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Robotic Arm (robotic + arm)
Selected AbstractsSituation awareness and attention allocation measures for quantifying telepresence experiences in teleoperationHUMAN FACTORS AND ERGONOMICS IN MANUFACTURING & SERVICE INDUSTRIES, Issue 1 2004Jennifer M. Riley This study assessed the utility of measures of situation awareness (SA) and attention allocation for quantifying telepresence, the sense of being present at a remote site, in a teleoperation task scenario. Attention and SA have been identified as cognitive constructs potentially underlying telepresence. The motivation for this research was to establish an objective measure of telepresence and investigate the relationship between telepresence and teleoperation performance. Twenty-four research participants performed a virtual ordnance disposal task at varying levels of difficulty (LODs). The task involved locating, identifying, and disposing of virtual land mines in an outdoor environment using a simulated remote-control rover with a robotic arm. Performance, SA, and attention allocation were recorded along with subjective assessments of telepresence. Results demonstrated LOD effects on performance and telepresence. Regression analysis revealed LOD and attention to explain significant portions of the variance in telepresence. Results of the study provide further evidence that telepresence may share a relationship with performance, and that cognitive constructs, such as attention and SA, may serve as alternative, objective measures of telepresence. © 2004 Wiley Periodicals, Inc. Hum Factors Man 14: 51,67, 2004. [source] Macromolecular crystallography at high pressure with pneumatic diamond anvil cells handled by a six-axis robotic armJOURNAL OF APPLIED CRYSTALLOGRAPHY, Issue 4 2010Eric Girard A new pneumatic diamond anvil cell has been constructed, generating continuous pressure and temperature variations in the range 0,2.5,GPa and 293,393,K. The cell is designed mainly for high-pressure macromolecular crystallography and should facilitate pressure and temperature annealing of the sample. The analysis is reported of several diffraction data sets of tetragonal hen egg-white lysozyme crystals loaded either in the new cell or in a currently used membrane-based cell. These experiments were performed on beamline FIP-BM30A at the ESRF, Grenoble, a macromolecular crystallography beamline on a bending magnet. Cells were handled and automatically centred by a six-axis robotic arm that was used as a goniometer for data collection by the oscillation method. [source] New technologies for chemical geneticsJOURNAL OF CELLULAR BIOCHEMISTRY, Issue S37 2001Leslie A. Walling Abstract Chemical genetics, in which small molecules are used in lieu of mutations to study biological processes, requires large and diverse chemical libraries to specifically perturb different biological pathways. Here we describe a suite of technologies that enable chemical libraries prepared by split-pool solid phase synthesis to be screened in a diverse range of chemical genetic assays. Compounds are synthesized on 500 micron high-capacity polystyrene beads, and arrayed into individual wells of 384-well plates using a hand-held bead arrayer. Compounds are cleaved from synthesis beads using a chemically-resistant ceramic dispensing system, producing individual stock solutions of single compounds. Nanoliter volumes of these solutions are then transferred into assay plates using an array of stainless steel pins mounted on a robotic arm. We have designed reusable 1536- and 6144-well assay plates made of silicone rubber that can be cast in the laboratory and filled by hand. This integrated technology platform enables hundreds of biological assays to be performed from the product of a single synthesis bead, enabling the results of different chemical genetic experiments to be directly compared. J. Cell. Biochem. Suppl. 37: 7,12, 2001. © 2002 Wiley-Liss, Inc. [source] Agricultural robot for radicchio harvestingJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 6-7 2006Mario M. Foglia In the last few years, robotics has been increasingly adopted in agriculture to improve productivity and efficiency. This paper presents recent and current work at the Politecnico of Bari, in collaboration with the University of Lecce, in the field of agriculture robotics. A cost effective robotic arm is introduced for the harvesting of radicchio, which employs visual localization of the plants in the field. The proposed harvester is composed of a double four-bar linkage manipulator and a special gripper, which fulfills the requirement for a plant cut approximately 10 mm underground. Both manipulator and end-effector are pneumatically actuated, and the gripper works with flexible pneumatic muscles. The system employs computer vision to localize the plants in the field based on intelligent color filtering and morphological operations; we call this algorithm the radicchio visual localization (RVL). Details are provided for the functional and executive design of the robotic arm and its control system. Experimental results are discussed; obtained with a prototype operating in a laboratory testbed showing the feasibility of the system in localizing and harvesting radicchio plants. The performance of the RVL is analyzed in terms of accuracy, robustness to noises, and variations in lighting, and is also validated in field experiments. © 2006 Wiley Periodicals, Inc. [source] Complete robotic-assistance during laparoscopic living donor nephrectomies: An evaluation of 38 procedures at a single siteINTERNATIONAL JOURNAL OF UROLOGY, Issue 11 2007Jacques Hubert Objective: To evaluate our initial experience with entirely robot-assisted laparoscopic live donor (RALD) nephrectomies. Methods: From January 2002 to April 2006, we carried out 38 RALD nephrectomies at our institution, using four ports (three for the robotic arms and one for the assistant). The collateral veins were ligated, and the renal arteries and veins clipped, after completion of ureteral and renal dissection. The kidney was removed via a suprapubic Pfannenstiel incision. A complementary running suture was carried out on the arterial stump to secure the hemostasis. Results: Mean donor age was 43 years. All nephrectomies were carried out entirely laparoscopically, without complications and with minimal blood loss. Mean surgery time was 181 min. Average warm ischemia and cold ischemia times were 5.84 min and 180 min, respectively. Average donor hospital stay was 5.5 days. None of the transplant recipients had delayed graft function. Conclusions: Robot-assisted