collaborative robot
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In this work, we extend the previously proposed approach of improving mutual perception during human-robot collaboration by communicating the robot's motion intentions and status to a human worker using hand-worn haptic feedback devices. The improvement is presented by introducing spatial tactile feedback, which provides the human worker with more intuitive information about the currently planned robot's trajectory, given its spatial configuration. The enhanced feedback devices communicate directional information through activation of six tactors spatially organised to represent an orthogonal coordinate frame: the vibration activates on the side of the feedback device that is closest to the future path of the robot. To test the effectiveness of the improved human-machine interface, two user studies were prepared and conducted. The first study aimed to quantitatively evaluate the ease of differentiating activation of individual tactors of the notification devices. The second user study aimed to assess the overall usability of the enhanced notification mode for improving human awareness about the planned trajectory of a robot. The results of the first experiment allowed to identify the tactors for which vibration intensity was most often confused by users. The results of the second experiment showed that the enhanced notification system allowed the participants to complete the task faster and, in general, improved user awareness of the robot's movement plan, according to both objective and subjective data. Moreover, the majority of participants (82%) favoured the improved notification system over its previous non-directional version and vision-based inspection.
- MeSH
- hmat MeSH
- lidé MeSH
- robotika * MeSH
- ruka MeSH
- uživatelské rozhraní počítače MeSH
- zpětná vazba MeSH
- Check Tag
- lidé MeSH
- Publikační typ
- časopisecké články MeSH
In this analysis, we present results from measurements performed to determine the stability of a hand tracking system and the accuracy of the detected palm and finger's position. Measurements were performed for the evaluation of the sensor for an application in an industrial robot-assisted assembly scenario. Human-robot interaction is a relevant topic in collaborative robotics. Intuitive and straightforward control tools for robot navigation and program flow control are essential for effective utilisation in production scenarios without unnecessary slowdowns caused by the operator. For the hand tracking and gesture-based control, it is necessary to know the sensor's accuracy. For gesture recognition with a moving target, the sensor must provide stable tracking results. This paper evaluates the sensor's real-world performance by measuring the localisation deviations of the hand being tracked as it moves in the workspace.
OBJECTIVES: In an effort to maintain the technical aspects of traditional prosthetic surgical aortic valve replacement (AVR) while reducing invasiveness and facilitate options for concomitant operations, transaxillary lateral mini-thoracotomy endoscopic robotic-assisted aortic valve replacement (RAVR) has been introduced. The present data highlight the contemporary international collaborative experience. METHODS: All consecutive patients undergoing standardized RAVR across 10 international sites (1/2020-7/2024) were evaluated using a central database with 1 year follow-up. RESULTS: A total of 300 patients were analysed with a median predicted risk of 1.6% with aortic stenosis in 85.7%, nearly half with bicuspid valves. Biological prostheses were implanted in 220 (73.3%) with a median valve size 23 mm, 10% receiving aortic root enlargement, with 17% of all patients undergoing concomitant procedures. Median cross-clamp 120 min with no conversions to sternotomy. Median length of stay was 5 days, 4.3% with prolonged ventilation, 1.7% renal failure, 1.0% stroke and 8.3% required re-thoracotomy for evacuation of haemothorax. There were two 30-day operative mortalities (0.7%). The new permanent pacemaker rate for the full cohort was 2.6%. Of 163 patients with complete 1-year clinical and echocardiographic follow-up, mean aortic valve gradient was 10 mmHg and all but 2 patients (1.2%) had trace to no prosthetic or paravalvular insufficiency. CONCLUSIONS: RAVR is safe and effective, providing the reproducible benefits of surgical AVR while affording a less invasive approach that permits the opportunity for concomitant procedures. For low and intermediate risk patients with aortic valve disease, RAVR is a potential reproducible alternative for patients and heart teams.
