Robotic Assistance Research Articles

Comparison of the accuracy and safety of robot-and navigation-assisted screw placement in atlantoaxial dislocation surgery

Objective: To compare the accuracy and safety of robot-assisted and navigation-assisted screw placement in atlantoaxial dislocation surgery. Methods: A retrospective analysis was conducted on the clinical data of 49 patients with atlantoaxial dislocation treated consecutively at the Honghui Hospital of Xi'an Jiaotong University from April 2022 to December 2023. Among them, 27 were male and 22 were female, aged (44.2±11.7) years. Based on the date of surgery, 29 patients (from April 2022 to April 2023) received the S8 navigation-assisted screw placement (navigation group), 20 patients (from May to December 2023) received Mazor robot-assisted screw placement (robot group). The accuracy of screw placement, screw placement time, operation time, intraoperative blood loss, and intraoperative complications were recorded and compared between the two groups. The Japanese Orthopedic Association (JOA) score and visual analog scale (VAS) score of pain were adopted to evaluate the recovery of cervical spinal cord function and cervical and shoulder pain at preoperative period and 3-month follow-up, and the occurrence of complications was observed. Results: A total of 196 screws were inserted in 49 patients. In the navigation-assisted group, a total of 116 screws were inserted with an accuracy rate of 93.1% (108/116); in contrast, in the robot-assisted group, a total of 80 screws were inserted with an accuracy rate of 97.5% (78/80) (P=0.040). The mean screw placement time, operation time, and blood loss in the navigation-assisted group were all significantly lower than those in the robot-assisted group [(37.8±3.4)min vs (48.4±4.6)min, (127.7±15.3)min vs (165.7±12.1)min and (205.8±13.6)ml vs (290.6±11.2) ml, respectively all P<0.01]. One case experienced intraoperative venous plexus injury in the robot-assisted group. Postoperatively, all patients experienced significant relief in neck pain symptoms, and neurological symptoms recovered to varying degrees. The VAS and JOA scores at 3 months post-surgery for both groups showed statistically significant improvements compared to pre-surgery (all P<0.01), but there was no statistically significant difference between the two groups (all P>0.05). Conclusions: Both robot-assisted and navigation-assisted screw placement show high accuracy and safety in atlantoaxial dislocation surgery. Compared to navigation, robot assistance increases the surgical time and blood loss, but significantly improves the accuracy of screw placement.

Current research status and prospects for clinical application of robotics in spinal surgery

With the rapid advancement of artificial intelligence and the increasing integration of medical engineering, robot-assisted (RA) technology in spinal surgery has made significant strides, with its clinical application range continuously expanding. This article provides a comprehensive review of relevant literature on spinal surgery robots over the past decade, summarizing recent advancements in screw placement techniques such as cervical, thoracic, and lumbar pedicle screws; cortical bone trajectory (CBT) screws; cervical lateral mass screws; and S2 sacroiliac (S2AI) screws. It also discusses RA-guided targeted puncture and endoscope placement through intervertebral foramen as well as decompressive laminectomy procedures. Furthermore, this article systematically analyzes the advantages and disadvantages of RA technology while elucidating its accuracy, safety, and practicality. We believe that this article will help clinicians to gain a deeper understanding of the current clinical application status of spinal surgery robots while promoting further enhancements and wider adoption of RA technology to ultimately benefit more patients.

Evaluation of the da Vinci single-port system in colorectal cancer surgery: a scoping review.

