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https://www.readbyqxmd.com/read/28103569/an-intelligent-actuator-fault-reconstruction-scheme-for-robotic-manipulators
#1
Bing Xiao, Shen Yin
This paper investigates a difficult problem of reconstructing actuator faults for robotic manipulators. An intelligent approach with fast reconstruction property is developed. This is achieved by using observer technique. This scheme is capable of precisely reconstructing the actual actuator fault. It is shown by Lyapunov stability analysis that the reconstruction error can converge to zero after finite time. A perfect reconstruction performance including precise and fast properties can be provided for actuator fault...
January 16, 2017: IEEE Transactions on Cybernetics
https://www.readbyqxmd.com/read/28103555/robust-head-pose-estimation-based-on-partially-latent-mixture-of-linear-regressions
#2
Vincent Drouard, Radu Horaud, Antoine Deleforge, Sileye Ba, Georgios Evangelidis
Head-pose estimation has many applications, such as social event analysis, human-robot and human-computer interaction, driving assistance, and so forth. Head-pose estimation is challenging because it must cope with changing illumination conditions, variabilities in face orientation and in appearance, partial occlusions of facial landmarks, as well as bounding-box-to- face alignment errors. We propose tu use a mixture of linear regressions with partially-latent output. This regression method learns to map high-dimensional feature vectors (extracted from bounding boxes of faces) onto the joint space of head-pose angles and bounding-box shifts, such that they are robustly predicted in the presence of unobservable phenomena...
January 16, 2017: IEEE Transactions on Image Processing: a Publication of the IEEE Signal Processing Society
https://www.readbyqxmd.com/read/28102309/integration-of-visual-and-joint-information-to-enable-linear-reaching-motions
#3
Henry Eberle, Slawomir J Nasuto, Yoshikatsu Hayashi
A new dynamics-driven control law was developed for a robot arm, based on the feedback control law which uses the linear transformation directly from work space to joint space. This was validated using a simulation of a two-joint planar robot arm and an optimisation algorithm was used to find the optimum matrix to generate straight trajectories of the end-effector in the work space. We found that this linear matrix can be decomposed into the rotation matrix representing the orientation of the goal direction and the joint relation matrix (MJRM) representing the joint response to errors in the Cartesian work space...
January 19, 2017: Scientific Reports
https://www.readbyqxmd.com/read/28102113/comparison-of-the-effects-on-dynamic-balance-and-aerobic-capacity-between-objective-and-subjective-methods-of-high-intensity-robot-assisted-gait-training-in-chronic-stroke-patients-a-randomized-controlled-trial
#4
Young-Hyeon Bae, Suck Min Lee, Mansoo Ko
BACKGROUND: Robot-assisted gait training (RAGT) is effective for improving dynamic balance and aerobic capacity, but previous RAGT method does not set suitable training intensity. Recently, high-intensity treadmill gait training at 70% of heart rate reserve (HRR) was used for improving aerobic capacity and dynamic balance. PURPOSE: This study was designed to compare the effectiveness between objective and subjective methods of high-intensity RAGT for improving dynamic balance and aerobic capacity in chronic stroke...
January 19, 2017: Topics in Stroke Rehabilitation
https://www.readbyqxmd.com/read/28101302/robot-assisted-laparoscopic-gastrectomy-for-gastric-cancer
#5
REVIEW
Stefano Caruso, Franco Franceschini, Alberto Patriti, Franco Roviello, Mario Annecchiarico, Graziano Ceccarelli, Andrea Coratti
Phase III evidence in the shape of a series of randomized controlled trials and meta-analyses has shown that laparoscopic gastrectomy is safe and gives better short-term results with respect to the traditional open technique for early-stage gastric cancer. In fact, in the East laparoscopic gastrectomy has become routine for early-stage gastric cancer. In contrast, the treatment of advanced gastric cancer through a minimally invasive way is still a debated issue, mostly due to worries about its oncological efficacy and the difficulty of carrying out an extended lymphadenectomy and intestinal reconstruction after total gastrectomy laparoscopically...