- MeSH
- aortální chlopeň * chirurgie MeSH
- aortální stenóza * chirurgie MeSH
- chirurgická náhrada chlopně * metody škodlivé účinky mortalita MeSH
- lidé středního věku MeSH
- lidé MeSH
- longitudinální studie MeSH
- následné studie MeSH
- roboticky asistované výkony * metody škodlivé účinky mortalita statistika a číselné údaje MeSH
- senioři nad 80 let MeSH
- senioři MeSH
- srdeční chlopně umělé MeSH
- torakotomie metody MeSH
- výsledek terapie MeSH
- Check Tag
- lidé středního věku MeSH
- lidé MeSH
- mužské pohlaví MeSH
- senioři nad 80 let MeSH
- senioři MeSH
- ženské pohlaví MeSH
- Publikační typ
- časopisecké články MeSH
- multicentrická studie MeSH
INTRODUCTION: The optimal management of the urethra in patients planned for radical cystectomy (RC) remains unclear. We sought to evaluate the impact of urethrectomy on perioperative and oncological outcomes in patients treated with RC for non-metastatic urothelial carcinoma of the bladder (UCB). MATERIALS AND METHODS: We assessed the retrospective data from patients treated with RC for UCB of five European University Hospitals. Associations of urethrectomy with progression-free (PFS), cancer-free (CSS), and overall (OS) survivals were assessed in univariable and multivariable Cox regression models. We performed a subgroup analysis in patients at high risk for urethral recurrence (UR) (urethral invasion and/or bladder neck invasion and/or multifocality and/or prostatic urethra involvement). RESULTS: A total of 887 non-metastatic UCB patients were included. Among them, 146 patients underwent urethrectomy at the time of RC. Urethrectomy was performed more often in patients with urethral invasion, T3/4 tumor stage, CIS, positive frozen section analysis of the urethra, and those who received neoadjuvant chemotherapy, underwent robotic RC, and/or received an ileal conduit urinary diversion (all p < 0.001). Estimated blood loss and the postoperative complication rate were comparable between patients who received an urethrectomy and those who did not. Urethrectomy during RC was not associated with PFS (HR 0.83, p = 0.17), CSS (HR 0.93, p = 0.67), or OS (HR 1.08, p = 0.58). In the subgroup of 276 patients at high risk for UR, urethrectomy at the time of RC decreased the risk of progression (HR 0.58, p = 0.04). CONCLUSION: In our study, urethrectomy at the time of RC seems to benefit only patients at high risk for UR. Adequate risk assessment of UCB patients' history may allow for better clinical decision-making and patient counseling.
- MeSH
- cystektomie MeSH
- karcinom z přechodných buněk * patologie chirurgie MeSH
- lidé MeSH
- močový měchýř chirurgie MeSH
- nádory močové trubice * patologie chirurgie MeSH
- nádory močového měchýře * patologie chirurgie MeSH
- retrospektivní studie MeSH
- uretra patologie chirurgie MeSH
- Check Tag
- lidé MeSH
- mužské pohlaví MeSH
- Publikační typ
- časopisecké články MeSH
- multicentrická studie MeSH
BACKGROUND: Radical trachelectomy is considered a viable option for fertility preservation in patients with low-risk, early-stage cervical cancer. Standard approaches include laparotomy or minimally invasive surgery when performing radical trachelectomy. PRIMARY OBJECTIVE: To compare disease-free survival between patients with FIGO (2009) stage IA2 or IB1 (≤2cm) cervical cancer who underwent open versus minimally invasive (laparoscopic or robotic) radical trachelectomy. STUDY HYPOTHESIS: We hypothesize that minimally invasive radical trachelectomy has similar oncologic outcomes to those of the open approach. STUDY DESIGN: This is a collaborative, multi-institutional, international, retrospective study. Patients who underwent a radical trachelectomy and lymphadenectomy between January 1, 2005 and December 31, 2017 will be included. Institutional review board approval will be required. Each institution will be provided access to a study-specific REDCap (Research Electronic Data Capture) database maintained by MD Anderson Cancer Center and will be responsible for entering patient data. INCLUSION CRITERIA: Patients with squamous, adenocarcinoma, or adenosquamous cervical cancer FIGO (2009) stages IA2 and IB1 (≤2 cm) will be included. Surgery performed by the open approach or minimally invasive approach (laparoscopy or robotics). Tumor size ≤2 cm, by physical examination, ultrasound, MRI, CT, or positron emission tomography (at least one should confirm a tumor size ≤2 cm). Centers must contribute at least 15 cases of radical trachelectomy (open, minimally invasive, or both). EXCLUSION CRITERIA: Prior neoadjuvant chemotherapy or radiotherapy to the pelvis for cervical cancer at any time, prior lymphadenectomy, or pelvic retroperitoneal surgery, pregnant patients, aborted trachelectomy (intra-operative conversion to radical hysterectomy), or vaginal approach. PRIMARY ENDPOINT: The primary endpoint is disease-free survival measured as the time from surgery until recurrence or death due to disease. To evaluate the primary objective, we will compare disease-free survival among patients with FIGO (2009) stage IA2 or IB1 (≤2cm) cervical cancer who underwent open versus minimally invasive radical trachelectomy. SAMPLE SIZE: An estimated 535 patients will be included; 256 open and 279 minimally invasive radical trachelectomy. Previous studies have shown that recurrence rates in the open group range from 3.8% to 7.6%. Assuming that the 4.5-year disease-free survival rate for patients who underwent open surgery is 95.0%, we have 80% power to detect a 0.44 HR using α level 0.10. This corresponds to an 89.0% disease-free survival rate at 4.5 years in the minimally invasive group.