laparoscopic live donor nephrectomy can be safely carried out. Robotics enhances the laparoscopist's skills, enables the surgeon to dissect meticulously and to prevent problematic bleeding more easily. Donor morbidity and hospitalization are reduced by the laparoscopic approach and the use of robotics allows the surgeon to work under better ergonomic conditions. [source] Robotic-assisted single-incision laparoscopic partial cecectomyTHE INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, Issue 3 2010Madhu Ragupathi Abstract Background Single-incision laparoscopic surgery is an emerging approach in the field of minimally invasive colon and rectal surgery. This modality utilizes a ,scarless' incision concealed within the umbilicus, and results in improved cosmesis with the potential for reduced trauma, pain and length of hospital stay. However, unique technical challenges have curbed its adaptation. Robotic-assisted technique may help overcome these limitations when applied to the single-incision approach. Methods A robotic-assisted single-incision laparoscopic partial cecectomy was performed using the da Vinci® robot and the GelPOINTÔ access device. Modifications of the robotic set-up were utilized to optimize the technique. The robotic instruments were crossed below the abdominal wall to minimize internal conflict and maximize range of motion. Control of the robotic arms was reassigned on the robotic console to create a more intuitive surgical approach. The robotic camera was rotated and positioned vertically to reduce external conflict and enhance visualization. Results Robotic-assisted single-incision laparoscopic partial cecectomy was performed in a 53 year-old male without complication or need for conversion. The procedure required 120 min with an estimated blood loss of < 50 ml. Pathology revealed a sessile tubular adenoma of the cecum. The length of hospital stay was 2 days and no complications were encountered. The patient returned with a well-healed 2.5 cm incision and no postoperative complications at 6 weeks follow-up. Conclusions With appropriate modifications, robotic-assisted single-incision laparoscopic surgery may be applicable as a minimally invasive modality for partial colectomy. Further studies are warranted to establish the safety, efficacy, benefits, and limits of this technique. Copyright © 2010 John Wiley & Sons, Ltd. [source] Robotic-assisted single-incision right colectomy: early experienceTHE INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, Issue 4 2009Matthew B. Ostrowitz Abstract Background Application of laparoendoscopic single-site surgery (LESS) is increasing across surgical disciplines. In addition to the possibility of decreased postoperative pain, LESS offers better cosmesis with virtually ,scarless' surgeries, while avoiding the increased costs and complexity of natural orifice surgery. Instrument conflict minimization often requires the crossing of articulating instruments, which we believe can be more intuitively facilitated using the daVinci-S® robotic system. We describe our early experience with three robotic single-incision right hemicolectomies. Methods Three robotic single-incision right hemicolectomies were performed using the daVinci-S robotic system, utilizing a single 4 cm incision through or around the umbilicus. The procedure was performed using three robotic arms, a 12 mm camera and two 8 mm robotic ports. A medial to lateral approach was used and an extracorporeal resection and anastomosis was performed after undocking the robot. Results There were no intraoperative or postoperative complications. Average operative time was 152 min. The first case was converted to non-robotic single-incision right hemicolectomy during mobilization of the ascending colon, due to uncontrollable air leakage around the ports. The second and third cases were successfully completed without air loss by purse-stringing sutures around each individual port and the use of the SILSÔ port, respectively. Conclusions Robotic-assisted single-incision right hemicolectomy can be successfully and safely performed using the daVinci-S robotic system. Several techniques may be employed to prevent the loss of pneumoperitoneum. We believe right hemicolectomy lends itself to single-site surgery because specimen extraction requires a 4 cm incision and may confer patient benefit, with decreased postoperative pain and improved cosmesis. By crossing the robotic instruments and reassigning control of the arms, the robot represents a means to help perform these procedures safely by allowing them to be performed in a more intuitive fashion. Copyright © 2009 John Wiley & Sons, Ltd. [source] Assessment of Intraoperative Safety in Transoral Robotic Surgery,THE LARYNGOSCOPE, Issue 2 2006Neil G. Hockstein MD Abstract Introduction: Robotic technology has been safely integrated into thoracic and abdominopelvic surgery, and the early experience has been very promising with very rare complications related to robotic device failure. Recently, several reports have documented the technical feasibility of transoral robotic surgery (TORS) with the daVinci Surgical System. Proposed pharyngeal and laryngeal applications include radical tonsillectomy, base-of-tongue resection, supraglottic laryngectomy, and phonomicrosurgery. The safety of transoral placement of the robotic endoscope and instruments has not been established. Potential risks specific to the transoral use of the surgical robot include facial skin laceration, tooth injury, mucosal laceration, mandible fracture, cervical spine fracture, and ocular injury. We hypothesize that these particular risks of transoral surgery are similar with robotic assistance compared with conventional transoral surgery. Methods: To test this hypothesis, we attempted to intentionally injure a human cadaver with the daVinci Surgical System by impaling the facial skin and pharyngeal and laryngeal mucosa with the robotic instruments and endoscope. We also attempted to extract or fracture teeth and fracture the cadaver's mandible and cervical spine by applying maximal pressure and torque with the robotic arms. Experiments were documented with still and video photography. Results: Impaling the cadaver's skin and mucosa resulted in only superficial lacerations. Tooth, mandible, and cervical spine fracture could not be achieved. Conclusions: Initial experiments performing TORS on a human cadaver with the daVinci Surgical System demonstrate a safety profile similar to conventional transoral surgery. Additionally, we discuss several strategies to increase patient safety in TORS. [source] | |||||||||||||