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In this paper, a fixed-time control method is proposed for an uncertain robotic system with actuator saturation and constraints that occur a period of time after the system operation. A model-based control and a neural network-based learning approach are proposed under the framework of fixed-time convergence, respectively. We use neural networks to handle the uncertainty, and design an adaptive law driven by approximation errors to compensate the input deadzone. In addition, a new structure of stabilizing function combining with an error shifting function is introduced to demonstrate the robotic system stability and the boundedness of all error signals. It is proved that all the tracking errors converge into the compact sets near zero in fixed-time according to the Lyapunov stability theory. Simulations on a two-joint robot manipulator and experiments on a six-joint robot manipulator verified the effectiveness of the proposed fixed-time control algorithm. • A new error shifting function is designed for the proposed constraints. • A fixed-time control scheme integrates the input deadzone and system uncertainty. • Constraints are applied at some time after the start, instead of the beginning. • A novel structure of the Lyapunov stabilizing function is proposed. [ABSTRACT FROM AUTHOR]

• Learning bipedal walking though morphological development. • Formalization of different morphological development strategies. • Design and analysis of an engineering solution to improve robot learning through organized changes in their morphology. In living beings, the natural development of the body has been shown to facilitate learning. The application of these natural developmental principles in robotics have been considered in different robotic morphologies and scenarios, leading to mixed results. Development was found to be beneficial for learning in some instances, but also irrelevant or detrimental in others. This mix of results and scenarios has allowed researchers to extract some notions about the conditions that must be fulfilled or set to apply morphological development successfully. Notions that we have organized to set a series of design conditions to successfully apply morphological development. Thus, in this article, we are going to focus on the study of one of them that has been frequently addressed by researchers in their studies in very general terms. It can be described as the need to achieve a suitable synergy among the different components involved in the development and learning process: morphological development strategy, controller, task, and learning algorithm. In particular, we have concentrated on empirically determining the influence of five developmental strategies, implemented in different ways, applied at different speeds and deployed in different orders and combinations, over the problem of a NAO robot controlled by an artificial neural network obtained through a neuroevolutionary algorithm learning a bipedal walking task. The results obtained permit providing a more detailed description of what a suitable synergy implies and how it can be utilized to design more successful morphological developmental processes to improve robot learning. [ABSTRACT FROM AUTHOR]

To address instances when there is insufficient remnant tissue to perform revision following canal-deepening gender affirming vaginoplasty revisions as indicated by insufficient depth. Options for lining of the vaginal canal include skin grafts, peritoneal flaps, or intestinal segment. Our center uses robotically harvested peritoneal flaps in vaginal canal revisions. When the peritoneal flap is insufficient for full canal coverage, we use AlloDerm, an acellular dermal matrix, for additional coverage. Retrospective analysis of 9 patients who underwent revision RPV with AlloDerm was performed. Tubularized AlloDerm grafts were used to connect remnant vaginal lining to the peritoneal flaps. Revision indications, surgical and patient outcomes, and patient-reported post-op dilation were recorded. Nine patients underwent revision RPV using AlloDerm for canal deepening. Median follow-up was 368 days (Range 186-550). Following revision, median depth and width at last follow-up were 12.1 cm and 3.5 cm, and median increase in depth and width were 9.7 cm and 0.9 cm, respectively. There were no intraoperative complications. Two patients had focal areas of excess AlloDerm that were treated with in-office excision without compromise of the caliber or depth of the otherwise healed, epithelialized canal. AlloDerm is an off-the-shelf option that does not require a secondary donor site. The use of AlloDerm for a pilot cohort of patients lacking sufficient autologous tissue for revision RPV alone was demonstrated to be safe and effective at a median 1-year follow-up. [ABSTRACT FROM AUTHOR]

To assess the effectiveness of a peritoneal flap on the formation of lymphoceles after robotic assisted radical prostatectomy with bilateral extended pelvic lymph node dissection. We conducted a single surgeon, assessor blinded prospective randomized controlled trial (the Prospective Lymphocele Ultrasound Study) in men undergoing robotic assisted radical prostatectomy with bilateral extended pelvic lymph node dissection. At the conclusion of the node dissection, patients were block randomized 1:1 to either standard of care (no bladder peritoneal flap) or to the creation of a bladder peritoneal flap. Lymphocele formation was assessed by pelvic ultrasound postoperatively. The primary outcome was lymphocele formation. Rates of lymphocele formation and complications were analyzed using chi-square. Other outcomes, including length of stay, number of lymph nodes removed, lymphocele volume, and quality of life measures, were analyzed by t-tests or Wilcoxon Ranked Sum Tests, as appropriate. An a priori power calculation was performed using O'Brien–Fleming alpha sharing for the interim analyses. Two preplanned interim analyses were performed when 45 and 90 patients per group had follow-up ultrasounds. A statistically significant difference in lymphocele formation was seen on the second interim analysis for 183 patients (4.3% vs. 15.6%, p =.011) stopping enrollment; this remained significant in the final analysis of 216 patients (3.6% vs 14.2%, p =.006). No other significant differences were observed. This prospective randomized trial supports the implementation of this simple modification for robotic assisted radical prostatectomy with bilateral extended pelvic lymph node dissection. [ABSTRACT FROM AUTHOR]

[Display omitted] Imparting complex behaviors to soft robots generally entails complex designs and carefully engineered structures. As such, making soft structures with behaviors such as stiffening, bistability and rapid snapping deformations generally requires specialized solutions. This work introduces the use of short inflatable tubes that buckle under compression to realize behaviors such as self-stiffening, bistability and snap-through induced rapid deformations. These inflatable tubes have a nonlinear behavior resulting from these tubes having two stable states, the buckled and unbuckled states, and the complex transition between states which entails a snap-through buckling instability during the buckling transition, and a range of deformation where the tube is bistable as it is stable in either the buckled or unbuckled states. This work shows how the dimensions of the inflatable tubes affect this behavior and proposes a numerical model that can describe the entire cyclic behavior of buckling and unbuckling inflatable tubes. It is then demonstrated how simply connected multiple inflatable tube segments in series can be used to produce complex robotic behaviors. A soft robotic hand is demonstrated that uses the characteristics of unbuckling inflatable tubes for self-stiffening, and a grasping tool capable of slow or rapid motions by making use of the ability of serially connected inflatable tubes to transition from bistability to monostability. [ABSTRACT FROM AUTHOR]

