Integration Of Robotic Systems Research Articles

Robotic platforms in gynaecological surgery: past, present, and future.

More than two decades ago, the advent of robotic laparoscopic surgery marked a significant milestone, featuring the introduction of the AESOP robotic endoscope control system and the ZEUS robotic surgery system. The latter, equipped with distinct arms for the laparoscope and surgical instruments, was designed to accommodate remote connections, enabling the practice of remote telesurgery as early as 2001. Subsequent technological progress has given rise to a range of options in today's market, encompassing multi-port and single-port systems, both rigid and flexible, across various price points, with further growth anticipated. This article serves as an indispensable guide for gynaecological surgeons with an interest in embracing robotic surgery. Drawing insights from the experience of the Strasbourg training centre for minimally invasive surgery (IRCAD), this article offers a comprehensive overview of existing robotic platforms in the market, as well as those in development. Robotic surgical systems not only streamline established operative methods but also broaden the scope of procedures, including intra- and transluminal surgeries. As integral components of the digital surgery ecosystem, these robotic systems actively contribute to the increasing integration and adoption of advanced technologies, such as artificial intelligence-based data analysis and support systems. Robotic surgery is increasingly being adopted in clinical practice. With the growing number of systems available on the marketplace, the primary challenge lies in identifying the optimal platform for each specific procedure and patient. The seamless integration of robotic systems with artificial intelligence, image-guided surgery, and telesurgery presents undeniable advantages, enhancing the precision and effectiveness of surgical interventions. This article provides a guide to the robotic platforms available on the market and those in development for gynaecologists interested in robotic surgery.

Application of robotic systems in neurosurgery: problems and prospects

The article discusses the features of the use of robotic systems in neurosurgery, as well as emerging problems and prospects in this area. The authors present an overview of the use of robotic systems in the field of neurosurgery, highlighting both current challenges and future prospects of this technology. The current state of neurosurgery is analyzed and a number of problems faced by surgeons are highlighted, including the difficulty of achieving high accuracy of exposure at the microscopic level, problems of access to deeply located or difficult to access areas of the brain, as well as the need to minimize potential risks for patients. The potential of robotic systems in solving these problems is also explored, and the advantages that robotic hardware and software complexes can provide are described in detail, including increased accuracy and predictability of surgical interventions, reduction of invasiveness of procedures, increased navigation capabilities inside the brain, and improved ergonomics for surgeons. In addition, the technical and organizational aspects of the introduction of robotic systems into the practice of neurosurgery are considered, which includes a discussion of equipment requirements, the integration of robotic systems into existing surgical practices, as well as aspects of training and training personnel to use new technologies.

Integrating robotic systems in underground roof support machine

Traditionally, the roof bolting process is performed manually by skilled workers, which is time-consuming and labor-intensive. This often exposes human operators to several risks. Bolt installation in underground coal mining operations involves moving and manipulating heavy tools quickly while ensuring the safety of the area. Hence, humans must relocate from an active mining site to a more secure place where the operator can control and monitor the roof bolting process. This study explores the integration of a six-axis robotic arm and other specialized novel technologies into an existing roof bolter machine to automate the roof bolting module, therefore replacing human duties. Owing to the harsh mining conditions in underground coal mines, the integration of robotic systems requires proper planning to ensure reliable and safe operations. The methodology adopted for integrating the robotic system in this study may be regarded as a conceptual framework for the automation of underground mining roof bolting operations. This study highlights certain specifications that should be considered when automating underground mining machines. The results showed that a robotic arm that performs human tasks during roof bolting operations can be successfully integrated into a roof bolting module by establishing a robust communication network to facilitate seamless interaction between different hydraulic, mechanical, and electronic components.

Advancing Free-Form Fabrication: Industrial Robots' Role in Additive Manufacturing of Thermoplastics

This paper presents a comprehensive study on the advancements and potential of industrial robots in the field of additive manufacturing of thermoplastics. As the manufacturing industry continues to embrace Industry 4.0 and smart manufacturing principles, the integration of robotic systems has gained significant attention due to their flexibility, precision, and automation capabilities. This article explores the utilization of industrial robots in achieving free-form fabrication, particularly focusing on the additive manufacturing process for composite materials. It looks into the hardware setup, software systems configuration, and platform development that combines FDM with robotic arm technologies. It discusses the merits, limitations, and prospective uses of freeform additive manufacturing and the interoperability between traditional additive manufacturing and robotic additive manufacturing. The experimental results show that this integration is feasible and advantageous, with better process flexibility and production capacities when compared to typical FDM systems.

