocols did not show any intraoperative irregularities. One sheep was euthanized on the same day of the procedure while the other sheep remained alive for 1 week without neurological deficits. Postoperative MRI and CT showed no intracerebral bleeding, infarction, or unintended damage. The average bone thickness was 6.2 mm (range 4.1-8.0 mm). The angulation of the planned trajectories varied from 65.5° to 87.4°. The deviation of the entry point performed by the frameless laser beam ranged from 0.27 mm to 2.24 mm. The histopathological analysis did not reveal any damage associated with the laser beam. Conclusion: The novel robot-driven laser craniotomy tool showed promising results in this first in vivo recovery study. These findings indicate that laser craniotomies can be performed safely and that cut-through detection is reliable.
ABSTRACT
Objectives: In this study we aimed to present an updated cutting strategy and updated hardware for a new camera system that can increase cut-through detection using a cold ablation robot-guided laser osteotome. Methods: We performed a preoperative computed tomography scan of each animal. The laser was mounted on a robotic arm and guided by a navigation system based on a tracking camera. Surgery was performed with animals in the prone position. A new cutting strategy was implemented consisting of two circular paths involving inner (full cylindric) and outer (hollow cylindric) sections, with three different ablation phases. The depth electrodes were inserted after cut-through detection was confirmed on either the coaxial camera system or optical coherence tomography signal. Results: A total of 71 precision bone channels were cut in four pig specimens using a robot-guided laser. No signs of hemodynamic or respiratory irregularities were observed during anesthesia. All bone channels were created using the advanced cutting strategy. The new cutting strategy showed no irregularities in either cylindrical (parallel walled; n = 38, 45° = 10, 60° = 14, 90° = 14) or anticonical (walls widening by 2 degrees; n = 33, 45° = 11, 60° = 13, 90° = 9) bone channels. The entrance hole diameters ranged from 2.25-3.7 mm and the exit hole diameters ranged from 1.25 to 2.82 mm. Anchor bolts were successfully inserted in all bone channels. No unintended damage to the cortex was detected after laser guided craniotomy. Conclusion: The new cutting strategy showed promising results in more than 70 precision angulated cylindrical and anti-conical bone channels in this large, in vivo non-recovery animal study. Our findings indicate that the coaxial camera system is feasible for cut-through detection.
ABSTRACT
The outstanding performance of NiOOH/FeOOH-based oxygen evolution reaction (OER) catalysts is rationalized in terms of a bifunctional mechanism involving two distinct active sites. In this mechanism, the OOHads reaction intermediate, which unfavorably affects the overall OER activity due to the linear scaling relationship, is replaced by O2 adsorbed at the active site on FeOOH and Hads adsorbed at the NiOOH substrate. Here, we use the computational hydrogen electrode method to assess promising models of both the FeOOH catalyst and the NiOOH hydrogen acceptor. These two materials are interfaced in various ways to evaluate their performance as bifunctional OER catalysts. In some cases, overpotentials as low as 0.16 V are found, supporting the bifunctional mechanism as a means to overcome the limitations imposed by linear scaling relationships.
ABSTRACT
The bifunctional mechanism for the oxygen evolution reaction (OER) involving two distinct reaction sites is studied through the computational hydrogen electrode method for a set of catalyst materials including rutile TiO2(110), anatase TiO2(101), SnO2(110), RuO2(110), IrO2(110), Ni2P(0001), and BiVO4(001). The calculations are performed both at the semilocal level and at the hybrid functional level. Moreover, anodic conditions are modeled and their effect on the OER free energy steps is evaluated. The free energies of the reaction steps indicate that for specific combinations of catalysts, the limitations due to the linear scaling relationship can be overcome, leading to smaller overpotentials for the overall OER. At the same time, a detailed analysis of the results reveals a strong dependence on the adopted functional. For both functionals, it is shown that the energy level of the highest occupied electronic state can serve as a descriptor to guide the search for the optimal catalyst acting as a hydrogen acceptor. These results support the bifunctional mechanism as a means to break the linear scaling relationship and to further reduce the overpotential of the OER.
