Robot Programming Research Articles

Updating the Montreal walking exoskeleton satisfaction and perspectives questionnaire (MWESP-Q) following a 16-week walking program with the use of a wearable robotic exoskeleton

BACKGROUND: Physical activity as one of the major lifestyle-related health determinants is partially addressed by the Montreal Walking Exoskeleton Satisfaction and Perspectives-Questionnaire (MWESP-Q). OBJECTIVE: To document satisfaction of people with chronic spinal cord injury after the completion of a 10 to 16 weeks of the wearable robotic exoskeleton-assisted walking program, with the MWESP-Q updated to a context of health promotion. METHODS: Following a walking program (10–16 weeks), wheelchair users with chronic SCI completed the MWESP-Q online. Modification of the original questionnaire was conducted with 4 experts to ensure its content validity with a human framework to promote physical activity for health. RESULTS: Ten wheelchair users completed the questionnaire (men = 6; 45.8 ± 13.4 years, SCI duration: 10.1 ± 5.8 years). Participants strongly agreed to be satisfied with the overall program; agreed to be satisfied towards exoskeleton, motivation to engage in physical activity, learnability and program attributes; rated “medium effort” for physical and cognitive exertion during training; reported light improvements for health benefit domain, but light to moderate improvements for general endurance (mean 5.5 /7, SD 1.4) and psychological well-being (mean 5.7 /7, SD 1.3). CONCLUSIONS: The updated MWESP-Q is now better equipped to measure physical and cognitive efforts in physical activity and changes in body and organic systems and in capabilities (health promotion). The updated MWESP-Q has 54 statements (14 additional statements and 1 deleted) organized around seven domains. The original measure was replaced by three 7-point Likert scales, one regarding agreement level (40 statements), level of effort (12 statements), and level of change (2 statements).

Design Goals for End-User Development of Robot-Assisted Physical Training Activities: A Participatory Design Study

Programming robots presents significant challenges, including high costs, extensive time commitments and steep learning curves, particularly for individuals lacking technical background in engineering. These barriers have been partially mitigated by the emergence of end-user development methodologies. Yet existing approaches often fall short in equipping users with the necessary software engineering competencies to develop comprehensive robot behaviors or to effectively maintain and re-purpose their creations. In this paper, we introduce a novel end-user development approach designed to empower physical therapists to independently specify robot-assisted physical training exercises, eliminating the need for robotics experts' intervention. Our approach is based on a set of design goals obtained through a participatory design study with experts in the field. It utilizes a textual domain-specific language (DSL) that enables users to define expected robot behaviors through Behaviour-Driven Development (BDD) scenarios. This paper discusses key themes, design objectives, and the evolution of requirements that emerged from an evaluative workshop.

Implementing a robotic hepatopancreatobiliary program for new faculty: safety, feasibility and lessons learned.

Robotic surgery is increasingly utilized in hepatopancreatobiliary (HPB) surgery, but the learning curve is a substantial obstacle hindering implementation. Comprehensive robotic training can help to surmount this obstacle; however, despite the expansion of robotic training into residency and fellowship programs, limited data are available about how this translates into successful incorporation in faculty practice. All operations performed during the first three years of practice of a surgical oncologist at a tertiary care academic institution were retrospectively reviewed. The surgeon underwent comprehensive robotic training during residency and fellowship. 137 HPB operations were performed during the initial three years of practice. Over 80% were performed robotically each year across a spectrum of HPB procedures with a 6% conversion rate. Median operative time, a metric for operative proficiency and evaluation for a learning curve, was similar throughout the study period for each major operation and below several reported optimized operative time benchmarks. The major complications, defined as a Clavien-Dindo of 3 or more, were similar across the experience and comparable to published series. Comprehensive robotic training in residency and fellowship as well as a dedicated, well-trained operative team allows for early attainment of optimized outcomes in a new HPB robotic practice.