- MeSH
- lidé MeSH
- miniinvazivní chirurgické výkony metody MeSH
- nádory děložního čípku patologie chirurgie MeSH
- přežití bez známek nemoci MeSH
- retrospektivní studie MeSH
- roboticky asistované výkony metody MeSH
- staging nádorů MeSH
- trachelektomie metody MeSH
- zachování plodnosti metody MeSH
- Check Tag
- lidé MeSH
- ženské pohlaví MeSH
- Publikační typ
- časopisecké články MeSH
- multicentrická studie MeSH
BACKGROUND: The application of rehabilitation robots has grown during the last decade. While meta-analyses have shown beneficial effects of robotic interventions for some patient groups, the evidence is less in others. We established the Advanced Robotic Therapy Integrated Centers (ARTIC) network with the goal of advancing the science and clinical practice of rehabilitation robotics. The investigators hope to exploit variations in practice to learn about current clinical application and outcomes. The aim of this paper is to introduce the ARTIC network to the clinical and research community, present the initial data set and its characteristics and compare the outcome data collected so far with data from prior studies. METHODS: ARTIC is a pragmatic observational study of clinical care. The database includes patients with various neurological and gait deficits who used the driven gait orthosis Lokomat® as part of their treatment. Patient characteristics, diagnosis-specific information, and indicators of impairment severity are collected. Core clinical assessments include the 10-Meter Walk Test and the Goal Attainment Scaling. Data from each Lokomat® training session are automatically collected. RESULTS: At time of analysis, the database contained data collected from 595 patients (cerebral palsy: n = 208; stroke: n = 129; spinal cord injury: n = 93; traumatic brain injury: n = 39; and various other diagnoses: n = 126). At onset, average walking speeds were slow. The training intensity increased from the first to the final therapy session and most patients achieved their goals. CONCLUSIONS: The characteristics of the patients matched epidemiological data for the target populations. When patient characteristics differed from epidemiological data, this was mainly due to the selection criteria used to assess eligibility for Lokomat® training. While patients included in randomized controlled interventional trials have to fulfill many inclusion and exclusion criteria, the only selection criteria applying to patients in the ARTIC database are those required for use of the Lokomat®. We suggest that the ARTIC network offers an opportunity to investigate the clinical application and effectiveness of rehabilitation technologies for various diagnoses. Due to the standardization of assessments and the use of a common technology, this network could serve as a basis for researchers interested in specific interventional studies expanding beyond the Lokomat®.
BACKGROUND: The Global Gynaecological Oncology Surgical Outcomes Collaborative (GO SOAR) aims to develop a network of gynecological oncology surgeons, surgical departments, and other interested parties that will have the long-term ability to collaborate on outcome studies. The protocol for the first collaborative study is presented here. PRIMARY OBJECTIVE: To evaluate international variation in 30-day post-operative morbidity and mortality following gynecological oncology surgery between very high/high and medium/low human development index country settings. HYPOTHESIS: There is no variation in post-operative morbidity and mortality following gynecological oncology surgery between very high/high and medium/low human development index country settings. STUDY DESIGN: International, multicenter, prospective cohort study. Patient data will be collected over a consecutive 30-day period through gynecological oncology multidisciplinary teams/tumor boards and clinics across different human development index country groups. All data are collected on a customized, secure, password protected, central REDCap database. MAJOR INCLUSION/EXCLUSION CRITERIA: Inclusion criteria include women aged ≥18 years undergoing elective/emergency, curative/palliative surgery for primary/recurrent tubo-ovarian/peritoneal, endometrial, cervical, vulval, vaginal, gestational trophoblastic malignancies. Surgical modality may be open, minimal access (laparoscopic/robotic), or vaginal. PRIMARY ENDPOINT: 30-day post-operative morbidity and mortality defined as per Clavien-Dindo classification system. SAMPLE SIZE: 1100 (550/arm). ESTIMATED DATES FOR COMPLETING ACCRUAL AND PRESENTING RESULTS: It is estimated recruitment will be completed by 2022 and results published by 2023. TRIAL REGISTRATION: ClinicalTrials.gov registry: NCT04579861 (https://clinicaltrials.gov/ct2/show/NCT04579861).