Minimally invasive surgery for the treatment of colon and rectal cancer has gained popularity due to its association with reduced postoperative pain, shorter hospital stays, and quicker recovery. The Da Vinci Single-Port (SP) System combines single-port laparoscopy with robotic assistance. This scoping review aims to evaluate the safety and short-term postoperative outcomes of utilizing the Da Vinci SP platform in colorectal cancer surgery. A scoping review was conducted adhering to the PRISMA-ScR guidelines. Data were collected from PubMed, Embase, and the Web of Science Library as of December 22, 2023. Studies were screened and selected based on predefined criteria, focusing on the application of the SP robotic system in colorectal procedures. Data extraction included demographics, surgical details, intraoperative and postoperative outcomes. A narrative summary of the results was provided due to the heterogeneity in study designs. From an initial 2312 articles, 22 studies were selected for analysis, encompassing 465 patients undergoing robotic SP colorectal surgeries. Of these, 384 (82.6%) had a cancer diagnosis. The median age was 65years, with approximately 60% being male. The median operative time was 225min, with docking times averaging 12-20min. Conversion to multi-port laparoscopy occurred in 4.2% of cases, with no conversions to open surgery. Mean intraoperative blood loss ranged from 50 to 150ml. The mean number of lymph nodes retrieved ranged from 15 to 28. A diverting ileostomy was constructed in 20.3% of patients. Median times to flatus and soft diet were 2.5 and 3days, respectively, with hospital stays ranging from 3 to 11days. Perioperative complications occurred in 15.1% of patients, including wound infections (5.1%), anastomotic leakage (3.7%), and postoperative ileus (2.8%). Negative margin status (R0 resection) was achieved in 95% of cases. The Da Vinci SP robotic platform demonstrates promising safety and effectiveness in colorectal cancer surgery. It achieves high rates of successful oncological resection, adequate lymph node retrieval, and minimal intraoperative blood loss. Postoperative outcomes indicate quicker recovery times and manageable complication rates. However, longer follow-up studies are necessary to fully assess recurrence rates and long-term survival benefits associated with this innovative surgical approach.

Establishing the Foundations of Emotional Intelligence in Care Companion Robots to Mitigate Agitation Among High-Risk Patients With Dementia: Protocol for an Empathetic Patient-Robot Interaction Study.

An estimated 6.7 million persons are living with dementia in the United States, a number expected to double by 2060. Persons experiencing moderate to severe dementia are 4 to 5 times more likely to fall than those without dementia, due to agitation and unsteady gait. Socially assistive robots fail to address the changing emotional states associated with agitation, and it is unclear how emotional states change, how they impact agitation and gait over time, and how social robots can best respond by showing empathy. This study aims to design and validate a foundational model of emotional intelligence for empathetic patient-robot interaction that mitigates agitation among those at the highest risk: persons experiencing moderate to severe dementia. A design science approach will be adopted to (1) collect and store granular, personal, and chronological data using Personicle (an open-source software platform developed to automatically collect data from phones and other devices), incorporating real-time visual, audio, and physiological sensing technologies in a simulation laboratory and at board and care facilities; (2) develop statistical models to understand and forecast the emotional state, agitation level, and gait pattern of persons experiencing moderate to severe dementia in real time using machine learning and artificial intelligence and Personicle; (3) design and test an empathy-focused conversation model, focused on storytelling; and (4) test and evaluate this model for a care companion robot (CCR) in the community. The study was funded in October 2023. For aim 1, architecture development for Personicle data collection began with a search for existing open-source data in January 2024. A community advisory board was formed and met in December 2023 to provide feedback on the use of CCRs and provide personal stories. Full institutional review board approval was received in March 2024 to place cameras and CCRs at the sites. In March 2024, atomic marker development was begun. For aim 2, after a review of open-source data on patients with dementia, the development of an emotional classifier was begun. Data labeling was started in April 2024 and completed in June 2024 with ongoing validation. Moreover, the team established a baseline multimodal model trained and validated on healthy-person data sets, using transformer architecture in a semisupervised manner, and later retrained on the labeled data set of patients experiencing moderate to severe dementia. In April 2024, empathy alignment of large language models was initiated using prompt engineering and reinforcement learning. This innovative caregiving approach is designed to recognize the signs of agitation and, upon recognition, intervene with empathetic verbal communication. This proposal has the potential to have a significant impact on an emerging field of computational dementia science by reducing unnecessary agitation and falls of persons experiencing moderate to severe dementia, while reducing caregiver burden. PRR1-10.2196/55761.