Integrated Data Processing Architecture Applied to Learning Objects Repository for Educational Robotics: Proposing Approach

Educational Robotics has emerged as a multidisciplinary field integrating Information and Communication Technologies, Engineering, and Artificial Intelligence areas in education. Furthermore, Educational Robotics offers an innovative approach to teaching and learning by incorporating the construction and programming of robots. However, the small number of platforms for sharing Educational Robotics Learning Objects with a large amount of well-described metadata poses a challenge for efficient search and retrieval of relevant educational content. This study presents an architecture for data processing and ingestion in the RepositORE system, a Learning Objects Repository for Educational Robotics that stores educational content and associated metadata based on the Dublin Core standard. Based on microservices architecture, the proposed system aims to facilitate the location and reuse of learning objects by adapting the RepositORE system to work as a client service. The theoretical framework explores the concepts of learning objects, repositories, and the significance of Educational Robotics in education, and reviews related works. The proposed architecture and system can potentially enhance the accessibility and discoverability of Educational Robotics Learning Objects, fostering effective teaching and learning experiences.

Pengenalan Marketplace Hingga Robot Line Follower: Inovasi KKN Tematik di Dusun Gunungsari Desa Mlarak Kabupaten Ponorogo

The Thematic Community Service Programme in Gunungsari Subvillage, Mlarak Village, Ponorogo Regency strives to introduce digital technology and robotics to locals. This initiative concentrates on two key areas: introducing marketplaces to local UMKM and educating youth about line follower robots. The program aims to reduce the digital gap, enhance local economic competitiveness, and spark technological interest among young people. The program's execution involves two primary phases. The first phase focuses on familiarizing and training UMKM in marketplace usage, covering account setup, online store operations, and digital marketing tactics. The second phase comprises workshops and demonstrations of line follower robots at local schools, engaging students in basic robot programming and operation. The approach includes interactive sessions, hands-on training, and personalized guidance for participants. The initiative successfully enhanced the marketplace skills of 10 UMKM, with 60% of them beginning to market their products online actively. Concurrently, the line follower robot introduction attracted 60 students, resulting in a 75% increase in their interest in robotics technology, as indicated by post-event surveys. Furthermore, the program fostered collaboration among students, community members, and local government in efforts to advance technology and boost the local economy.

“Any Other Thoughts?”: Establishing Third Space in a Family-School-University STEM Partnership to Center Voices of Parents and Teachers

ABSTRACT Research practice partnerships (RPPs) that include parents and teachers as cocreators of educational programs provide opportunities to build equitable partnerships yet require university partners to intentionally develop spaces for coconstruction and synergistic interactions. RPPs built within a third space can foster engagement of all partners in the coconstruction of knowledge and practices while assuming roles and navigating partnership work through informal and formal communication. We define a third space as a hybrid, intangible space where inter- and intracultural pedagogies are constructed and shared identity is created from historical and cultural contexts of all partners. This study explored how university partners centered teacher and parent voices in the codesign and piloting phase of a culturally relevant preschool robotics program and facilitated codevelopment within a third space. Through in-depth qualitative coding, we analyzed 6 months of early partnership exchanges to identify how we, as university partners, facilitated discourse and what roles parents and teachers assumed within our third space. Results found that university partners frequently invited participation among partners and used revoicing strategies, and parents and teachers adopted roles as educators and advisors to the program design and implementation. Implications for RPPs include considering how both facilitator-discourse moves and collaborative spaces in which parents and teachers are central to partnership conversations and decisions contribute to successful outcomes.

Offline robot programming assisted by task demonstration: an AutomationML interoperable solution for glass adhesive application and welding

ABSTRACT Robots have been successfully deployed in both traditional and novel manufacturing processes. However, they are still difficult to program by non-experts, which limits their accessibility to a wider range of potential users. Programming robots requires expertise in both robotics and the specific manufacturing process in which they are applied. Robot programs created offline often lack parameters that represent relevant manufacturing skills when executing a specific task. These skills encompass aspects like robot orientation and velocity. This paper introduces an intuitive robot programming system designed to capture manufacturing skills from task demonstrations performed by skilled workers. Demonstration data, including orientations and velocities of the working paths, are acquired using a magnetic tracking system fixed to the tools used by the worker. Positional data are extracted from CAD/CAM. Robot path poses are transformed into Cartesian space and validated in simulation, subsequently leading to the generation of robot programs. PathML, an AutomationML-based syntax, integrates robot and manufacturing data across the heterogeneous elements and stages of the manufacturing systems considered. Experiments conducted on the glass adhesive application and welding processes showcased the intuitive nature of the system, with path errors falling within the functional tolerance range.

