Search results for "Roboti"

Implementation and microbiological stability of dose-banded ganciclovir infusion bags prepared in series by a robotic system.

2018

Objectives The implementation of dose-banding (DB) in centralised, pharmacy-based cytotoxic drug preparation units allows the preparation of standardised doses in series. The aim of this study was to evaluate the feasibility of DB for the prescribing of ganciclovir (GV) infusion solutions and to investigate the microbiological stability of dose-banded, automatically prepared ready-to-administer GV infusion bags by media-fill simulation tests and sterility tests. Methods The frequency of prescription of GV doses was retrospectively analysed before and after implementing the DB scheme. Four dose-ranges or ‘bands’ and the corresponding standard doses (250, 300, 350, 400 mg) were identified. Th…

Learning Laparoscopic Radical Hysterectomy: Are We Facing an Emerging Situation?

2023

Despite wide screening campaigns and early detection, cervical cancer remains the fourth most common cancer among women. Radical hysterectomy, whether by open, laparoscopic or by robotic-assisted techniques, is the mainstay treatment. However, for adequate surgical results and good oncological prognosis, a gynecological surgeon should be trained to perform those procedures. The learning curve of radical hysterectomy, especially by laparoscopy, is influenced by several factors. The LACC trial, the decrease in cervical cancer incidence and radical hysterectomy procedures have widely reduced the learning curve for surgeons. This article mainly discusses the learning curve of laparoscopic radic…

2019

Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots-ranging from comp…

Robotic transanal total mesorectal excision: Is the future now?

2021

Total mesorectal excision (TME) is the standard surgical treatment for the curative radical resection of rectal cancers. Minimally invasive TME has been gaining ground favored by the continuous technological advancements. New procedures, such as transanal TME (TaTME), have been introduced to overcome some technical limitations, especially in low rectal tumors, obese patients, and/or narrow pelvis. The earliest TaTME reports showed promising results when compared with the conventional laparoscopic TME. However, recent publications raised concerns regarding the high rates of anastomotic leaks or local recurrences observed in national series. Robotic TaTME (R-TaTME) has been proposed as a nove…

Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots

2022

The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their in- trinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input- state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals.…

Mixed Reality Annotation of Robotic-Assisted Surgery videos with real- time tracking and stereo matching

2023

Robotic-Assisted Surgery (RAS) is beginning to unlock its potential. However, despite the latest advances in RAS, the steep learning curve of RAS devices remains a problem. A common teaching resource in surgery is the use of videos of previous procedures, which in RAS are almost always stereoscopic. It is important to be able to add virtual annotations onto these videos so that certain elements of the surgical process are tracked and highlighted during the teaching session. Including virtual annotations in stereoscopic videos turns them into Mixed Reality (MR) experiences, in which tissues, tools and procedures are better observed. However, an MR-based annotation of objects requires trackin…

Human-Robot Teaming Interaction: a Cognitive Architecture Solution

2021

Intention recognition in manufacturing applications

2015

In this article, we present a novel approach to intention recognition, based on the recognition and representation of state information in a cooperative human-robot environment. States are represented by a combination of spatial relations along with cardinal direction information. The output of the Intention Recognition Algorithms will allow a robot to help a human perform a perceived operation or, minimally, not cause an unsafe situation to occur. We compare the results of the Intention Recognition Algorithms to those of an experiment involving human subjects attempting to recognize the same intentions in a manufacturing kitting domain. In almost every case, results show that the Intention…

Complex objects modeling: An entity-relationship approach

1989

Facilities for complex object modeling are nowadays needed in several areas of database applications (CAD/CAM, office automation, robotics, ...). Consequently, either new models are developed, or existing ones are extended to better respond to this requirement. Current proposals in the latter category are mainly based on the relational approach (with, as major outcome, the NF2 family of models) or on functional models like DAPLEX. This paper intends to show that the entity-relationship approach may secure an equivalent result, preserving the well known advantages inherent to this approach : increased readability and graphical display of the database schema.

Methods for Experimentally Determining Stiffness of a Multi-Axis Machining Centre

2019

This paper deals with global methods for experimentally determining the static stiffness of multi-axis machining centres. Different devices used for measuring deflection, in specific, are explored, where accuracy and usability are highlighted. The methods were tested on a 3-axis CNC milling machine, 2-axis trunnion table and a 6-DOF industrial robot.