Mutation‐Guided Metamorphic Testing of Optimality in AI Planning

ABSTRACTAutonomous systems such as space‐ or underwater‐exploration robots or elderly people assistance robots often include an artificial intelligence (AI) planner as a component. Starting from the initial state of a system, an AI planner automatically generates sequential plans to reach final states that satisfy user‐specified goals. Generating plans having a minimum number of intermediate steps or taking the least time to execute is usually strongly desired, as these plans exhibit minimal costs. Unfortunately, testing if an AI planner generates optimal plans is almost impossible because the expected cost of these plans is usually unknown. Based on mutation adequacy test suite selection, this article proposes a novel metamorphic testing framework for detecting the lack of optimality in AI planners. The general idea is to perform a systematic but non‐exhaustive state space exploration from the initial state and to select mutant‐adequate states to instantiate new planning tasks as follow‐up test cases. We then check a metamorphic relation between the automatically generated solutions of the AI planner for these new test cases and the cost of the initial plan. We implemented this metamorphic testing framework in a tool called MorphinPlan. Our experimental evaluation shows that MorphinPlan can detect non‐optimal behaviour in both mutated AI planners and off‐the‐shelf, configurable planners. It also shows that our proposed mutation adequacy test selection strategy outperforms three alternative test generation and selection strategies, including both random state selection and random walks through the state space in terms of mutation scores.

Quantitative in-vitro assessment of a novel robot-assisted system for cochlear implant electrode insertion.

As an increasing number of cochlear implant candidates exhibit residual inner ear function, hearing preservation strategies during implant insertion are gaining importance. Manual implantation is known to induce traumatic force and pressure peaks. In this study, we use a validated in-vitro model to comprehensively evaluate a novel surgical tool that addresses these challenges through motorized movement of a forceps. Using lateral wall electrodes, we examined two subgroups of insertions: 30 insertions were performed manually by experienced surgeons, and another 30 insertions were conducted with a robot-assisted system under the same surgeons' supervision. We utilized a realistic, validated model of the temporal bone. This model accurately reproduces intracochlear frictional conditions and allows for the synchronous recording of forces on intracochlear structures, intracochlear pressure, and the position and deformation of the electrode array within the scala tympani. We identified a significant reduction in force variation during robot-assisted insertions compared to the conventional procedure, with average values of 12mN/s and 32mN/s, respectively. Robotic assistance was also associated with a significant reduction of strong pressure peaks and a 17dB reduction in intracochlear pressure levels. Furthermore, our study highlights that the release of the insertion tool represents a critical phase requiring surgical training. Robotic assistance demonstrated more consistent insertion speeds compared to manual techniques. Its use can significantly reduce factors associated with intracochlear trauma, highlighting its potential for improved hearing preservation. Finally, the system does not mitigate the impact of subsequent surgical steps like electrode cable routing and cochlear access sealing, pointing to areas in need of further research.

Does Robotic-Assisted Unicompartmental Knee Arthroplasty Improve Alignment and Outcomes?

Unicompartmental knee arthroplasty (UKA) continues to increase in popularity as an excellent option for patients with single compartment disease. Robotic-assisted UKA has emerged as an optional tool with hopes for improvement in component placement, limb alignment, and patient outcomes. Furthermore, as patients continue to educate themselves, robotic assistance will become increasingly prevalent. There are now various robotic platforms on the market, each with varying differences, and more published data is emerging on alignment and outcomes. The literature to date largely concludes that robotic-assisted UKA provides more accuracy when compared to manual UKA. Short to mid-term outcomes may be improved with robotic UKA, but definitive differences in outcomes is uncertain. Survivorship with robotic UKA is non-inferior to reported manual UKA survivorship rates, and more long-term data is needed to fully elucidate this point. Orthopaedic surgeons should weigh these potential advantages against the drawbacks including cost and operative time when making a decision about whether robotic technology is right for their practice.

Morphometric analysis of the spinal cord in patients undergoing posterior vertebral column subtraction osteotomy for recurrent tethered cord syndrome.