Transforming Healthcare: The Integration of AI and Digital Technologies

This article discusses the integration of digital technologies, including AI and robotic systems, on the health profession globally, and how profession can adapt to the changing landscape of healthcare.

BS O06 Robotic-assisted bariatric surgery: a systematic review on learning curves

Abstract Background Robotic-assisted minimally invasive surgery has improved patient outcomes and experiences in various surgical disciplines, demonstrating reduced complications, postoperative pain, and length of hospital stays. Within the field of bariatric surgery, the integration of robotic systems aims to further enhance patient outcomes compared to traditional laparoscopic procedures. However, the precise learning curve (LC) for robotic bariatric surgery has yet to be clearly defined. Considering this knowledge gap, our review aims to compile and analyse the most up-to-date evidence on LC outcomes in bariatric surgery procedures. Methods In this review, we searched PubMed, Embase, and Cochrane Central Library databases up to April 2023 to identify studies reporting LC outcomes for robotic bariatric procedures. The primary outcome was the number of operations required to reach LC stabilization. Secondary outcomes included surgeon characteristics, including the number of training surgeons, their prior laparoscopic and/or robotic experience, exposure to simulated robotic training and outcome measures, including complication rates, surgery duration, and length of stay. Our study is registered on PROSPERO (CRD42023425878), and no specific grants were received from funding agencies. Results Of 432 initial results, 18 articles were included. All were observational studies reporting 27 cohorts from 2006 to 2022, involving 2084 patients. There were one to four included surgeons. The overall median number of cases to overcome the LC was 35 (IQR 15-64). For gastric bypass (RGB), the median LC was 25 (IQR 15-69), while for sleeve gastrectomy (RSG), it was 31 (IQR 20-86). The overall operation time was 185 minutes (IQR 124-197), with RGB at 152 minutes (IQR 139-196) and RSG at 98 minutes (IQR 85-110). Five studies used the CUSUM methodology, while others lacked specified LC determination approaches. Conclusions Our review highlights that the learning curve for bariatric surgery can be navigated relatively quickly and safely. However, it also reveals that the existing evidence on learning curves for robotic bariatric surgery is derived from a limited number of surgeons with unclear levels of prior surgical experience. Furthermore, the heterogeneity in evaluating learning curves poses challenges for comprehensive analysis. Future studies should aim to outline differences in outcomes between established laparoscopic methods and robotic bariatric procedures, providing further clarity in this field.

Bin picking: a review of recent developments

PurposeThe purpose of this paper is to provide an insight into the present-day state of bin picking by considering research, technology, products and applications.Design/methodology/approachFollowing a short introduction, this first provides examples of recent bin picking research. It then discusses a selection of commercial product developments and applications. Finally, brief conclusions are drawn.FindingsBin picking has the potential to eliminate repetitive, manual part handling practices in many sectors of the manufacturing and logistics industries. Systems combine robotic gripping and manipulation with machine vision and specialist software and tend to be complex to install and commission. They are produced by robot manufacturers, system integrators, software developers and machine vision specialists and all are constantly developing and improving the technology. These developments are supported by a strong academic research effort, much involving artificial intelligence methods, and while the technology is evolving rapidly, it is yet to reach the point where deployments are routine and widespread.Originality/valueThis provides a timely review of recent bin picking research and commercial developments.