This paper studies the adaptive neural networks (NNs) tracking control problem for a class of mobile robot systems with full-state constraints. First, to compensate for the adverse effects of the unknown dead-zone input, which is ubiquitous in mobile robot motors, a new robust control algorithm is put forward by the use of adaptive control technique. Then, a new unified barrier function (UBF) is constructed to deal with the problem of state constraints. Different from traditional barrier Lyapunov function (BLF) methods, which can only constrain the error of the system state and virtual controller, our proposed control method can constrain the system state directly by introducing a novel nonlinear transformation function and a new coordinate transformation. It's worth noting that the UBF can be utilized to deal with both constrained and unconstrained cases by resizing parameters without changing the control structure. Furthermore, adaptive NNs are introduced to approximate the uncertainty of the system. Finally, based on the Lyapunov stability theory, it is proved that all signals in the closed-loop system are ultimately bounded and the full-state constraints are never violated. The effectiveness of the control method is verified on simulation examples and a mobile robot experimental platform. [ABSTRACT FROM AUTHOR]

To compare the effects of using an Internet of things (IoT)-assisted tenodesis-induced-grip exoskeleton robot (TIGER) and task-specific motor training (TSMT) as home programs for the upper-limb (UL) functions of patients with chronic stroke to overturn conventional treatment modes for stroke rehabilitation. A randomized 2-period crossover study. A university hospital. Eighteen chronic stroke patients were recruited and randomized to receive either the IoT-assisted TIGER first or TSMT first at the beginning of the experiment (N=18). In addition to the standard hospital-based therapy, participants were allocated to receive a 30-minute home-based, self-administered program of either IoT-assisted TIGER first or TSMT first twice daily for 4 weeks, with the order of both treatments reversed after a 12-week washout period. The exercise mode of the TIGER training included continuous passive motion and the functional mode of gripping pegs. The TSMT involved various movement components of the wrist and hand. The outcome measures included the box and block test (BBT), the Fugl-Meyer assessment for upper extremity (FMA-UE), the motor activity log, the Semmes-Weinstein Monofilament test, the range of motion (ROM) of the wrist joint, and the modified Ashworth scale. Significant treatment-by-time interaction effects emerged in the results for the BBT (F(1.31)=5.212 and P =.022), the FMA-UE (F(1.31)=6.807 and P =.042), and the ROM of the wrist extension (F(1.31)=8.618 and P =.009). The participants who trained at home with the IoT-assisted TIGER showed more improvement of their UL functions. The IoT-assisted TIGER training has the potential for restoring the UL functions of stroke patients. [ABSTRACT FROM AUTHOR]

These resections require two transection planes with dissection of numerous inflow pedicles and hepatic vein outflow branches during parenchymal transection. Keywords: Robotic surgery; Central hepatectomy; Da Vinci; Hepatobiliary surgery; Minimally invasive surgery EN Robotic surgery Central hepatectomy Da Vinci Hepatobiliary surgery Minimally invasive surgery 407 410 4 03/02/23 20230201 NES 230201 Introduction Central liver tumors present a unique challenge to hepatobiliary surgeons and are often treated with extended hepatectomy. Methods Central hepatectomy was defined as resection of Couinaud segments 4, 5, and 8, and anterior sectionectomy was defined as resection of segments 5 and 8 (Figs. [Extracted from the article]

Lumbar lateral interbody fusion (LLIF) is traditionally performed in 2 stages: placing the interbody cage in the lateral decubitus position, then placing the percutaneous pedicle screw in the prone position. Performing interbody fusion and posterior fixation simultaneously could improve operative efficiency and clinical outcomes associated with longer operative times. We describe the operative steps and report clinical and radiographic outcomes associated with a simultaneous anterior and posterior approach (SAPA) for LLIF. Patients who underwent SAPA LLIF performed by a single surgeon over 1 year were retrospectively reviewed. Demographic, clinical, and radiographic data were analyzed, an operative guideline was created, and a learning curve was constructed using operative times. SAPA LLIF was performed in 11 patients. Three patients experienced transient postoperative femoral nerve plexopathy with symptoms of ipsilateral hip flexion weakness and/or anterior thigh numbness; there were no other complications in the cohort. Radiographically, patients achieved significant increases in disc height (8.3 mm vs. 13.5 mm, P = 0.002) and foraminal height (20.2 mm vs. 25.3 mm, P = 0.0001). Patients showed significant improvements in Oswestry Disability Index (52 vs. 27.8, P = 0.002) and Patient-Reported Outcome Measurement Information System Physical Function (32.6 vs. 39, P = 0.048) and Pain Interference (64.9 vs. 59.6, P = 0.001) at 3 months. A downward trend in operative time was observed for 1-level SAPA LLIF. SAPA LLIF is a safe approach for LLIF that results in favorable clinical outcomes. This technique can potentially improve operative efficiency further along the course of a surgeon's learning curve. [ABSTRACT FROM AUTHOR]

Robotic on-orbit servicing presents the opportunity for repairing and refueling satellites and deorbiting space objects. Performing such tasks is challenging because they must be done autonomously and accurately with high robustness. Ground testing, such as air-bearing-based spacecraft simulators, is widely used to develop and validate the design and control techniques of space robotics required by modern spacecraft applications. This paper presents the development of planar air-bearing microgravity simulators with a 3-DOF robotic manipulator for autonomous spacecraft tracking, rendezvous, and capture control of a free-floating target. The system includes a pseudo-galactic star tracking system for pose determination and navigation of spacecraft simulators. A second optical tracking module was also developed to determine the pose of a target spacecraft relative to the chaser spacecraft. Path planning and PD trajectory tracking algorithms were developed for spacecraft tracking and rendezvous. The experiments successfully demonstrated that the testbed could be used to study autonomous spacecraft rendezvous and capture a tumbling spacecraft by a robotic manipulator in a space-like testing environment. • Developed air-bearing spacecraft simulators for spacecraft rendezvous control. • Developed air-bearing lifted robotic manipulator for capturing a spinning target. • Tested autonomous path planning and autonomous robotic capture by the system. [ABSTRACT FROM AUTHOR]

