Planar fiducial markers are commonly used to estimate a pose of a camera relative to the marker. This information can be combined with other sensor data to provide a global or local position estimate of the system in the environment using a state estimator such as the Kalman filter. To achieve accurate estimates, the observation noise covariance matrix must be properly configured to reflect the sensor output's characteristics. However, the observation noise of the pose obtained from planar fiducial markers varies across the measurement range and this fact needs to be taken into account during the sensor fusion to provide a reliable estimate. In this work, we present experimental measurements of the fiducial markers in real and simulation scenarios for 2D pose estimation. Based on these measurements, we propose analytical functions that approximate the variances of pose estimates. We demonstrate the effectiveness of our approach in a 2D robot localisation experiment, where we present a method for estimating covariance model parameters based on user measurements and a technique for fusing pose estimates from multiple markers.

• Klíčová slova
• Kalman filter, observation noise, planar fiducial marker, robot localisation,
• MeSH
• počítačová simulace MeSH
• robotika * MeSH
• zaměřovací značky pro radioterapii * MeSH
• Publikační typ
• časopisecké články MeSH

The article explores the possibilities of using hand gestures as a control interface for robotic systems in a collaborative workspace. The development of hand gesture control interfaces has become increasingly important in everyday life as well as professional contexts such as manufacturing processes. We present a system designed to facilitate collaboration between humans and robots in manufacturing processes that require frequent revisions of the robot path and that allows direct definition of the waypoints, which differentiates our system from the existing ones. We introduce a novel and intuitive approach to human-robot cooperation through the use of simple gestures. As part of a robotic workspace, a proposed interface was developed and implemented utilising three RGB-D sensors for monitoring the operator's hand movements within the workspace. The system employs distributed data processing through multiple Jetson Nano units, with each unit processing data from a single camera. MediaPipe solution is utilised to localise the hand landmarks in the RGB image, enabling gesture recognition. We compare the conventional methods of defining robot trajectories with their developed gesture-based system through an experiment with 20 volunteers. The experiment involved verification of the system under realistic conditions in a real workspace closely resembling the intended industrial application. Data collected during the experiment included both objective and subjective parameters. The results indicate that the gesture-based interface enables users to define a given path objectively faster than conventional methods. We critically analyse the features and limitations of the developed system and suggest directions for future research. Overall, the experimental results indicate the usefulness of the developed system as it can speed up the definition of the robot's path.

• Klíčová slova
• gesture, hand recognition, hand tracking, human-robot collaboration, human-robot interaction,
• MeSH
• dobrovolní pracovníci MeSH
• gesta MeSH
• lidé MeSH
• pohyb MeSH
• robotika * metody   MeSH
• ruka 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.

• Klíčová slova
• collaborative robot, gesture, hand tracking, leap motion, robot,
• MeSH
• biosenzitivní techniky MeSH
• gesta MeSH
• lidé MeSH
• pohyb těles MeSH
• předpověď MeSH
• robotika * MeSH
• ruka * MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• dopisy MeSH