In posterior vertebral column subtraction osteotomy (PVCSO), a section of a thoracic or lumbar vertebra and the adjacent disc are resected to shorten the spinal column, aiming to permanently alleviate tension on the spinal cord in patients with recurrent tethered cord syndrome (TCS). The effects of this procedure on the spinal cord are not well characterized. This study investigated morphometric changes in the cord following PVCSO and assessed associated clinical outcomes in patients with recurrent TCS. A retrospective review of patients with recurrent TCS undergoing PVCSO with robotic assistance at the authors' tertiary care institution between 2019 and 2023 was performed. Clinical data were recorded from electronic medical records, and morphometric measurements, including T12-L2 sagittal height, intradural diameter, and the diameters, area, eccentricity, and positioning of the spinal cord, were collected from MRI. Spinal cord dimensions including anteroposterior and lateral diameters, area, eccentricity, positioning, and intradural diameter were compared before and after surgery. Six patients were included in this study. At 6-week follow-up, all patients had improvement on lower-extremity motor function examinations, 40% had improvement on lower-extremity sensory function examinations, and 83% had improved self-reported pain. Bladder and bowel incontinence were improved in 50% and 60%, respectively. PVCSO reduced the height of the spinal column by a mean of 18.1 ± 5.2 mm. PVCSO increased the mean spinal cord anteroposterior diameter by 0.8 ± 0.5 mm at T12 (p = 0.03) and the mean area by 0.4 ± 0.3 mm2 at T12 (p = 0.03). The mean eccentricity of the spinal cord decreased by 0.15 ± 0.15 at L1 (p = 0.05), indicating that the spinal cord became more circular after surgery. No major complications were reported, although 1 patient experienced atelectasis and pulmonary embolism postoperatively. This study provides novel insights into the morphometric changes induced by PVCSO and their correlation with clinical outcomes in patients with TCS. The procedure effectively increased spinal cord dimensions, alleviating tension and offering potential benefits in symptom relief. The study underscores the need for objective metrics to guide surgical decision-making and enhance the long-term success of PVCSO in the management of TCS.

Use of Socially Assistive Robots to Improve Outcomes Among Hospitalized Older Adults With Dementia: A Pilot Randomized Trial.

To examine the use of the PARO robotic pet seal for hospitalized older adults with dementia and compare the effects of PARO use with visits by a human on various outcomes, including physical restraint use, psychotropic medications, bedside sitters, and delirium. Complete data for 38 participants were analyzed using Mann-Whitney U and chi-square tests. Participants interacting with PARO spent less time in their interactions; however, they received fewer psychotropic medications and had fewer instances of delirium than those who interacted with human visitors only. Aspects of hospitalization may limit the time an older adult can sustain attention or be free from interruption; however, short, repeated visits with PARO may affect the development of delirium and decrease use of medications to alter behavior in the hospital setting. [Journal of Gerontological Nursing, 50(10), 11-16.].

Socially Assistive Robots and Sensory Feedback for Engaging Older Adults in Cognitive Activities

Motivating older adults to engage in cognitive activities has the potential to slow cognitive decline. This paper presents a Participatory Design (PD) workshop and follow-up prototype evaluation to determine how cognitive training activities can be adapted to integrate socially assistive robots and sensory feedback (visual, auditory, and haptic, specifically). The workshop with older adults and therapists resulted in concrete designs and strategies for engagement. The second phase of this work was to implement these outcomes into a prototype that incorporated a humanoid robot and sensory feedback, with a particular focus on haptic feedback. The evaluation with eight older adults supported the potential of hand tracking with sensory feedback as an interaction mechanism to foster engagement, where the increased workload notably led to high levels of engagement. The prototype results confirmed the strategies and designs from the PD workshop were effective as a way of engaging older adults in cognitive activities. This paper highlights the potential for the unique combination of socially assistive robots and sensory feedback to promote older adults’ engagement in cognitive activities.

Design of robotic assistant for search and rescue operations

The need for search and rescue (SAR) operations arises in various situations: natural disasters such as earthquakes, hurricanes, floods or avalanches, accidents, etc. It is known that the large volume and diversity of the identified area, the limited view, dangerous conditions and the presence of victims in remote or hard-to-reach places complicate such work. The use of advanced technologies such as robotics in improving the efficiency of search and rescue operations to solve problems in these cases allows us to obtain rational solutions. A robotic assistant for search and rescue operations has been developed, a 3D model has been developed. The robot is controlled autonomously or remotely, overcome difficult terrain, collect data and perform tasks that contribute to the search and rescue process. Internet of Things devices and sensors interact over the network, allowing you to collect, analyze and share data in real time. The Arduino board was chosen to create the project. The device circuit was assembled and the operation of the sensors was combined. The device used an ultrasonic sensor, a camera, LED lamps and a speaker for the sound of a siren. The robot assistant works in both offline and manual modes. The device is controlled via a web interface, and the video received by the camera is provided in real time. The wheels of the device can move over any terrain, and the device is designed so that it can move on both sides (under and over).