Navigated and robotic pedicle screw placement systems have been developed to improve the accuracy of screw placement. However, the literature comparing the safety and accuracy of robotic and navigated screw placement with fluoroscopic freehand screw placement in thoracolumbar spine surgery has been limited. To perform a systematic review and meta-analysis of randomized control trials that compared the accuracy and safety profiles of robotic and navigated pedicle screws with fluoroscopic freehand pedicle screws. Systematic review and meta-analysis Only randomized controlled trials comparing robotic-assisted or navigated pedicle screws placement with freehand pedicle screw placement in the thoracolumbar spine were included. Odds ratio (OR) estimates for screw accuracy according to the Gertzbein-Robbins scale and relative risk (RR) for various surgical complications. We systematically searched PubMed and EMBASE for English-language studies from inception through April 7, 2022, including references of eligible articles. The search was conducted according to PRISMA guidelines. Two reviewers conducted a full abstraction of all data, and one reviewer verified accuracy. Information was extracted on study design, quality, bias, participants, and risk estimates. Data and estimates were pooled using the Mantel-Haenszel method for random-effects meta-analysis. A total of 14 papers encompassing 12 randomized controlled trials were identified (n=892 patients, 4,046 screws). The pooled analysis demonstrated that robotic and navigated pedicle screw placement techniques were associated with higher odds of screw accuracy (OR 2.66, 95% CI 1.24–5.72, p=.01). Robotic and navigated screw placement was associated with a lower risk of facet joint violations (RR 0.09, 95% CI 0.02–0.38, p<.01) and major complications (RR 0.31, 95% CI 0.11–0.84, p=.02). There were no observed differences between groups in nerve root injury (RR 0.50, 95% CI 0.11–2.30, p=.37), or return to operating room for screw revision (RR 0.28, 95% CI 0.07–1.13, p=.07). These estimates suggest that robotic and navigated screw placement techniques are associated with higher odds of screw accuracy and superior safety profile compared with fluoroscopic freehand techniques. Additional randomized controlled trials will be needed to further validate these findings. [ABSTRACT FROM AUTHOR]

Space robots play a significant role in on-orbit capture, space structure construction, and assembly tasks. Since the robotic arms are attached to a free-floating satellite, the motion of the manipulator in such tasks and the satellite are coupled. Multiple-arm space robots can perform complex cooperative tasks and are superior to single-arm space robots. Current work proposes a reactionless manipulation algorithm for a multi-robotic arm based on the iterative Newton–Euler method for space robots with many task and balance arms. The present work demonstrates two tasks and one balance arm to perform a reactionless handshake maneuver in space. This maneuver is presented in detail for a planar and spatial case. The planar case uses 3 DoF robotic arms, while the spatial case uses 6 DoF robotic arms. In addition, the balance arm has been designed considering the efficient usage of energy satisfying reactionless manipulation concept. The design procedure focuses on minimizing energy used during the motion of the balance arm for a known motion of task arms using a genetic algorithm. Moreover, computational experiments are conducted to validate the use of the genetic algorithm for optimization. The results of proposed reactionless manipulation algorithm have been validated with the results available in the literature for the spatial case that uses a different method. In the future, an energy-efficient balance arm will be designed to handle tumbling objects. [ABSTRACT FROM AUTHOR]

Despite advances in miniaturization and automation, the need for expert acquisition of a full echocardiogram, including Doppler, has restricted access in remote areas. Recent developments in robotics, teleoperation, and upgraded telecommunications infrastructure may provide a solution to this deficiency. Robot-assisted teleoperated ultrasound examination can aid medical diagnosis in remote locations and may improve health inequalities between rural and urban settings. This review aimed to analyze the status of teleoperated robotic systems for ultrasound examinations, evaluate clinical and preclinical applications, identify limitations, and outline future directions for clinical use. Overall, robot-assisted teleoperated ultrasound is feasible and safe in the reported clinical and preclinical studies, with the robots able to follow the hand movements performed by sonographers and researchers from a distance or in local networks. Moreover, multiple types of ultrasound examinations have been performed in remote areas, with a high success rate nearly comparable to that of conventional sonography. The studies showed that although a low-bandwidth link can be used to control a robot, the bandwidth requirements for real-time transmission of video and ultrasound images are significantly higher. Furthermore, if haptic feedback is implemented, the bandwidth requirements are increased. Haptically enabled systems that improve robotic control are necessary for accelerating the introduction to clinical use. Haptic feedback and enhanced front-end interface control for remote users are vital aspects required for clinical application. The incorporation of artificial intelligence through either aiding in window acquisition (knowledge of anatomical landmarks to adjust scanning planes) or through measurement and disease identification is yet to be researched. However, it has the potential to lead to dramatic advances. A new generation of robots is in development, and several projects in the preclinical stage reveal a promising future to overcome the shortage of health professionals in remote areas. [Display omitted] • The need for expert acquisition of a full echocardiogram, including Doppler, has compromised access to care in remote areas. • Improving rural internet infrastructure opens the clinical application of RAUS, although limitations exist in the translation of preclinical to clinical work in this field. • The adoption of AI, improvements in haptic feedback, and commercialization of products are needed to translate work from bench to bedside. [ABSTRACT FROM AUTHOR]

Manual removal of burrs on castings introduces health, safety, and environmental concerns. Automated removal of highly variable casting burrs could improve safety, but requires a solution based on robots, smart sensors, and advanced algorithms to tackle the problem in a flexible and cost-effective way. This paper presents a system for automatic tool trajectory generation for robotic deburring of cast parts with a specific focus on the robotic tool trajectory generation algorithm. The system generates a robotic trajectory adapted to the specific workpiece based on CAD model and 3D scans of the workpiece. The registered 3D scans and CAD model is used to generate a 3D model of each individual workpiece. This is fed into the tool trajectory generation algorithm. The algorithm uses the generated 3D model as well as a priori knowledge of the casting process to generate the tool trajectory. The tool trajectory planning algorithm has been tested on a set of various 3D models of cast parts, and the generated robotic tool path has been both simulated and tested on a KUKA KR 60. [ABSTRACT FROM AUTHOR]