Robot-assisted chirality-tunable acoustic vortex tweezers for contactless, multifunctional, 4-DOF object manipulation.

Robotic manipulation of small objects has shown great potential for engineering, biology, and chemistry research. However, existing robotic platforms have difficulty in achieving contactless, high-resolution, 4-degrees-of-freedom (4-DOF) manipulation of small objects, and noninvasive maneuvering of objects in regions shielded by tissue and bone barriers. Here, we present chirality-tunable acoustic vortex tweezers that can tune acoustic vortex chirality, transmit through biological barriers, trap single micro- to millimeter-sized objects, and control object rotation. Assisted by programmable robots, our acoustic systems further enable contactless, high-resolution translation of single objects. Our systems were demonstrated by tuning acoustic vortex chirality, controlling object rotation, and translating objects along arbitrary-shaped paths. Moreover, we used our systems to trap single objects in regions with tissue and skull barriers and translate an object inside a Y-shaped channel of a thick biomimetic phantom. In addition, we showed the function of ultrasound imaging-assisted acoustic manipulation by monitoring acoustic object manipulation via live ultrasound imaging.

Comparison of a robotic surgery program for rectal cancer: short- and long-term results from a comparative, retrospective study between two laparoscopic and robotic reference centers.

It is assumed that robotic-assisted surgery (RAS) may facilitate complex pelvic dissection for rectal cancer compared to the laparoscopic-assisted resection(LAR). The aim of this study was to compare perioperative morbidity, short- and long-term oncologic, and functional outcomes between the RAS and LAR approaches. Between 2015 and 2021, all rectal cancers operated on by (LAR) or (RAS) were retrospectively reviewed in two colorectal surgery centers. A total of 197 patients were included in the study, with 70% in the LAR group and 30% in the RAS group. The tumor location and stage were identical in both groups (not significant = NS). The overall postoperative mortality rate was not significantly different between the two groups. (0% LAR; 0.5% RAS; NS). The postoperative morbidity was similar between the two groups (60% LAR vs 57% RAS; NS). The number of early surgical re-interventions within the first 30days was similar (10% for the LAR group and 3% for the RAS group; NS). The rate of complete TME was similar (88% for the LAR group and 94% for the RAS group; NS). However, the rate of circumferential R1 was significantly higher in the LAR group (13%) compared to the RAS group (2%) (p = 0.009). The 3-year recurrence rate did not differ between the two groups (77% for both groups; NS). After a mean follow-up of three years, the incidence of anterior resection syndrome was significantly lower in the LAR group compared to the RAS group (54 vs 76%; p = 0.030). The use of a RAS was found to be reliable for oncologic outcomes and morbidity. However, the expected benefits for functional outcomes were not observed. Therefore, the added value of RAS for rectal cancer needs to be reassessed in light of new laparoscopic technologies and patient management options.