BACKGROUND: The advent of robotics has facilitated new surgical techniques for radical prostatectomy. These allow adjustment of pelvic anatomical and functional relationships after removal of the prostate to ameliorate postprostatectomy incontinence (PPI) and reduce the time to complete continence. OBJECTIVES: To describe the results of a new surgical technique for reconstruction of vesicourethral anastomosis using the levator ani muscle for support during robot-assisted radical prostatectomy (RARP). DESIGN, SETTING, AND PARTICIPANTS: A prospective, randomised, single-blind study among 66 consecutive patients with localised prostate cancer (cT1-2N0M0) undergoing RARP from June to September 2014, 32 using the new technique and 34 using the standard posterior reconstruction according to Rocco. SURGICAL PROCEDURE: In the advanced reconstruction of vesicourethral support (ARVUS) intervention group, the fibres of the levator ani muscle, Denonvilliers fascia, retrotrigonal layer, and median dorsal raphe were used to form the dorsal support for the urethrovesical anastomosis. Suture of the arcus tendineus to the bladder neck served as the anterior fixation. MEASUREMENTS: We compared demographic data and preoperative and postoperative functional and oncologic results for the two groups. The primary endpoint was continence evaluated at different time points (24h, 2, 4, and 8 wk, and 6 and 12 mo). The secondary endpoints were perioperative and postoperative complications and erectile function. RESULTS AND LIMITATIONS: Using a continence definition of 0 pads/d, the continence rates for the ARVUS versus the control group were 21.9% versus 5.9% at 24h (p=0.079), 43.8% versus 11.8% at 2 wk (p=0.005), 62.5% versus 14.7% at 4 wk (p<0.001), 68.8% versus 20.6% at 8 wk (p<0.001), 75.0% versus 44.1% at 6 mo (p=0.013), and 86.66% versus 61.29% at 12 mo (p=0.04). International Index of Erectile Function questionnaire results at 6 and 12 mo after surgery showed similar potency rates for the control group (40.0% and 73.33%) and the ARVUS group (38.8% and 72.22%). There were four postoperative complications (2 in each group): three haematomas requiring transfusion and one lymphocele that needed drainage. No urinary retention, anastomosis leak, or perineal pain was observed. Limitations include the small sample size and the single-institution design. CONCLUSIONS: The ARVUS technique yielded better urinary continence results than standard posterior reconstruction, with no negative impact on erectile function, complication rate, or oncologic outcome. External validation is warranted before clear recommendations can be made. PATIENT SUMMARY: We showed that postprostatectomy incontinence can be assuaged using a new technique for vesicourethral anastomosis reconstruction during robot-assisted radical prostatectomy (RARP). This could significantly improve the quality of life of patients after RARP. More studies are needed to support our results.

• Klíčová slova
• Anastomosis, Continence, Erectile function, Functional reconstruction, Prostate cancer, Robot-assisted radical prostatectomy,
• MeSH
• anastomóza chirurgická metody   MeSH
• inkontinence moči prevence a kontrola   MeSH
• jednoduchá slepá metoda MeSH
• kvalita života MeSH
• lidé středního věku MeSH
• lidé MeSH
• močový měchýř chirurgie   MeSH
• nádory prostaty chirurgie   MeSH
• netěsnost anastomózy epidemiologie   MeSH
• pánevní dno chirurgie   MeSH
• pooperační komplikace epidemiologie   prevence a kontrola   MeSH
• prostatektomie metody   MeSH
• retence moči epidemiologie   MeSH
• roboticky asistované výkony metody   MeSH
• senioři MeSH
• uretra chirurgie   MeSH
• výsledek terapie MeSH
• zákroky plastické chirurgie metody   MeSH
• Check Tag
• lidé středního věku MeSH
• lidé MeSH
• mužské pohlaví MeSH
• senioři MeSH
• Publikační typ
• časopisecké články MeSH
• práce podpořená grantem MeSH
• randomizované kontrolované studie MeSH