Comparing clinical and patient-reported outcomes between robot-assisted and conventional unicompartmental knee arthroplasty

Background: Robot-assisted (RA) unicompartmental knee arthroplasty (UKA) has been associated with improved implant alignment and accuracy compared to conventional UKA; however, it is unclear if this translates to improved outcomes. The aim of this study was to compare short-term clinical and functional outcomes between RA and conventional UKA. Methods: A retrospective review of primary UKAs performed by a single surgeon from 2002 to 2021 was conducted using the institution’s electronic health records and outcomes database. Outcomes included 90-day complications, cumulative revisions, implant survivorship, and patient-reported outcome measures (PROMs). Oxford Knee Scores (OKS) and SF-12 physical and mental were compared using a mixed-effect regression model. A Kaplan-Meier curve was plotted to illustrate survivorship using revision as the endpoint. Results: A total of 397 cases were included (RA: n=85; conventional: n=312). The RA group had significantly more men (P&lt;0.01) and a lower median BMI (P=0.02). Age and comorbidities were similar between groups (P&gt;0.05). There was no difference in the rates of 90-day complications (RA: n=0, 0% vs. conventional: n=1, 0.9%, P=1). Significantly fewer cumulative revisions occurred in the RA group (RA: n=0, 0% vs. conventional: n=18, 5.8%; P=0.02). The median lengths of follow-up for RA and conventional UKA were 772 and 5,393 days, respectively. Both techniques showed within-group improvement in OKS and SF-12 physical through 2 yr (P&lt;0.01). No between-group differences in PROMs occurred at any time point. Conclusions: Medial, fixed-bearing RA UKA shows no compromise in patient safety or outcomes when compared to conventional UKA through early-term follow-up.

Comparative study of total knee arthroplasty assisted by robot and remote sensing navigation system

To compare clinical efficacy of robot-assisted (RA) and remote sensing navigation alignment (RSNA) system-assisted total knee arthroplasty (TKA). From March 2023 to June 2023, 60 patients who underwent the first unilateral TKA due to severe knee osteoarthritis (KOA) were admitted and divided into RSNA group and RA group according to different treatment methods, with 30 patients in each group. There were 5 males and 25 females in RSNA group, aged from 56 to 81 years old with an average of(66.33±7.16) years old;body mass index(BMI) ranged from 19.87 to 38.54 kg·m-2 with an average of (28.40±6.18) kg·m-2;the courses of disease ranged from 5 to 36 months with an average of (18.20±8.98) months; RSNA system was used to assist the positioning of osteotomy. There were 7 males and 23 females in RA group, aged from 55 to 82 years old with an average of (67.83±8.61) years old;BMI ranged from 19.67 to 37.25 kg·m-2 with an average of (28.01±4.89) kg·m-2; the courses of disease ranged from 3 to 33 months with an average of (17.93±9.20) months;RA was performed. Operation time, incision length, latent blood loss at 2 weeks after operation and incidence of lower extremity thrombosis were compared between two groups. Hip-knee ankle angle (HKAA), HKAA deviation, lateral distal femoral angle ( LDFA), medial proximal tibial angle (MPTA) and posterior tibial slope (PTS) were compared between two groups;Western Ontario McMaster Universities Osteoarthritis Index (WOMAC) and Knee Society score (KSS) were used to evaluate functional recovery before operation, 3 and 6 months after operation. The operation was performed successfully in both groups, and there were no serious complications such as vascular and nerve injury during operation. The wound healed well at stageⅠafter operation, and the follow-up time was 6 months. The operation time, latent blood loss at 2 weeks after operation and incision length in RSNA group were (94.35±5.75) min, (130.54±17.53) ml and (14.73±2.14) cm, respectively;while (102.57±6.88) min, (146.33±19.47) ml and (16.78±2.32) cm in RA group, respectively. RSNA group was better than RA group (P<0.05). No deep vein thrombosis occurred in both groups at 2 weeks after operation, 5 patients occurred intermuscular vein thrombosisin in RSNA group and 8 patients in RA group, the difference was not statistically significant (P>0.05). In RSNA group, HKAA, LDFA and MPTA were (173.00±5.54) °, (86.96±3.45) °, (82.79±3.35) ° before operation, and (178.34±1.85) °, (89.92±0.42) °, (89.84±0.73) ° at 1 week after operation, respectively. In RA group, HKAA, LDFA and MPTA were (173.31±6.48) °, (87.15±3.40) ° and (82.99±3.05) ° before operation, and (178.52±1.79) °, (90.03±0.39) ° and (90.15±0.47) ° at 1 week after operation, respectively. HKAA, LDFA and MPTA were significantly improved in both groups at 1 week after operation (P<0.05). There were no significant difference in HKAA, LDFA, MPTA and PTS between two groups before operation and 1 week after operation (P>0.05). There was no significant difference in deviation distribution of HKAA at 1 week after operation (χ2=2.611, P=0.456). There were no significant difference in WOMAC and KSS between two groups before operation, 3 and 6 months after operation (P>0.05), and postoperative WOMAC and KSS at 3 and 6 months between two groups were improved compared with those before operation (P<0.05). Both RA and RSNA system assisted TKA could obtain accurate osteotomy, RA has higher surgical accuracy, RSNA system assisted operation has less trauma, and operation is simpler.