January 16, 2017: World Journal of Gastrointestinal Endoscopy
https://www.readbyqxmd.com/read/28100834/soft-robotic-sleeve-supports-heart-function
#6
Ellen T Roche, Markus A Horvath, Isaac Wamala, Ali Alazmani, Sang-Eun Song, William Whyte, Zurab Machaidze, Christopher J Payne, James C Weaver, Gregory Fishbein, Joseph Kuebler, Nikolay V Vasilyev, David J Mooney, Frank A Pigula, Conor J Walsh
There is much interest in form-fitting, low-modulus, implantable devices or soft robots that can mimic or assist in complex biological functions such as the contraction of heart muscle. We present a soft robotic sleeve that is implanted around the heart and actively compresses and twists to act as a cardiac ventricular assist device. The sleeve does not contact blood, obviating the need for anticoagulation therapy or blood thinners, and reduces complications with current ventricular assist devices, such as clotting and infection...
January 18, 2017: Science Translational Medicine
https://www.readbyqxmd.com/read/28100406/modeling-of-path-planning-and-needle-steering-with-path-tracking-in-anatomical-soft-tissues-for-minimally-invasive-surgery
#7
Pan Li, Shan Jiang, Dong Liang, Zhiyong Yang, Yan Yu, Wei Wang
Steerable needles can potentially improve the effectiveness of diagnostic and therapeutic procedures, such as biopsy and cancer treatment, by increasing the targeting accuracy and reaching previously inaccessible targets. A discrete potential field algorithm based on three dimensional (3D) anatomical structures is proposed in this paper to plan the needle path in minimally invasive surgery. A 3D kinematic model of needle steering is formulated using Lie group theory. Model parameters are fitted using experimental data acquired via a 2-degree of freedom robotic device and an ultrasound imaging device...
January 16, 2017: Medical Engineering & Physics
https://www.readbyqxmd.com/read/28099744/a-retrospective-cohort-study-of-hemostatic-agent-use-during-hysterectomy-and-risk-of-post-operative-complications
#8
John A Harris, Shitanshu Uppal, Neil Kamdar, Carolyn W Swenson, Darrell Campbell, Daniel M Morgan
OBJECTIVE: To determine if the use of intraoperative hemostatic agents was a risk factor for post-operative adverse events within 30 days of patients undergoing hysterectomy. METHOD: A population-based retrospective cohort study included data from patients undergoing hysterectomy for any indication between January 1, 2013, and December 31, 2014, at 52 hospitals in Michigan, USA. Any individuals with missing covariate data were excluded, and multivariable logistic regression and propensity score-matching were used to estimate the rate of post-operative adverse events associated with intra-operative hemostatic agents independent of demographic and surgical factors...
February 2017: International Journal of Gynaecology and Obstetrics
https://www.readbyqxmd.com/read/28099699/randomized-controlled-trial-comparing-operative-times-between-standard-and-robot-assisted-laparoscopic-hysterectomy
#9
Timothy A Deimling, Jennifer L Eldridge, Kristin A Riley, Allen R Kunselman, Gerald J Harkins
OBJECTIVE: To compare the operative time between robot-assisted laparoscopic hysterectomies and standard laparoscopic hysterectomies. METHODS: A prospective, randomized controlled trial enrolled women aged 18-80 years attending Penn State Hershey Medical Center between April 23 and October 20, 2014 to undergo hysterectomy. Participants were randomized using a random number generator to undergo either robot-assisted or standard laparoscopic hysterectomy. The primary outcome was the total operative time (surgeon incision to surgeon stop, including robot docking time, if applicable)...
January 2017: International Journal of Gynaecology and Obstetrics
https://www.readbyqxmd.com/read/28099339/pedicle-screw-placement-accuracy-of-bone-mounted-miniature-robot-system
#10
Tai-Hsin Tsai, Rong-Dar Tzou, Yu-Feng Su, Chieh-Hsin Wu, Cheng-Yu Tsai, Chih-Lung Lin
This article describes factors affecting the accuracy of transpedicle screw placements performed with the Renaissance robot-guided system and reviews the relevant literature. Between January 2013 and January 2015, Renaissance robot-guided spinal surgery was performed in 125 patients at Kaohsiung Medical University Hospital in Kaohsiung, Taiwan. The surgeries included 662 transpedicle screw implants and 49 Kirschner wire (K-wire) reimplants performed by intraoperative repositioning. The lead author evaluated the accuracy of all K-wire insertions and classified their accuracy into 3 categories relative to the preoperative plan for transpedicle screw placement...
