Development of Low-Cost and Bidirectional Syringe Pumps for Soft Robotics Applications

Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the inflation and deflation of their voxels for shape-shifting behaviors. However, traditional pneumatic actuation methods (high pressure solenoids, medical diaphragm pumps, micro compressors, compressed fluid) pose significant challenges due to their limited efficacy, cost, complexity, or lack of precision. This work introduces a low cost and modular syringe pump system, constructed with off the shelf and 3D printed parts, designed to overcome these limitations. The syringe pump system also enhances actuation with the unique ability to pull a vacuum as well pump air into the soft robot. Furthermore, the syringe pump features modular hardware and customizable software, allowing for researchers to tailor the syringe pump to their requirements or operate multiple pumps simultaneously with unique pump parameters. This flexibility makes the syringe pump an accessible and scalable tool that paves the way for broader adoption of soft robotic technologies in research and education.

Grey Level Texture Features for Segmentation of Chromogenic Dye RNAscope From Breast Cancer Tissue

Chromogenic RNAscope dye and haematoxylin staining of cancer tissue facilitates diagnosis of the cancer type and subsequent treatment, and fits well into existing pathology workflows. However, manual quantification of the RNAscope transcripts (dots), which signify gene expression, is prohibitively time consuming. In addition, there is a lack of verified supporting methods for quantification and analysis. This paper investigates the usefulness of gray level texture features for automatically segmenting and classifying the positions of RNAscope transcripts from breast cancer tissue. Feature analysis showed that a small set of gray level features, including Gray Level Dependence Matrix and Neighbouring Gray Tone Difference Matrix features, were well suited for the task. The automated method performed similarly to expert annotators at identifying the positions of RNAscope transcripts, with an F1-score of 0.571 compared to the expert inter-rater F1-score of 0.596. These results demonstrate the potential of gray level texture features for automated quantification of RNAscope in the pathology workflow.