Control model of community elderly recreational exercise assistive robot based on improved dense trajectory algorithm

As the number of elderly population in the community grows, more efficient and precise recreation and exercise aids are needed to safeguard their quality of life. The study proposes a control model based on an improved dense trajectory algorithm to enhance the recognition and response capabilities of recreation and exercise assistance robots. The main method of the model is to improve the dense trajectory algorithm to enhance its recognition speed and accuracy for complex and small movements. Specifically, the study deeply refined the control process of a health and exercise assisted robot, and combined action capture to construct a health and exercise assisted robot model. The control model of the health and exercise assisted robot was optimized using an improved dense algorithm. The improved dense trajectory algorithm has feature embedding and attention mechanism, which can supplement the input data of the model, thus enabling more accurate action recognition. The results show that among the five samples, the recreation effectiveness score of the experimental group averaged 8.9, which was significantly higher than that of the control group, which was 7.3. The recognition accuracy has been improved by 2.7 % and 3.9 %, respectively, effectively suppressing the influence of camera motion. After using the improved dense trajectory algorithm, the fitness of the health training assistant robot reached 96.25 % under the same processing time, which is 8.93 % higher than the traditional model's fitness of 87.32 %. In summary, the control model of a community elderly health exercise assistance robot based on improved dense trajectory algorithm has achieved more accurate and faster recognition and response to the actions of the elderly, providing a more efficient technical means for health exercise and improving the health effect of the elderly.

Page Turning Using Assistive Robot with Low-Degree-of-Freedom Hand

This paper proposes a page-turning strategy using an assistive robot that has a low-degree-of-freedom robotic hand. The robotic hand is based on human object handling characteristics, which significantly reduces the number of fingers and joints required to handle various objects. The robotic hand has right and left planar fingers that can transform their shape to handle various objects. To turn a page, the robot uses the planar fingers to push the surface of the page and then rotates the fingers. The design concept, mechanism, sensor system, strategy for page turning, and control system of the robotic hand are presented. The experimental results show that the robot can turn pages using the proposed method; however, it sometimes failed to turn the page when the robotic hand height was too low and too close to the book because the rotation of the fingers was stopped by the book. When the hand detects excessive force during page turning, the control system changes the shape of the fingers and releases the force from the book. The experimental results show the effectiveness of the control system.

The Conversion of Unicompartmental Knee Arthroplasty to Total Knee Arthroplasty with Non-CT Based Robotic Assistance: A Novel Surgical Technique and Case Series.