January 2017: Medicine (Baltimore)
https://www.readbyqxmd.com/read/28099057/a-provisional-experience-with-robot-assisted-soave-procedure-for-older-children-with-hirschsprung-disease-back-to-the-future
#11
Girolamo Mattioli, Luca Pio, Lorenzo Leonelli, Barbara Razore, Nicola Disma, Giovanni Montobbio, Vincenzo Jasonni, Paolo Petralia, Alessio Pini Prato
Hirschsprung disease is a congenital disease characterized by intestinal aganglionosis of various extents. Most patients are younger than 1 year of age. Though, a minority of cases can be older or even adult. Older the patient the more difficult and prolonged is the endorectal dissection required for the pull-through procedure. Longer surgery leads to longer anal dilatation and trauma with subsequent higher likelihood of continence impairment. The article aims at describing the first case series of robot-assisted Soave procedure, which was adopted as an alternative minimally invasive approach to older patients with Hirschsprung disease...
January 18, 2017: Journal of Laparoendoscopic & Advanced Surgical Techniques. Part A
https://www.readbyqxmd.com/read/28099055/mastering-robotic-surgery-where-does-the-learning-curve-lead-us
#12
Ciro Andolfi, Konstantin Umanskiy
The robotic surgical technology introduced over the last decade and a half has revolutionized many aspects of performing complex procedures. It combines technological and clinical innovations to improve surgical quality and patient outcomes. Yet, to date, there is still a lack of standardization in training and certification of robotic surgeons. The criteria for proficiency and credentialing in robotic surgery vary widely among institutions. The aim of this review is to discuss the key points of training and surgeon assessment in robotic surgery, as well as the challenges that still need to be overcome...
January 18, 2017: Journal of Laparoendoscopic & Advanced Surgical Techniques. Part A
https://www.readbyqxmd.com/read/28098574/new-developments-in-robotics-and-single-site-gynecologic-surgery
#13
Catherine A Matthews
Within the last 10 years there have been significant advances in minimal-access surgery. Although no emerging technology has demonstrated improved outcomes or fewer complications than standard laparoscopy, the introduction of the robotic surgical platform has significantly lowered abdominal hysterectomy rates. While operative time and cost were higher in robotic-assisted procedures when the technology was first introduced, newer studies demonstrate equivalent or improved robotic surgical efficiency with increased experience...
January 17, 2017: Clinical Obstetrics and Gynecology
https://www.readbyqxmd.com/read/28097937/an-assembly-type-master-slave-catheter-and-guidewire-driving-system-for-vascular-intervention
#14
Hyo-Jeong Cha, Byung-Ju Yi, Jong Yun Won
Current vascular intervention inevitably exposes a large amount of X-ray to both an operator and a patient during the procedure. The purpose of this study is to propose a new catheter driving system which assists the operator in aspects of less X-ray exposure and convenient user interface. For this, an assembly-type 4-degree-of-freedom master-slave system was designed and tested to verify the efficiency. First, current vascular intervention procedures are analyzed to develop a new robotic procedure that enables us to use conventional vascular intervention devices such as catheter and guidewire which are commercially available in the market...
January 2017: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
https://www.readbyqxmd.com/read/28097936/experimental-study-on-tissue-phantoms-to-understand-the-effect-of-injury-and-suturing-on-human-skin-mechanical-properties
#15
Arnab Chanda, Vinu Unnikrishnan, Zachary Flynn, Kim Lackey
Skin injuries are the most common type of injuries occurring in day-to-day life. A skin injury usually manifests itself in the form of a wound or a cut. While a shallow wound may heal by itself within a short time, deep wounds require surgical interventions such as suturing for timely healing. To date, suturing practices are based on a surgeon's experience and may vary widely from one situation to another. Understanding the mechanics of wound closure and suturing of the skin is crucial to improve clinical suturing practices and also to plan automated robotic surgeries...