INTRODUCTION: Prostate cancer is the most common malignant disease in men. The number of cases of prostate cancer has increased dramatically in recent 20 years. Radical prostatectomy is a surgical method for the first-line treatment of localised prostate cancer. We performed the first robotic-assisted radical prostatectomy on December 16th, 2005, achieved the boundary of 1000 robotic-assisted radical prostatectomies in 2012, and in 2015, we successfully completed the 1500th robotic-assisted operation on the prostate. METHOD: We retrospectively evaluated the oncological and functional results in 1,500 consecutive patients who underwent robotic-assisted radical prostatectomy at our institution between 20052015. The robotic system da Vinci Standard was used for the operations until November 2013, and subsequently the robotic system da Vinci Si HD. Mean age of the patients was 63.7 years (40 to 86); mean BMI was 27.7 (19.4 to 41.4); and mean preoperative PSA was 6.7 ng/ml (0.4 to 112.0). RESULTS: Pathological stage of the localised prostate cancer was found in 1125 (75%) men, and the stage of locally advanced cancer was found in 363 (24.2%) patients. We determined the Gleason score 7 in surgical specimens of 1150 (76.7%) men. 171 (11.4%) men underwent pelvic lymphadenectomy; metastases in the pelvic lymph nodes were detected in 36 (21.1%) patients. Urinary continence in the period of up to 1 year after the surgery was evaluated in 1218 (81.2%) patients in the group. 1119 (91.9%) men needed no incontinence pads or one safety pad one year from the surgery. Postoperative erectile function was evaluated in 447 (29.8%) men. One year from the surgery, 247 (55.3%) men were capable of a sufficient erection for sexual intercourse without any supportive therapy. Intraoperative complications according to the Clavien-Dindo classification were observed in 20 (1.3%) patients; complications within 3 months from the surgery were observed in 127 (8.5%) patients. CONCLUSION: Robotic-assisted radical prostatectomy is a clearly defined, safe and reproducible minimally invasive treatment of localised prostate cancer.Key words: prostate cancer robotic surgery radical prostatectomy complications.

• MeSH
• dospělí MeSH
• lidé středního věku MeSH
• lidé MeSH
• nádory prostaty * chirurgie   MeSH
• prostatektomie * metody   MeSH
• retrospektivní studie MeSH
• roboticky asistované výkony * MeSH
• senioři nad 80 let MeSH
• senioři MeSH
• výsledek terapie MeSH
• Check Tag
• dospělí MeSH
• lidé středního věku MeSH
• lidé MeSH
• mužské pohlaví MeSH
• senioři nad 80 let MeSH
• senioři MeSH
• Publikační typ
• časopisecké články MeSH

Partial nephrectomy (PN) is a recommended type of treatment of localised renal tumors. Real-time intraoperative imaging technique, such as fluorescence imaging with indocyanine green (ICG) administration helps to improve intraoperative and postoperative outcomes in patients who underwent PN. Our work presents results of patients who underwent robotic PN with ICG navigation. A total of 37 patients underwent robotic PN with application of ICG between April 2015 and May 2019. A total amount of 5 mg of ICG was applied intravenously, and then robotic PN was performed with fluorescent imaging. ICG was used by the surgeon's decision according to unfavourable anatomical properties of tumor or to high R.E.N.A.L. nephrometry score. An exact border between perfused and nonperfused tissue was detected, and exact tumor's branch of the renal artery was clamped. Robotic PN with ICG-fluorescence imaging navigation was performed in 37 cases with a preoperative average diameter of tumor of 31 mm. The mean surgery time was 133 minutes, and the mean estimated blood loss was 190 mL. Arterial clamping was performed in 35 cases. The mean duration of warm ischemia was 14 minutes. Application of ICG enabled specific tumor-supplying vessel clamping in 25 cases. Two complications of grade II according to the Clavien-Dindo classification occurred intraoperatively, and one complication of grade III was observed. Renal function changes showed favourable results for the cases with superselective clamping. Finally, an administration of ICG eases superselective clamping of tumor-specific branch of renal artery and helps to preserve normal renal function with acceptable oncological results.

• MeSH
• dospělí MeSH
• indokyanová zeleň chemie   MeSH
• lidé středního věku MeSH
• lidé MeSH
• nádory ledvin diagnostické zobrazování   chirurgie   MeSH
• nefrektomie * MeSH
• optické zobrazování * MeSH
• počítačová rentgenová tomografie MeSH
• roboticky asistované výkony * MeSH
• senioři MeSH
• Check Tag
• dospělí MeSH
• lidé středního věku MeSH
• lidé MeSH
• mužské pohlaví MeSH
• senioři MeSH
• ženské pohlaví MeSH
• Publikační typ
• časopisecké články MeSH
• klinické zkoušky MeSH
• Názvy látek
• indokyanová zeleň MeSH