Behind the pattern: General surgery resident autonomy in robotic surgery

ObjectiveRobotic surgery is increasingly utilized and common in general surgery training programs. This study sought to better understand the factors that influence resident operative autonomy in robotic surgery. We hypothesized that resident seniority, surgeon work experience, surgeon robotic-assisted surgery (RAS) case volume, and procedure type influence general surgery residents’ opportunities for autonomy in RAS as measured by percentage of resident individual console time (ICT). MethodsGeneral surgery resident ICT data for robotic cholecystectomy (RC), inguinal hernia (RIH), and ventral hernia (RVH) operations performed on the dual-console Da Vinci surgical robotic system between July 2019 and June 2021 were extracted. Cases with postgraduate year (PGY) 2–5 residents participating as a console surgeon were included. A sequential explanatory mixed-methods approach was undertaken to explore the ICT results and we conducted secondary qualitative interviews with surgeons. Descriptive statistics and thematic analysis were applied. ResultsResident ICT data from 420 robotic cases (IH 200, RC 121, and VH 99) performed by 20 junior residents (PGY2-3), 18 senior residents (PGY4-5), and 9 attending surgeons were extracted. The average ICT per case was 26.8 % for junior residents and 42.4 % for senior residents. Compared to early-career surgeons, surgeons with over 10 years' work experience gave less ICT to junior (18.2 % vs. 32.0 %) and senior residents (33.9 % vs. 56.6 %) respectively. Surgeons' RAS case volume had no correlation with resident ICT (r = 0.003, p = 0.0003). On average, residents had the most ICT in RC (45.8 %), followed by RIH (36.7 %) and RVH (28.6 %). Interviews with surgeons revealed two potential reasons for these resident ICT patterns: 1) Surgeon assessment of resident training year/experience influenced decisions to grant ICT; 2) Surgeons’ perceived operative time pressure inversely affected resident ICT. ConclusionsThis study suggests resident ICT/autonomy in RC, RIH, and RVH are influenced by resident seniority level, surgeon work experience, and procedure type, but not related to surgeon RAS case volume. Design and implementation of an effective robotic training program must consider the external pressures at conflict with increased resident operative autonomy and seek to mitigate them.

Technology and geometry: Fostering young children's geometrical concepts through a research-based robotic coding program

AbstractGeometric concepts are fundamental to early geometry education, and developmentally appropriate practices are crucial for teaching them to young children. Robotic coding is an effective tool in many areas of early mathematics and has significant potential in teaching geometric concepts. This study aimed to test the impact of a research-based robotic coding program on young children's understanding of geometric concepts. A quasi-experimental design was used with two intervention groups. The study involved 52 5-year-old children from a public kindergarten. The intervention-1 group (n = 18) received a research-based robotic coding program, while the intervention-2 group (n = 16) received a research-based no-coding program. The non-intervention group (n = 18) attended their regular program. Data on participants' understanding of geometrical concepts was collected through individual interviews using a geometric shapes classification test. Hierarchical linear modeling (HLM) was utilized to assess the effectiveness of two interventions. The results showed that both interventions had a significant effect with the robotic program being more effective. Additionally, follow-up tests indicated that both interventions had a lasting effect on the children's understanding of geometrical concepts. The study highlighted the potential of incorporating robotic coding and relevant research in fostering young children's geometrical development.

Building a successful robotic-arm assisted orthopedic surgery program

Building a successful robotics team is a long journey with much effort before the first surgery. It starts with sound business development and, in case of acquiring a system, an implementation plan, to make it a success. The pathway to a successful Robotics program is much more than choosing the desired robotic arm-assisted surgery (RAS) brand. Success also depends on the specific pathway optimization aspects of RAS. High-over, all systems introduce the computer and robotic-arm into the operating room. But all systems have subtle, but significant, differences. An essential aspect of a successful RAS project is the implementation phase. After deciding to purchase a Robotic system, the following training and OR setup phase should be prepared and executed. When the robotic system enters the operating room, aspects like arm position using the arm board should be evaluated critically since the robot needs sufficient working space. A suboptimal positioning will disrupt the team dynamics and lead to preventable delay. RAS requires new or adjusted skills. Two crucial aspects are eye-hand-feet coordination in combination with a different focus of the surgeon (also screen instead of 100% surgery field) and new cognitive decision making features. Robotic surgery is a perfect example of how technology can change a surgical field. This data acquisition is probably the most fundamental, powerful aspect of adding the computer into the surgical process. The most used robotic-arm systems in hip and knee arthroplasty are semi-automatic systems, and practically all major orthopedic manufacturers offer a device. ORs are a highly capitalized section of hospitals, generating high costs and critical revenues. Therefore, taking a closer look at workflows, inventory management, and team efficiencies is crucial. Improving these aspects in the OR has a high return on investment. RAS helps accurately observe everything occurring within and around the surgical process. These new data opportunities open the opportunity to work with surgical data science (SDS).

The current status and global trends of clinical trials related to robotic surgery: a bibliometric and visualized study.

