Evaluation Of Robotic Systems Research Articles

Evaluation of Robotic Systems on Cytotoxic Drug Preparation: A Systematic Review and Meta-Analysis.

Background and Objectives: With the increased prevalence of patients with cancer, the demand for preparing cytotoxic drugs was increased by health-system pharmacists. To reduce the workload and contamination of work areas in pharmacies, compounding robots preparing cytotoxic drugs have been introduced, and the use of the robots has been expanded in recent years. As reports on the comprehensive and quantitative evaluation of compounding robots remain lacking, a systematic review and meta-analysis were conducted to provide descriptive and quantitative evaluations of the accuracy of preparing injectable cytotoxic drugs. Materials and Methods: A systematic review and meta-analysis were conducted using published studies up to 2020. To identify eligible studies, PubMed, EMBASE, and Cochrane Library were used. All studies reporting the outcomes relevant to drug-compounding robots such as accuracy, safety, and drug contamination were included. Outcomes from included studies were descriptively summarized. Drug contamination by the robot was quantitatively analyzed using the odds ratio (OR) with a 95% confidence interval (CI). The risk of bias was assessed using the Risk of Bias Assessment tool for Non-randomized Studies (RoBANS). Results: A total of 14 compounding robot studies were eligible for review and 4 studies were included in the meta-analysis. Robotic compounding showed failure rates of 0.9-16.75%, while the accuracy range was set at 5%. Two studies reported that robotic compounding needed more time than manual compounding, two reported that robotic compounding needed less time, and one just reported preparation time without a control group. In a meta-analysis regarding the contamination of the compounding area, manual compounding was associated with lower contamination, although the result was not statistically significant (OR 4.251, 95% CI 0.439-51.772). For the contamination of infusion bags, the robot was associated with lower contamination (OR 0.176, 95% CI 0.084-0.365). Conclusions: Robotic compounding showed better accuracy than manual compounding and, without control groups, showed a high accuracy rate and also reduced the risk of drug contamination and compounding workload. The preparation time of the robot was not consistent because the type of robot and introduced system were different. In conclusion, robotic compounding showed mixed results compared to the manual compounding of drugs, so the system should be introduced considering the risks and benefits of robots.

Human–Robot Interaction

The field of human-robot interaction (HRI) addresses the design, understanding, and evaluation of robotic systems, which involve humans and robots interacting through communication. As the field matures, education of students becomes increasingly important. Courses in HRI provide the canonical set of knowledge and core skills that represent the current state of the field and permit the evolution of knowledge and methods to be transferred from research to a broad set of students. In addition, coursework in HRI creates a workforce capable of transferring HRI theory to practice. However, as would be expected with an emerging field, HRI courses are largely ad hoc. This article summarizes the discussion and findings from the Teaching Humans About Human-Robot Interaction workshop on the development of an HRI course for computer scientists and engineers.

Grasp capability analysis of multifingered robot hands

This paper addresses the problem of grasp capability analysis of multifingered robot hands. The aim of the grasp capability analysis is to find the maximum external wrench that the multifingered robot hands can withstand, which is an important criterion in the evaluation of robotic systems. The study of grasp capability provides a basis for the task planning of force control of multifingered robot hands. For a given multifingered hand geometry, the grasp capability depends on the joint driving torque limits, grasp configuration, contact model and so on. A systematic method of the grasp capability analysis, which is in fact a constrained optimization algorithm, is presented. In this optimization, the optimality criterion is the maximum external wrench, and the constraints include the equality constraints and the inequality constraints. The equality constraints are for the grasp to balance the given external wrench, and the inequality constraints are to prevent the slippage of fingertips, the overload of joint actuators, the excessive forces over the physical limits of the object, etc. The advantages of this method are the ability to accomodate diverse areas such as multiple robot arms, intelligent fixtures and so on. The effectiveness of the proposed method is confirmed with a numerical example of a trifingered grasp.