The quantity of waste generated is increasing daily, demanding an intelligent waste management system for effective and timely solutions. Pollution induced by garbage has been one of the major problems globally for a long time. The unawareness among people about waste disposal causes a threat to living things and creates a major risk for sanitation workers during waste collection, sorting, and recycling. A method is proposed for real-time automatic waste material detection and segregation for easier recycling. The proposed approach uses the State-of-art deep learning architecture Mask RCNN to locate and classify waste objects from the natural environment. Further, the geometric features like centroid, orientation, and the clamping points of the objects are extracted to aid the robotic arm in grasping the waste object. Methods are investigated for ordering the objects in the scene for the energy-efficient automated system. The technique can be adapted into robotic machines for waste management to sort the waste on the road pavements and streets, providing safety, productivity, and reducing the risk on the sanitation workers. [ABSTRACT FROM AUTHOR]

Acceleration tracking is a significant problem in aeronautics, automotive, and biomedical technical areas because its solution may yield effective simulation of motion cues. In the case of aeronautics, the proper solution for the tracking problem improves the in-flight simulations for the training of plane pilots. These simulators can be set up using robotic devices that develop controlled motions with the end-effector following the required three-dimensional reference accelerations robustly. Hence, the primary goal of this study is the effective application of the integral sliding mode controller to solve the acceleration tracking problem for the end-effector of a two-link robotic arm. The control design problem is formulated as an optimization of a convex (non-strict) performance functional depending on the difference between the acceleration of the robotic arm and the desired acceleration using the averaged sub-gradient (ASG) descendant method. A novel sliding surface considers the sensitiveness threshold for acceleration dynamics, inspired by the limit of detection in the pilot vestibular apparatus. The proposed controller was analyzed in terms of the finite-time convergence of the sliding surface and the practical stability analysis for the tracking error dynamics. Our main contribution is the design of the online averaged sub-gradient optimization controller based on integral SMCs. The controller solves the end-effector acceleration tracking for a two-link robotic arm, which implements a simplified version of a flight simulator that is considered to be operated under uncertain scenarios and assumes the presence of perturbations and modeling errors. The controller considers the case of incomplete knowledge of the robotic arm model, which adds an extra degree of robustness to the control design. The numerical evaluations demonstrate the attributes of the ASG formulation compared to traditional state feedback control, using the performance functional, the norm of the acceleration tracking error, and the control input variation • In the case of aeronautics, the proper solution for the tracking problem improves the in-flight simulations for the training of plane pilots. • The application of the integral sliding mode control solves the acceleration tracking problem for the end-effector of a two-link robotic arm. • The control design problem is formulated as an optimization of a convex (non-strict) performance functional. • A novel sliding surface considers the sensitiveness threshold for acceleration dynamics, based on the pilot vestibular apparatus. • The proposed control provides a finite-time convergence of the sliding surface and practical stability analysis for tracking error. robustness for the control design. [ABSTRACT FROM AUTHOR]

• Vibration of 6 kinds of PV module under robot cleaning were measured. • A module's size was the dominant factor in how much it vibrated. • A module's frame and glass thickness had little influence on its vibration. • Overall the amount of vibration by robot cleaning was small – less than 1 mm. • Strong wind caused more severe module vibrations than the cleaning robot. • Large-format modules and robots that run on the modules may present greater vibration risk. Automatic PV cleaning machines ("robots") are becoming widely used in desert regions. The motion of the robot and its brushing action can vibrate the PV modules being cleaned. This study measured the vibration of six different kinds of PV module, excited by a single kind of commercial cleaning robot. The robot's brushes were straight, rather than helical, which imparted a periodic excitation to the modules at approximately 7 Hz. For comparison, module vibration by strong wind was also measured. It was found that (i) among similar-sized PV modules, the amount of vibration was largely independent of the module construction (glass thickness and frame), (ii) modules tended to vibrate at their natural frequency rather than the brush (excitation) frequency, and (iii) the module deflection range by robot cleaning was approximately 0 mm upward to 1 mm downward, while in strong wind it was approximately 2 mm upward to 1 mm downward. In this study, which used modules up to 2 × 1 m, the particular cleaning robot did not cause significant vibration, however as commercial modules become larger they may also become more flexible and prone to larger deflections. [ABSTRACT FROM AUTHOR]

Human society cannot afford the luxury of the business-as-usual approach when dealing with the emerging challenges of the 21st century. The challenges of food production to meet the pace of population growth in an environmentally-sustainable manner have increased considerably, emphasizing the need to explore newer approaches to agriculture. Agrochemical-based agricultural practices are known to have serious environmental and health implications. Even conventional organic farming is not sustainable in the long run. Although some "age-old" practices are useful, these will not help feed more people on the same or less land more sustainably. Sustainable intensification is the way forward. There is a need to incorporate a customer-centric outlook and make the organic system sustainable. Here, we bring forth the necessity to enhance the efficiency of organic agriculture by the inclusion of robotics and agrochemical-free GM seeds. Such an organic-GM hybrid agriculture system integrated with the use of artificial intelligence (AI) based technologies will have better energy efficiency. The produce from such a system will offer consumers a 'third' choice and create a new food label, 'organically-grown GM produce'. • Policy-makers need to make immediate well-balanced decisions on food and environmental challenges. • We need to shape the food systems for pandemics, like COVID-19. • The polarizing debate on GM crops versus organic crops is similar to the paradox of 'prisoner's dilemma.' • Governments can solve the dilemma only if the rewards of cross-fertilization of ideas are shared with society openly. • Cultivating GM crops organically, assisted by robotics and artificial intelligence, will provide consumers with an environmentally sustainable third choice of chemical-free produce. • This third choice can be popularized under a new food label 'organically-grown GM produce'. • Healthy diets with sustainability considerations will reduce the hidden costs related to health (SDG 3) and climate change (SDG 13), generating vital synergies with other SDGs. [ABSTRACT FROM AUTHOR]

F Pre- and Postoperative esophagogram, diverticulum (black arrow) and no remnant lesion (white arrow) Results The patients included six men and one woman with a mean age of 67.7 years (range: 52-81 years). Postoperative esophagogram revealed the absence of remnant diverticulum or fluid leakage in all patients during the mean follow-up period of 21.4 months (range: 10-48 months). Zenker's diverticulum (ZD) is an outpouching of the mucosa through the weakened hypopharyngeal wall. [Extracted from the article]