Conducting clinical trials can evaluate the effectiveness and safety of surgical robots. To promote the advancement of academic robotic programs in surgery, this study captures the development trend and research hotspots of clinical trials related to surgical robots by bibliometric analysis. Bibliometrix package in R software was used to analyze the publication year, authors, countries, institutes, and journals. The visualization maps of keywords were formed using VOSviewer. The keywords with the strongest citation bursts and the institutional collaboration map were created by CiteSpace. Urology dominates with 31.3% of publications and the controlled clinical trials in urology and orthopedic accounted for the highest proportion, reaching 73%. North America, the USA, and Seoul National University lead in productivity. The most productive country, region and institution are North America, USA and Seoul National University, respectively. The trend of collaboration is regional instead of international. Keyword and burst keyword analysis revealed a primary focus in clinical research on robotic surgery: evaluating process improvements, comparing robotic and traditional surgery, and assessing feasibility. Long-term clinical trials assess surgical robots not only intraoperative performance but also postoperative complications and overall surgical outcomes. The development in the field is unbalanced between regions and countries. To promote multi-center clinical trials, governments can streamline review procedures and establish international consensus review standards, while academic institutions can form academic alliances. Also, the study offers recommendations for the development of academic robotic programs and regional collaboration units in robotic surgery, which may provide researchers with a strong reference for future research.

Using the Lego Robot in Programming

A computer is a device that allows us to solve a wide variety of problems: from the simplest calculation to controlling a space rocket. But how can we get a computer to do all of the above?. By writing appropriate programs for it. A program is nothing but a sequence of instructions to solve a particular problem. The computer executes the programs that we write for it. The word programming refers to the activity of writing programs. Due to the prevalence of computers and computing devices, programming is one of the key skills today. In programming, we come across different principles: conditional statements, loops, event statements and various expressions. Learning these can be very tiring and difficult for some. Since most of the students have already encountered playing with Lego blocks while growing up, we decided to try to learn the basic principles by programming LEGO robots. First, we assembled a LEGO robot that will move (vehicle, animal, etc.). We attached some sensors to it (light sensor, touch sensor, ultrasonic sensor, etc.) with which we added intelligence to the robot. Then, using the LEGO robot programming software, we wrote a program that allowed the robot to move in certain situations (when touched, at a certain distance from an obstacle, in certain light, etc.). We used basic principles in the program and thus learned the basic principles of programming.

A novel model-based welding trajectory planning method for identical structural workpieces

Welding robots have been widely used with the development of manufacturing industry. At present, welding trajectory planning and programming of welding robots are performed separately for similar (structural) workpieces with different dimensions or deformations. Besides, the welding torch pose planning using conventional robot programming methods is time-consuming for workpieces with complex welding trajectories. To realize automatic planning of the welding torch pose for similar workpieces and improve the programming efficiency of welding robots, we propose a novel model-based welding trajectory planning method for welding robots. We create a basic model (point set) containing information on welding seam trajectory planning for similar workpieces. The welding seam trajectory extraction of similar workpieces is achieved by the non-rigid point set registration of the feature point cloud of similar workpieces with the basic model. Then, the welding torch pose planning is implemented by the geometric projection method of the local point cloud of the welding seam trajectory. Finally, the results of offline experiments and online experiments demonstrate the effectiveness of the proposed method.

Surgery Advances in Gynecologic Tumors: The Evolution and Outcomes of Robotic Surgery for Gynecologic Cancers in a Tertiary Center.

The integration of innovation into routine clinical practice is faced with many challenges. In 2007, we received the mandate to evaluate how the introduction of a robotic program in gynecologic oncology affected patient-centered care by studying its impact on clinical outcomes and hospital resource utilization. Here we summarize the history and experience of developing a robotic surgery program for gynecologic cancers over 16 years. Analysis of the data indicates that robotic surgery improved perioperative patient clinical parameters, decreased blood loss, complications, and hospital stay, maintained the oncologic outcome, and is cost-effective, resulting in it becoming the dominant surgical approach in gynecologic oncology in a tertiary cancer care institution.

Robotic-Assisted Minimally Invasive Direct Coronary Artery Bypass Grafting: A Surgical Technique.

