Search results for "Robotic systems"
showing 8 items of 18 documents
An Approach for the Design of Self-conscious Agent for Robotics
2010
Developing complex robotic systems endowed with self- conscious abilities and subjective experience is a hard requirement to face at design time. This paper deals with the development of robotic systems that do not own any a-priori knowledge of the environment they live in and proposes an agent-orientd design process for modelling and implementing such a systems by means of implementing the perception loop occurring between environment, body and brain during subjective experience. A case study dealing with a robocup setup is proposed in order to describe the design process activities and to illustrate the techniques for making the robot able to autonomously decide when an unknown situations…
A Networking Framework for Multi-Robot Coordination
2008
Autonomous robots operating in real environments need to be able to interact with a dynamic world populated with objects, people, and, in general, other agents. The current generation of autonomous robots, such as the ASIMO robot by Honda or the QRIO by Sony, has showed impressive performances in mechanics and control of movements; moreover, recent literature reports encouraging results about the capability of such robots of representing themselves with respect to a dynamic external world, of planning future actions and of evaluating resulting situations in order to make new plans. However, when multiple robots are supposed to operate together, coordination and communication issues arise; w…
Innovative fully robotic 4-arm Ivor Lewis esophagectomy for esophageal cancer (RAMIE4).
2019
Nowadays robotic surgery is established for abdominal and thoracic surgery. It has been shown that complex procedures are feasible using robotic systems, e.g., da Vinci Xi, with a huge benefit in precision. Different techniques for esophageal cancer surgery are reported; however, only a few robotic and partial robotic procedures are described. Therefore, a fully robotic (abdominal and thoracic) Ivor Lewis esophageal resection using four robotic arms-RAMIE4-the standard technique used for lower esophageal cancer, is presented in this paper. The technique shown in the video was performed successfully in 100 cases in 24 months. The reconstruction is performed with a gastric conduit pull-up and…
Efficacy of four cleaning solutions for the decontamination of selected cytotoxic drugs on the different surfaces of an automated compounding system
2018
The automated aseptic preparation of ready-to-administer antineoplastic drug solutions with robotic systems reduces the risk of occupational exposure. However, the surfaces in the preparation area of the robot are to be cleaned by wiping with an appropriate cleaning solution. The aim of the study was to evaluate the cleaning efficacy of four cleaning solutions on four surface materials installed in the APOTECAchemo robot. Predefined amounts of cisplatin (Cis), 5-fluorouracil (5-FU), and cyclophosphamide (CP) were intentionally spread on test plates made of stainless steel, aluminium, polyoxymethylene, and polycarbonate just as installed in the robotic system APOTECAchemo. After drying, the …
Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…
2016
International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…
Future perspectives of flexible ureteroscopy
2019
Purpose of review In the recent past, there were numerous and promising technological developments in the field of endourology leading to tremendous changes in the management of urolithiasis. This review will try to weave ancient stone therapy with the very modern advent of flexible ureteroscopy and recent developments in robotic systems. Recent findings In the broad field of flexible ureteroscopy for stone surgery, new disposable scopes have been developed and established. The use of robotic instruments is also a new and interesting concept. Additionally, clinical research on the understanding of laser features leads to a specific and appropriate use of lasers for lithotripsy, both holmium…
Media-fill simulation tests in manual and robotic aseptic preparation of injection solutions in syringes
2014
Objective The purpose of this study was to evaluate the contamination rate of media-fill products either prepared automated with a robotic system (APOTECAchemo™) or prepared manually at cytotoxic workbenches in the same cleanroom environment and by experienced operators. Media fills were completed by microbiological environmental control in the critical zones and used to validate the cleaning and disinfection procedures of the robotic system. Methods The aseptic preparation of patient individual ready-to-use injection solutions was simulated by using double concentrated tryptic soy broth as growth medium, water for injection and plastic syringes as primary packaging materials. Media fills w…
Prospective Validation of Facial Nerve Monitoring to Prevent Nerve Damage During Robotic Drilling
2019
Facial nerve damage has a detrimental effect on a patient's life, therefore safety mechanisms to ensure its preservation are essential during lateral skull base surgery. During robotic cochlear implantation a trajectory passing the facial nerve at <0.5 mm is needed. Recently a stimulation probe and nerve monitoring approach were developed and introduced clinically, however for patient safety no trajectory was drilled closer than 0.4 mm. Here we assess the performance of the nerve monitoring system at closer distances. In a sheep model eight trajectories were drilled to test the setup followed by 12 trajectories during which the ENT surgeon relied solely on the nerve monitoring system and…