Objective: To report the preliminary surgical outcomes for single incision robotic cystectomy (SIRC). Robotic cystectomy is associated with low utilization rates of orthotopic neobladders due to challenges related to intracorporeal sowing and configuration. A new technique that shortens the learning curve and reduces the incisional footprint may improve outcomes and lead to greater utilization of neobladders.Methods: Patients undergoing SIRC using the Da Vinci Single Port (SP) robot between March 2021 and March 2022 are included in this retrospective study. We report 30-day perioperative outcomes and test the hypothesis that patients undergoing SIRC have lower analgesic requirements by comparing them to a cohort of patients for whom SIRC was attempted but converted to open during the study period.Results: Forty-one patients underwent SIRC, with 17 (41%) patients undergoing conversion to open. Of the SIRC patients, 50% underwent orthotopic neobladder reconstruction, and 13% underwent concomitant nephroureterectomy or urethrectomy. The median operative time was 480 minutes, and the median length of hospitalization was 7 days. Seventeen percent required readmission to the hospital, 17% developed small bowel obstruction or ileus, and 13% required a blood transfusion. With respect to analgesic requirements, there were no differences in the median morphine milligram equivalents between the 2 cohorts (SIRC: 81.4; converted: 77.0; P = .64).Conclusion: We demonstrate that SIRC is safe and feasible with a high neobladder utilization rate. Wider adoption of this technique may lead to greater utilization of neobladders for patients undergoing robotic cystectomy. [ABSTRACT FROM AUTHOR]

Deep reinforcement learning has shown useful in the field of robotics but the black-box nature of deep neural networks impedes the applicability of deep reinforcement learning agents for real-world tasks. This is addressed in the field of explainable artificial intelligence, by developing explanation methods that aim to explain such agents to humans. Model trees as surrogate models have proven useful for producing explanations for black-box models used in real-world robotic applications, in particular, due to their capability of providing explanations in real time. In this paper, we provide an overview and analysis of available methods for building model trees for explaining deep reinforcement learning agents solving robotics tasks. We find that multiple outputs are important for the model to be able to grasp the dependencies of coupled output features, i.e. actions. Additionally, our results indicate that introducing domain knowledge via a hierarchy among the input features during the building process results in higher accuracies and a faster building process. [ABSTRACT FROM AUTHOR]

Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb amputations. While the design of lower-limb prostheses is important, this paper focuses on the complementary challenge—the control of lower-limb prostheses. Specifically, we focus on powered prostheses, a subset of lower-limb prostheses, which utilize actuators to inject mechanical power into the walking gait of a human user. In this paper, we present a review of existing control strategies for lower-limb powered prostheses, including the control objectives, sensing capabilities, and control methodologies. We separate the various control methods into three main tiers of prosthesis control: High-level control for task and gait phase estimation, mid-level control for desired torque computation (both with and without the use of reference trajectories), and low-level control for enforcing the computed torque commands on the prosthesis. In particular, we focus on the high- and mid-level control approaches in this review. Additionally, we outline existing methods for customizing the prosthetic behavior for individual human users. Finally, we conclude with a discussion on future research directions for powered lower-limb prostheses based on the potential of current control methods and open problems in the field. [ABSTRACT FROM AUTHOR]

So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated complementarity Lagrangian systems, with a specific structure: an "object" and a "robot". Only the robot is actuated. The object dynamics can thus be controlled only through the action of the contact Lagrange multipliers, which represent the interaction forces between the robot and the object. Juggling, walking, running, hopping machines, robotic systems that manipulate objects, tapping, pushing systems, kinematic chains with joint clearance, crawling, climbing robots, some cable-driven manipulators, and some circuits with set-valued nonsmooth components, belong this class. This article aims at presenting their main features, then many application examples which belong to the robot–object class, then reviewing the main tools and control strategies which have been proposed in the Automatic Control and in the Robotics literature. Some comments and open issues conclude the article. [ABSTRACT FROM AUTHOR]

Pet robots are technology-based substitutes for live animals that have demonstrated psychosocial benefits for people living with dementia in long-term care. However, little research has been conducted to understand how pet robots should be implemented in routine care. This study aims to identify, contextualize, and achieve expert consensus on strategies to implement pet robots as part of dementia care in long-term care facilities. A 2-round modified Delphi study. An international panel of 56 experts from 14 countries, involving care professionals, organizational leaders, and researchers. A list of potentially relevant strategies was identified, contextualized, and revised using empirical data and through stakeholder consultations. These strategies constituted statements for Round 1. Experts rated the relative importance of each statement on a 9-point scale, and free-text fields allowed them to provide justifications. Consensus was predefined as ≥75% agreement. Statements not reaching an agreement were brought forward to Round 2. Quantitative data were analyzed using descriptive statistics, and textual data were analyzed using inductive content analysis. Thirteen strategies reached consensus; 11 were established as critical: (1) assess readiness and identify barriers and facilitators, (2) purposely reexamine the implementation, (3) obtain and use residents' and their family's feedback, (4) involve residents and their family, (5) promote adaptability, (6) conduct ongoing training, (7) conduct educational meetings, (8) conduct local consensus discussions, (9) organize clinician implementation team meetings, (10) provide local technical assistance, and (11) access new funding. Other strategies received differing extents of agreement. Reasons for variations included contextual differences, such as resource availability, organizational structures, and staff turnover. This study identified the most relevant strategies that can be used by technology developers, care providers, and researchers to implement pet robots in long-term care facilities for dementia care. Further development, specification, and testing in real-world settings are needed. [ABSTRACT FROM AUTHOR]