In recent years, there has been a growing interest in robotic-assisted coronary artery revascularization in Europe. Two different types of surgery can be performed using a robotic platform: RA-MIDCAB, in which the mammary artery is harvested endoscopically with robotic assistance and off-pump bypass graft is achieved under direct vision through mini thoracotomy, and TE-CAB, completely robotically performed. We started the robotic cardiac surgery program for mitral valve disease in our hospital, Humanitas Gavazzeni (Bergamo, Italy), in 2019; and in 2021, we addressed our experience with RA-MIDCAB. After a learning curve period, we have developed our technique to optimize the benefits offered by the robotic platform, tailoring strategy to individual patients, based on preoperative radiological images.

Social Workers’ Perspectives on Socially Isolated Older Adults Living with a Robot Companion

ABSTRACT Addressing depression and social isolation among solo-living older adults in South Korea requires a multi-faceted approach. This study aims to explore the advantages and obstacles of a robotic elder care program by analyzing social workers’ viewpoints regarding interactions between older adults and a companion robot named Hyodol. Through the purposive sampling method, we conducted comprehensive interviews with 10 social workers who are pioneering the integration of robots in elder care. The study participants observed and compared the demographic characteristics of users and non-users, elucidated usage patterns, described the roles of robot companions, and shared remarkable instances. Overall, the experiences of these social workers underscored the positive influence of Hyodol in offering companionship, care, and emotional support, especially in circumstances where clients experienced isolation or lacked regular family interactions. In addition, social workers’ perspectives hold significant value in comprehending the genuine effects of anthropomorphism – the inclination to attribute human-like qualities and emotions to robots. Our investigation revealed the existence of two distinct modes of personification among older adults, which we have labeled as “imagination” and “projection.”

Experimental analysis of augmented reality interfaces for robot programming by demonstration in manufacturing

Augmented Reality (AR) technology has been effectively utilized to support various manual operations in the manufacturing industry. An important application is serving as a user interface for human-robot collaboration. This paper presents an experimental study on the feasibility of robot programming by demonstration (PbD) through AR interfaces in the context of manufacturing. Our focus is on comparing the pointing and line tracing processes using three input methods provided by an AR headset: hand ray, head gaze, and eye gaze, based on both objective and subjective measures obtained from the experiment. The hand ray method performs the best in terms of accuracy, precision, and completion time in most experimental conditions. The SUS and NASA-TLX scores indicate acceptable usability for the hand ray method but low usability for the others. A prototyping AR tool using the hand ray as non-contact input in the real world is developed for motion planning of an industrial robotic arm. A test case of tire mold welding verifies the feasibility of the AR tool while also showing its limited capability in precision manufacturing. This work demonstrates a new approach for robot PbD on tangible objects enabled by AR.

Outcome of Colorectal Robotic Surgery in Newly Established Robotic Surgery Center: A Case Series

Introduction: The robotic platform compared to laparoscopy has proven to have similar postoperative outcomes; however, its adoption in the Middle East has been slow and there are limited data regarding outcomes with its use in small newly established robotic colorectal programs. Our aim was to report our experience and outcomes of robotic colorectal surgery performed by fellowship-trained robotic colorectal surgeons and compare them to larger, more experienced centers. Methods: This is retrospective review of data collected between November 2021 and March 2023 from a tertiary health care referral center. The series included 51 patients who had elective or urgent robotic colorectal surgery. Patients who had emergency surgery were excluded. The outcomes were overall morbidity, serious morbidity, mortality, conversion to open, length of hospital stay, and quality of oncological specimen. Results: The overall morbidity was 31.4% (n = 16 patients). Only 9.8% (n = 5) had serious morbidity of which three required interventions under general anesthesia. The median length of hospital stay was 6 days (IQR = 4), and there was no mortality. Of 17 rectal cancer resections, 88% had complete mesorectal excision, 15 of them were R0 resections, median lymph node harvested was 14 (IQR = 7) and two cases were converted to open. All the colon cancer resections had R0 resection, median lymph nodes harvested was 21 (IQR = 4) and none were converted to open. Conclusions: The implementation and integration of robotic colorectal surgery at a newly established center in a small country, when led by fellowship-trained robotic colorectal surgeons, is safe and effective in terms of morbidity, mortality, conversion to open and specimen pathological quality.