- MeSH
- gynekologické chirurgické výkony mortalita MeSH
- kohortové studie MeSH
- lidé MeSH
- morbidita MeSH
- nádory ženských pohlavních orgánů mortalita chirurgie MeSH
- prospektivní studie MeSH
- výsledek terapie MeSH
- Check Tag
- lidé MeSH
- ženské pohlaví MeSH
- Publikační typ
- časopisecké články MeSH
- multicentrická studie MeSH
- práce podpořená grantem MeSH
Background: Abdominal wall surgery (AWS) is characterised by the increasing caseload and the complexity of the surgical procedures. The introduction of a tailored approach to AWS utilising laparoendoscopic, robotic and/or open techniques requires the surgeon to master several surgical techniques. All of which have an associated learning curve, and the necessary knowledge/experience to know which operation is the right one for the individual patient. However, the reality in general surgery training shows that training in just a limited number of procedures is not enough. By the end of general surgery training, many chief residents do not feel they are yet ready to carry out surgery independently. Therefore, hernia surgery experts and societies have called for the introduction of a Fellowship in Abdominal Wall Surgery. Methods: The UEMS (Union Européenne des Médecins Spécialistes, European Union of Medical Specialists) in collaboration with the European Hernia Society (EHS) introduced a fellowship by examination in 2019. As a prerequisite, candidates must complete further training of at least 2 years with a special focus on abdominal wall surgery after having completed their training in general surgery. To be eligible for the examination, candidates must provide evidence of having performed 300 hernia procedures. In addition, candidates must have accrued sufficient "knowledge points" by attending abdominal wall surgery congresses, courses and clinical visitations, and engaged in scientific activities. On meeting the requirements, a candidate may be admitted to the written and oral examination. Results: To date, three examinations have been held on the occasion of the Annual Congress of the European Hernia Society in Copenhagen (2021), Manchester (2022) and Barcelona (2023). Having met the requirements, 48 surgeons passed the written and oral examination and were awarded the Fellow European Board of Surgery-Abdominal Wall Surgery certificate. During this time period, a further 25 surgeons applied to sit the examination but did not fulfil all the criteria to be eligible for the examination. Fifty experienced abdominal wall surgeons applied to become an Honorary Fellow European Board of Surgery-Abdominal Wall Surgery. Fourty eight were successful in their application. Conclusion: The Fellowship of the European Board of Surgery - Abdominal Wall Surgery by examination has been successfully introduced at European level by the joint work of the UEMS and the EHS. The examination is also open to surgeons who work outside the European area, if they can fulfil the eligibility criteria.
- Publikační typ
- časopisecké články MeSH
- přehledy MeSH
V dnešní době se v práci s informacemi objevují dva jevy: zahlcení informacemi a absence povědomí o dostupnosti užitečných informací. Ukazuje se, že tyto jevy spolu úzce souvisí. Často informace, o kterých nevíme, že jsou dostupné, nám pomohou informační zahlcení zvládnout. Klíčovými technikami jsou metody inteligentní syntézy z různých datových zdrojů, práce s neurčitostí, s kontextovou závislostí informací, se sémantikou a pokročilé metody vizualizace. V příspěvku bude prezentováno konkrétní řešení vyvíjené na ÚVT MU ve spolupráci s Laboratoří znalostních a informačních robotů na FI MU.
Nowadays, two phenomena appear when working with information: information overload and information insufficiency. We found out that these two phenomena are closely interrelated. We can often manage information overload by using information which is available, but we are not aware of its existence. Crucial techniques comprise intelligent information synthesis from heterogeneous data sources, working with uncertainty, context dependent information, semantics and advanced visualization methods. This papper gives a proposal of a specific solution developed in the Institute of Computer Science, Masaryk University (Brno) in collaboration with Knowledge and Information Robots Laboratory of Masaryk University Faculty of Informatics.
Artificial intelligence (AI) has significantly impacted numerous industries, including health care, dentistry, and specifically prosthodontics. This review focuses on AI's role in prosthodontics, detailing its use in diagnosis, design, and manufacturing. AI-driven systems analyze intraoral scans, improve prosthetic planning, and aid in robotic procedures. Emerging technologies, such as generative AI for prosthetic design and AI-driven material innovation, are discussed alongside the ethical and regulatory challenges facing broader adoption. The review highlights AI's potential to transform prosthodontic workflows, facilitating more accurate, efficient, and personalized care, while also pointing to future developments such as real-time monitoring and enhanced collaboration platforms.
- MeSH
- design s pomocí počítače MeSH
- lidé MeSH
- stomatologická protetika * metody MeSH
- umělá inteligence * MeSH
- zubní protéza - design metody MeSH
- Check Tag
- lidé MeSH
- Publikační typ
- časopisecké články MeSH
- přehledy MeSH