The application of robot-assisted laparoscopic telesurgery for radical nephrectomy is feasible and safe. Telesurgery has much potential for development in urology. The demand for telesurgery is rising rapidly, but robust evidence regarding the feasibility of its application in urology is still rare. From March to October 2021, a surgeon-controlled surgical robot in a tertiary hospital in Qingdao was used to remotely conduct robot-assisted laparoscopic radical nephrectomy (RN) in 29 patients located in eight primary hospitals. The median round-trip delay was 26 ms (interquartile range [IQR] 5) and the median distance between the primary hospital and the surgeon was 187 km (IQR 57). Both the master unit and the slave unit were guaranteed by network and mechanical engineers, and surgical assistants were well prepared on the patient side to prevent complications. The primary evaluation metric was the success rate, defined as the percentage of patients who underwent successful remote RN without conversion to other surgical procedures and no major intraoperative or postoperative complications. The results demonstrate that the combination of 5G technology and surgical robots is a novel potential telemedicine-based therapy choice for renal tumors. Our study shows that telesurgery using 5G technology is a safe and feasible treatment option for patients with kidney tumors. The total delay between the remote location and the operating rooms where surgery was being performed was just 200 ms. This approach could reduce health care costs and improve the quality of medical services accessed by patients. [ABSTRACT FROM AUTHOR]

What is the effect of Bobath therapy on arm activity and arm strength compared with a dose-matched comparison intervention or no intervention after stroke? Systematic review of randomised trials with meta-analysis. Adults after stroke. Bobath therapy compared with no intervention or other interventions delivered at the same dose as the Bobath therapy. Arm activity outcomes and arm strength outcomes. Trial quality was assessed with the PEDro scale. Thirteen trials were included; all compared Bobath with another intervention, which were categorised as: task - specific training (five trials), arm movements (five trials), robotics (two trials) and mental practice (one trial). The PEDro scale scores ranged from 5 to 8. Pooled data from five trials indicated that Bobath therapy was less effective than task-specific training for improving arm activities (SMD –1.07, 95% CI –1.59 to –0.55). Pooled data from five trials indicated that Bobath therapy was similar to or less effective than arm movements for improving arm activities (SMD –0.18, 95% CI –0.44 to 0.09). One trial indicated that Bobath therapy was less effective than robotics for improving arm activities and one trial indicated similar effects of Bobath therapy and mental practice on arm activities. For strength outcomes, pooled data from two trials indicated a large benefit of task-specific training over Bobath therapy (SMD –1.08); however, this estimate had substantial uncertainty (95% CI –3.17 to 1.01). The pooled data of three trials indicated that Bobath therapy was less effective than task-specific training for improving Fugl-Meyer scores (MD –7.84, 95% CI –12.99 to –2.69). The effects of Bobath therapy relative to other interventions on strength outcomes remained uncertain. After stroke, Bobath therapy is less effective than task-specific training and robotics in improving arm activity and less effective than task-specific training on the Fugl-Meyer score. PROSPERO CRD42021251630. [ABSTRACT FROM AUTHOR]

Due to emerging developments in sports games, the usage of bio-ankle sensors has been growing progressively. Whereas, Internet of Medical Things (IoMT) is an emerging network that boosts bio-inspired sensors' performances onto the fog-cloud network. However, a sequence of processes is required to complete the healthcare process for one sportsman. Therefore, workflow-enabled bio-inspired sensors tasks scheduled in IoMT postures different challenges. For instance, cost-efficient scheduling, security, and data validation in distributed hospitals to share their data. In this paper, we devise bio-inspired robotics-enabled schemes in the blockchain-fog-cloud-assisted IoMT environment. The goal is to minimize execution cost and blockchain of applications. Based on the proposed system, the study devises bio-inspired robotics function blockchain task scheduling (BIR-FBTS) schemes, determining the optimal assignment of tasks to the available nodes. The simulation results show that the proposed methods minimized 50% of the service cost and 40% of mined cost in the system compared to all existing bio-inspired healthcare systems. [ABSTRACT FROM AUTHOR]

Artificial Intelligence has massive potential for improving recycling processes. This mini-review article investigates how robots and artificial intelligence can be used to sort plastics for improved recycling processes. The first focus is identifying plastic from municipal waste (from household and household-type industries) through the integration of computer vision and sensor fusion. The next step uses this data to increase the yield of already existing automated sorting plants. The second focus addresses the processes. Here, classic methods of automation analysis are applied to develop micro-automation solutions for the plastic recycling industry, for example, by using collaborative robots. As manual sorting stations are currently part of the plant, the project targets the intelligent assistance of human workers by directly highlighting relevant objects through data in the sorting process. Finally, as a third focus, a "cockpit" for the data in the entire process is envisioned to facilitate human supervision and informed decision-making. This paper provides an overview of the current state of the art and formulates concrete usage scenarios. When real applications are built for developed scenarios, the development and implementation steps must be accompanied by a continuous life cycle and cost analysis to evaluate the ecological and economic impact. As part of an overall responsible research and innovation approach, social aspects and rebound effects need also be the subjects of investigation. [ABSTRACT FROM AUTHOR]

Human-Robot Collaboration (HRC) has played a pivotal role in today's human-centric smart manufacturing scenarios. Nevertheless, limited concerns have been given to HRC uncertainties. By integrating both human and artificial intelligence, this paper proposes a Collaborative Intelligence (CI)-based approach for handling three major types of HRC uncertainties (i.e., human, robot and task uncertainties). A fine-grained human digital twin modelling method is introduced to address human uncertainties with better robotic assistance. Meanwhile, a learning from demonstration approach is offered to handle robotic task uncertainties with human intelligence. Lastly, the feasibility of the proposed CI has been demonstrated in an illustrative HRC assembly task. [ABSTRACT FROM AUTHOR]

Robotic machining is suitable for large-scale workpieces due to its high degrees of freedom, large working space, small footprint, and low cost. These benefits must be maintained even when cutting forces increase. To improve machining productivity without changing the size of the robot, a cable-assisted robotic system enables higher stiffness in which multiple tensioned cables are connected parallel to the end-effector of the robot. The dynamic analysis shows that its overall compliance can be increased by the cable system. The milling tests reveal that tensions from cables can suppress chatter vibrations. [ABSTRACT FROM AUTHOR]