Robotic-assisted devices help provide precise component positioning in conversion of unicompartmental knee arthroplasty (UKA) to total knee arthroplasty (TKA). A few studies offer surgical techniques for CT-based robotic-assisted conversion of UKA to TKA, however no studies to date detail this procedure utilizing a non-CT based robotic assisted device. This paper introduces a novel technique employing a non-CT based robotic assisted device (ROSA® Knee System, Zimmer Biomet, Warsaw, IN) for converting UKA to TKA with a focus on its efficacy in gap balancing. We present three patients (ages 46 to 66) who were evaluated for conversion of UKA to TKA for aseptic loosening, stress fracture, and progressive osteoarthritis. Each patient underwent robotic-assisted conversion to TKA. Postoperative assessments at 6 months revealed improved pain, function, and radiographic stability. Preoperative planning included biplanar long leg radiographs to determine the anatomic and mechanical axis of the leg. After arthrotomy with a standard medial parapatellar approach, infrared reflectors were pinned into the femur and tibia, followed by topographical mapping of the knee with the UKA in-situ. The intraoperative software was utilized to evaluate flexion and extension balancing and plan bony resections. Then, the robotic arm guided placement of the femoral and tibial guide pins and the UKA components were removed. After bony resection of the distal femur and proximal tibia, the intraoperative software was used to reassess the extension gap, and plan posterior condylar resection to have the flexion gap match the extension gap. The use of a non-CT based robotic assisted device in conversion of UKA to TKA is a novel technique and a good option for surgeons familiar with robotic-assisted arthroplasty, resulting in excellent outcomes at 6 months.

Method for Bottle Opening with a Dual-Arm Robot.

This paper introduces a novel approach to robotic assistance in bottle opening using the dual-arm robot TIAGo++. The solution enhances accessibility by addressing the needs of individuals with injuries or disabilities who may require help with common manipulation tasks. The aim of this paper is to propose a method involving vision, manipulation, and learning techniques to effectively address the task of bottle opening. The process begins with the acquisition of bottle and cap positions using an RGB-D camera and computer vision. Subsequently, the robot picks the bottle with one gripper and grips the cap with the other, each by planning safe trajectories. Then, the opening procedure is executed via a position and force control scheme that ensures both grippers follow the unscrewing path defined by the cap thread. Within the control loop, force sensor information is employed to control the vertical axis movements, while gripper rotation control is achieved through a Deep Reinforcement Learning (DRL) algorithm trained to determine the optimal angle increments for rotation. The results demonstrate the successful training of the learning agent. The experiments confirm the effectiveness of the proposed method in bottle opening with the TIAGo++ robot, showcasing the practical viability of the approach.

Investigating Older Adults' Use of a Socially Assistive Robot via Time Series Clustering and User Profiling: Descriptive Analysis Study.

The aging population and the shortage of geriatric care workers are major global concerns. Socially assistive robots (SARs) have the potential to address these issues, but developing SARs for various types of users is still in its infancy. This study aims to examine the characteristics and use patterns of SARs. This study analyzed log data from 64 older adults who used a SAR called Hyodol for 60 days to understand use patterns and their relationship with user characteristics. Data on user interactions, robot-assisted content use, demographics, physical and mental health, and lifestyle were collected. Time series clustering was used to group users based on use patterns, followed by profiling analysis to relate these patterns to user characteristics. Overall, 4 time series clusters were created based on use patterns: helpers, friends, short-term users, and long-term users. Time series and profiling analyses revealed distinct patterns for each group. We found that older adults use SARs differently based on factors beyond demographics and health. This study demonstrates a data-driven approach to understanding user needs, and the findings can help tailor SAR interventions for specific user groups. This study extends our understanding of the factors associated with the long-term use of SARs for geriatric care and makes methodological contributions.

Social robot for at-home cognitive monitoring.

A socially assistive robot can administer in-home neuropsychological tests for cognitive monitoring of older adults.

Customized stiffness control strategy for a six-bar linkage-based gait rehabilitation robot

Abstract Lower limb rehabilitation robots based on linkage-based mechanisms have recently drawn significant attention in the field due to their numerous advantages. The control of previously proposed linkage-based gait rehabilitation robotic orthoses has been achieved using constant speed control without consideration for the interaction forces. However, such an approach can be harmful to people with stroke since the level of disability varies among individuals, and it may cause potential injuries when excessive force is applied by the robot. To overcome this limitation and improve the rehabilitation process, it is necessary to recognize the force exerted by the person during walking and adjust the robot’s assistive torque accordingly, to provide synchronized motion. Thus, in this work, a human-cooperative approach based on a stiffness control strategy for the six-bar linkage-based gait rehabilitation robot is presented. The proposed methodology can serve as a solid foundation for developing a human-cooperative approach for linkage-based lower limb rehabilitation robotic orthoses. The control was validated and tested with eight healthy human subjects. As a result, customized robotic assistance with this mechanism can be provided during training to meet the individual needs of stroke patients, which can lead to increased engagement and contribution, thus improving treatment outcomes.