January 2017: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
https://www.readbyqxmd.com/read/28097262/lessons-learned-over-a-decade-of-pediatric-robotic-ureteral-reimplantation
#16
REVIEW
Minki Baek, Chester J Koh
The da Vinci robotic system has improved surgeon dexterity, ergonomics, and visualization to allow for a minimally invasive option for complex reconstructive procedures in children. Over the past decade, robot-assisted laparoscopic ureteral reimplantation (RALUR) has become a viable minimally invasive surgical option for pediatric vesicoureteral reflux (VUR). However, higher-than-expected complication rates and suboptimal reflux resolution rates at some centers have also been reported. The heterogeneity of surgical outcomes may arise from the inherent and underestimated complexity of the RALUR procedure that may justify its reclassification as a complex reconstructive procedure and especially for robotic surgeons early in their learning curve...
January 2017: Investigative and Clinical Urology
https://www.readbyqxmd.com/read/28095555/megasessions-for-robotic-hair-restoration
#17
Joa O Carlos Pereira, Joa O Carlos Pereira Filho, Joa O Pedro Cabrera Pereira
A robotic system can select and remove individual hair follicles from the donor area with great precision and without fatigue. This report describes the use of the robotic system in a megasession for hair restoration. Patients were instructed to cut their hair to 1.0 to 1.2 mm before surgery. The robot selected and removed 600 to 800 grafts per hour so the follicular units (FU)s could be transplanted manually to recipient sites. The robot arm consists of a sharp inner punch and a blunt outer punch which together separate FUs from the sur- rounding tissue...
November 1, 2016: Journal of Drugs in Dermatology: JDD
https://www.readbyqxmd.com/read/28095177/integrated-colony-imaging-analysis-and-selection-device-for-regenerative-medicine
#18
Edward Kwee, Edward E Herderick, Thomas Adams, James Dunn, Robert Germanowski, Frank Krakosh, Cynthia Boehm, James Monnich, Kimerly Powell, George Muschler
Stem and progenitor cells derived from human tissues are being developed as cell sources for cell-based assays and therapies. However, tissue-derived stem and progenitor cells are heterogeneous. Differences in observed clones of stem cells likely reflect important aspects of the underlying state of the source cells, as well as future potency for cell therapies. This paper describes a colony analysis and picking device that provides quantitative analysis of heterogeneous cell populations and precise tools for cell picking for research or biomanufacturing applications...
November 1, 2016: Journal of Laboratory Automation
https://www.readbyqxmd.com/read/28094764/neuromorphic-meets-neuromechanics-part-ii-the-role-of-fusimotor-drive
#19
Kian Jalaleddini, Chuanxin Niu, Suraj Chakravarthi Raja, Won Joon Sohn, Gerald Loeb, Terence Sanger, Francisco Valero-Cuevas
OBJECTIVE: We studied the fundamentals of muscle afferentation by building a neuro-mechano-morphic system actuating a cadaveric finger. This system is a faithful implementation of the stretch reflex circuitry. It allowed the systematic exploration of the effects of different fusimotor drives to the muscle spindle on the closed-loop stretch reflex response. APPROACH: As in Part I of this work, sensory neurons conveyed proprioceptive information from muscle spindles (with static and dynamic fusimotor drive) to populations of ��-motor neurons (with recruitment and rate coding properties)...
January 17, 2017: Journal of Neural Engineering
https://www.readbyqxmd.com/read/28094020/the-wertheim-hysterectomy-development-modifications-and-impact-in-the-present-day
#20
Alexa L Swailes, Allison Gockley, Rébécca Phaëton, Joshua P Kesterson
Ernst Wertheim was a pioneer in the history of the surgical treatment of cervical cancer. His English-language manuscript "The extended abdominal operation for carcinoma uteri (based on 500 operative cases)," which was published in 1912, detailed his standardization of the radical hysterectomy and formed the basis of the current treatment for early stage cervical cancer. We contextualize the Wertheim hysterectomy, emphasizing medical advances that allowed for its development and subsequent modification. We then discuss modifications to the originally proposed procedure, including a maximally extended parametrical resection pioneered by Takayama, and the addition of the Taussig en bloc lymph node dissection by Meigs, both of which afforded an improved mortality profile due to decreased disease recurrence...
January 13, 2017: Gynecologic Oncology
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