• There is a need for new studies in stroke cases that are quite chronic. • It may be beneficial to support subjective evaluations used in stroke rehabilitation with objective evaluations such as electrophysiological measurements. • The robotic rehabilitation system has some advantages, such as providing high repetitive activities, compared to the traditional rehabilitation approaches. • In stroke rehabilitation, it should be aimed to transfer the gains obtained after the treatment to daily life. To investigate the effect of electromyography (EMG)-driven robotic therapy on the recovery of the hand in a stroke case lasting 9 years. An 18-year-old patient with hemiparesis due to the ischemic lesion was admitted to our clinic with hand impairment. Fifteen sessions (5 weeks x 3 times) of robotic rehabilitation were applied with the Hand of Hope. Average EMG (mV) of flexor digitorum superficialis (FDS) muscle, average force (N) and the rate of force development (RFD)(N /s) were also assessed before and after the treatment following the 5th and 10th sessions and at the end of treatment. Also, Fugl-Meyer Assessment of Upper Extremity Scale (FMU-UE), Motor Activity Log (MAL), Canadian Occupational Performance Score (COPM) and Visual Analog Scale (VAS) were used for assessment before and after the treatment. The average EMG measured from FDS increased from 0.093-0.133 mV. The average force and average RFD increased from 45.6-97.7 and from 135.6-172.6 respectively. While affected and/or unaffected side force ratio increased dramatically from 54%-82%, the FMA-UE score increased from 56-59. The MAL quality of use score increased from 3.93-4.13. Performance and satisfaction scores of COPM changed from 5.25-7.25 and 4.5-8.25 respectively. VAS score for fatigue changed from 6 to 4. The improvement achieved 9 years later with 15 sessions of rehabilitation suggests that improvement may be possible for chronic stroke patients. [ABSTRACT FROM AUTHOR]

Functional outcomes after robotic and laparoscopic Intersphincteric resections (ISR) have not been studied adequately. We aimed to compare the bowel functions after robotic or laparoscopic ISR. Single-center, cross-sectional study of minimally invasive ISR. Functional outcomes were assessed on the low anterior resection syndrome (LARS), Wexner incontinence scale, and the Kirwan grading. Baseline characteristics (age, sex, body mass index, T stage, tumour height, preoperative radiation, and anastomotic configuration) in the groups were balanced using inverse probability of treatment weighting (IPTW). Functional outcomes were assessed for 132 patients, 85 laparoscopic and 47 robotic ISR were performed. After IPTW, baseline characteristics were well balanced (mean deviation <0.1). In the weighted cohorts of laparoscopic and robotic ISR, major LARS was observed in 18.1% and 18.5% (p – 0.182) and major incontinence on the Wexner scale in 18.4% and 22.8% (p – 0.443), respectively. The Kirwan grades of incontinence were also similar between the groups (p – 0.794). No differences in bowel functions on the LARS and incontinence scales between laparoscopic and robotic ISR were found in the present study. [ABSTRACT FROM AUTHOR]

The future of robotics relies heavily on the ongoing synergy between robotic surgery and artificial intelligence. To unlock their full potential, we should address issues such as accessibility, education, data privacy, and ethics. [ABSTRACT FROM AUTHOR]

Objective: To report perioperative and postoperative outcomes in men who undergo salvage RASP (sRASP) following some other endoscopic outlet procedure for benign prostate enlargement (BPE) compared to those undergoing RASP for primary treatment (pRASP).Methods: A prospectively maintained database consisting of all RASP surgeries (December 2014-October 2019) performed at our institution by 3 different urologists was used. Patients who had received an endoscopic procedure for BPE prior to their RASP (sRASP) were compared to those who had not had a prior outlet procedure (pRASP).Results: In total, 310 men underwent RASP during the study period. Of those, 30 (9.7%) had undergone an endoscopic procedure prior to surgery. There were no significant differences in age, race, ASA, BMI, prostate volume, PSA or rates of preoperative retention (P> .05 for all). Men who were treatment-naive had significantly higher preoperative International Prostate Symptom Scores (IPSS) than men who had a prior procedure (18.3 ± 7.7 vs 13.6 ± 6.2, P = .008). However, there were no significant differences in functional or quality of life outcomes between the 2 groups (P > .05 for all). There were no significant differences in perioperative or post-operative outcomes between the 2 groups. Furthermore, rates of post-operative complications and incontinence were similar between groups (11% vs 10%, P = .9 and 2% vs 0%, P = 1 respectively).Conclusion: Performing a RASP after prior endoscopic procedure for BPE was found to be safe and effective. Success and complication rates were similar to patients with no prior procedures. [ABSTRACT FROM AUTHOR]

Accurate relative pose estimation of a spacecraft during space landing operation is critical to ensure a safe and successful landing. This paper presents a 3D Light Detection and Ranging (LiDAR) based AI relative navigation architecture solution for autonomous space landing. The proposed architecture is based on a hybrid Deep Recurrent Convolutional Neural Network (DRCNN) combining a Convolutional Neural Network (CNN) with an Recurrent Neural Network (RNN) based on a Long–Short Term Memory (LSTM) network. The acquired 3D LiDAR data is converted into a multi-projected images and feed the DRCNN with depth and other multi-projected imagery. The CNN module of the architecture allows an efficient representation of features, and the RNN module, as an LSTM, provides robust navigation motion estimates. A variety of landing scenarios are considered, simulated and experimented to evaluate the efficiency of the proposed architecture. A LiDAR based imagery data (Range, Slope, and Elevation) is initially created using PANGU (Planet and Asteroid Natural Scene Generation Utility) software and an evaluation of the proposed solution using this data is conducted. Tests using an instrumented Aerial Robot in Gazebo software to simulate landing scenarios on a synthetic but representative lunar terrain (3D digital elevation model) is proposed. Finally, real experiments using a real flying drone equipped with a Velodyne VLP16 3D LiDAR sensor to generate real 3D scene point clouds while landing on a designed down scaled lunar moon landing surface are conducted. All the test results achieved show that the suggested architecture is capable of delivering good 6 Degree of Freedom (DoF) pose precision with a good and reasonable computation. • Effective feature representation due to the adoption of the CNN module. • The RNN (LSTM) module provides a robust and efficient modelling of the navigation kinematics. • The hybrid network is flexible to train and test on different data modalities. [ABSTRACT FROM AUTHOR]

Mapping is the key technology of the robot slam algorithm, mainly used to obtain environmental geometric information. How to effectively improve the ability to obtain semantic information on the map becomes essential. Salient object segmentation with depth can be used as a kind of salient semantic information that helps the robot better understand the environment. This paper put forward a consistent salient determination method based on visual and lidar images for complementary advantages. Our method is based on the simple information fusion of the two sensors' salient object key features, including approximate centroids and contour widths. Theoretical analysis and experimental results demonstrate that the proposed method has the advantage of strong illumination robustness and can work under weak light conditions, which can solve the task in the visual image when the front salient object blocks the back salient object. It can be used to detect salient objects with approximate size in indoor and outdoor sparse scenes. The detected salient objects can be used as semantic labeling labeled in the environment and as the relative position reference for helping the robot improve the accuracy of mapping, positioning, and planning the motion more intelligently. [ABSTRACT FROM AUTHOR]

Robots are most widely used to replace human contribution with machine generated response. When humans interact with robots, its mandatory for both to forecast actions based on current conditions. Huge efforts have been channelized towards attaining this perfect coordination. To decipher complex environments, the inference of robotic mobility and alteration of random unstructured scenarios is a complicated task in the field of visual processing and imaging. To address this issue, a new Vision-Based Interaction Model based on deep neural networks has been suggested. The proposed model solves the error amplification issue by the application of past inputs through features as reposed by a Deep Belief Network (DBN). In addition, a novel Vision-Based Robotics Learning model is also proposed for scene understanding and recognition using deep neural network understanding. Moreover, a vision theory-based smart learning algorithm is also suggested to decide positive possible outcomes.Therefore, the model is capable of using object motions to extract relevant information used for Turning, Griping and object mobility.To validate the suggested model, a number of experiments have been performed on benchmark datasets and it showed a higher performance as evaluated against some of the niche methods. [ABSTRACT FROM AUTHOR]

• Several robotic percutaneous coronary intervention (R-PCI) cohort studies show high technical success rates with minimal conversion. • R-PCI is associated with reduced contrast volume and fluoroscopy time. • Increased adoption of R-PCI could make it part of standard practice in the future. : Robotic percutaneous coronary intervention (R-PCI) is a promising medical procedure being used in clinical settings, which is thought to produce superior clinical and technical outcomes compared to the traditional manual approach. We performed a systematic review and meta-analysis to compare R-PCI to manual PCI (M-PCI). : A systematic literature search was performed using Pubmed, Medline (Ovid), Google Scholar, SCOPUS, and Embase from inception until the end of August 2021. Keywords used were ''Robotic PCI" and ''Robotic angioplasty." Twenty studies were included for the qualitative analysis and seven for the pooled meta-analyses. : There was no significant difference between R-PCI and M-PCI groups in terms of clinical success (risk ratio: 1.01, 95% CI: 0.99-1.02, p =0.45) and procedure time (mean difference: 4.55, 95% CI: 0.08-9.02, p =0.05). Both contrast volume (mean difference: -15.27, 95% CI: -22.37 - -8.18, p <0.0001) and fluoroscopy time (mean difference: -1.26, 95% CI: -2.37 - -0.16, p =0.03) were significantly lower in the R-PCI group. Technical success rates in all studies were equal to or greater than 70% (mean: 93.1, SD: 7.8), with four studies reporting 100% success rates. : Given the comparable clinical short-term safety of R-PCI to that of M-PCI and the high technical success rates across several large, high-quality cohort studies, the clinician can be reassured about the ability of robotic devices. However, randomized long-term data are warranted before making prospective conclusions on the clinical and technical merits of R-PCI and adopting it as part of standard coronary interventions. [Display omitted] [ABSTRACT FROM AUTHOR]

To describe a novel modification of technique to improve efficacy of robot-assisted laparoscopic extravesical ureteral reimplantation (RALUR-EV) in infants. Between April 2017 and July 2019, sixteen infants with primary obstructive megaureter (POM) (Age range: 4–12 months) underwent robot-assisted ureteral reimplantation were reviewed in this series. In addition to the conventional Lich-Gregoir technique, the detrusor tunnel has been extended to the mobilized anterior bladder wall to guarantee sufficient tunnel length/ureter diameter ratio and avoid ureteral angulation. All patients underwent repeated ultrasound, diuretic renal dynamic imaging and voiding cystourethrography (VCUG) perioperatively and the outcomes were documented. All operations were completed with robotic assisted approach without conversion. Bilateral and unilateral reimplantation were respectively performed in two and fourteen patients. The mean operative time was 115.0 ± 19.5 min and the mean blood loss was 10.0 ± 1.8 ml. There were no high-grade complications (III–IV on Clavien-Dindo classification) except for one patient. The distal ureteric diameter was reduced from pre operative 1.7 ± 0.5 to 0.6 ± 0.5 cm 6 months post operatively (p < 0.05). One child (6.3%) required the second reimplantation for stenosis. The overall operative success rate was 94.4% (17 of 18 ureters) with a mean follow-up of 15.9 ± 7.4 months with no flux detected. Our preliminary experience suggests that our modified robot-assisted laparoscopic extravesical ureteral reimplantation is feasible in infants with good results. [ABSTRACT FROM AUTHOR]

We deal with the linear controllability of two underactuated multi-link robotic systems in this paper. First, for a general n -link inverted pendulum mounted on a cart in a vertical plane, we prove that it is linearly controllable around the equilibrium point with the cart in a desired position and each link of the pendulum in the upright position regardless of its physical parameters, if and only if the cart is actuated. Second, for an n -link underactuated planar robot with its first joint mounted on a fixed base in a horizontal plane, we prove that it is linearly controllable around the trajectory where each link of the robot stretches straight out and rotates with a constant angular velocity, if and only if its first joint is actuated, regardless of its physical parameters and regardless of the actuation or underactuation of its rest joints. We illustrate the above results via a quintuple pendulum–cart system and a four-link planar gymnastic robot in literature. We give new insights into the linear controllability around an equilibrium point or a trajectory of underactuated robotic planar systems with multiple unactuated joints. • Linear controllability of two underactuated multi-link robotic systems is studied. • An n-link inverted pendulum-cart system with actuated cart is studied. • An n-link planar robot with passive joints in a horizontal plane is studied. • Two existing physical systems are used to validate their linear controllability. [ABSTRACT FROM AUTHOR]