Versatile end effector for laparoscopic robotic scrub nurse

PurposeIntegrating robotic scrub nurses in the operating room has the potential to help overcome staff shortages and limited use of available operating capacities in hospitals. Existing approaches of robotic scrub nurses are mainly focused on open surgical procedures, neglecting laparoscopic procedures. Laparoscopic interventions offer great potential for the context-sensitive integration of robotic systems due to possible standardization. However, the first step is to ensure the safe manipulation of laparoscopic instruments.MethodsA robotic platform with a universal gripper system was designed to pick up and place laparoscopic as well as da Vinci^{circledR } instruments in an efficient workflow. The robustness of the gripper system was studied using a test protocol, which included a force absorption test to determine the operational safety limits of the design and a grip test to determine the system performance.ResultsThe test protocol shows results regarding force and torque absorption capabilities of the end effector, which are essential when transferring an instrument to the surgeon to enable a robust handover. The grip tests show that the laparoscopic instruments can be safely picked up, manipulated and returned independent of unexpected positional deviations. The gripper system also enables the manipulation of da Vinci^{circledR } instruments, opening the door for robot–robot interaction.ConclusionOur evaluation tests have shown that our robotic scrub nurse with the universal gripper system can safely and robustly manipulate laparoscopic and da Vinci^{circledR } instruments. The system design will continue with the integration of context-sensitive capabilities.

Automatic Alignment of Fractured Femur: Integration of Robot and Optical Tracking System

This paper presents Robossis, a surgical robotic system for automated femur fracture alignment. Robossis is the integration of an optical tracking system with a 6-degree-of-freedom (6-DOF) 3-armed parallel robot that satisfies the clinical and mechanical design requirements for femur alignment surgery. In real-time, the optical tracking system obtains the spatial position of the distal and proximal parts of the fractured femur. Then, an auto-alignment algorithm uses this data to guide the robot to automatically and accurately align the bone fragments while overcoming the muscle payload surrounding the femur. A graphical user interface (GUI) provides a real-time visual guide for the surgeon to check the deviation from alignment while the robot is automatically bringing the bone into an aligned position. To demonstrate the capabilities of Robossis, laboratory and cadaver experiments are performed, showing that Robossis can successfully manipulate bone in 6 DOFs in space, achieving alignment with submillimeter accuracy.

Barriers and facilitators in the implementation of mobilization robots in hospitals from the perspective of clinical experts and developers

BackgroundEarly mobilization can help reduce severe side effects such as muscle atrophy that occur during hospitalization. However, due to time and staff shortages in intensive and critical care as well as safety risks for patients, it is often difficult to adhere to the recommended therapy time of twenty minutes twice a day. New robotic technologies might be one approach to achieve early mobilization effectively for patients and also relieve users from physical effort. Nevertheless, currently there is a lack of knowledge regarding the factors that are important for integrating of these technologies into complex treatment settings like intensive care units or rehabilitation units.MethodsEuropean experts from science, technical development and end-users of robotic systems (n = 13) were interviewed using a semi-structured interview guideline to identify barriers and facilitating factors for the integration of robotic systems into daily clinical practice. They were asked about structural, personnel and environmental factors that had an impact on integration and how they had solved challenges. A latent content analysis was performed regarding the COREQ criteria.ResultsWe found relevant factors regarding the development, introduction, and routine of the robotic system. In this context, costs, process adjustments, a lack of exemptions, and a lack of support from the manufacturers/developers were identified as challenges. Easy handling, joint decision making between the end-users and the decision makers in the hospital, an accurate process design and the joint development of the robotic system of end-users and technical experts were found to be facilitating factors.ConclusionThe integration and preparation for the integration of robotic assistance systems into the inpatient setting is a complex intervention that involves many parties. This study provides evidence for hospitals or manufacturers to simplify the planning of integrations for permanent use.Trial registrationDRKS-ID: DRKS00023848; registered 10/12/2020.

Industry 4.0: Applications Of Digitalization and Technical Applications in The Healthcare Sector Using the Example of The Pharmacy Sector in Germany

The integration of networking, artificial intelligence and robotic systems is the defining feature of the Industry 4.0 environment, as it enables systems to function with little human intervention. In the healthcare sector, this is even more important because, on the one hand, there is a high level of system relevance and, on the other hand, fast information and data are necessary for successful treatments of patients. In this case pharmacies are an important factor. However, digitalisation and the use of Industry 4.0 opportunities have been weak so far and require greater efforts than shown in the past. The resulting and logical core research question of this research paper is therefore: Where can Industry 4.0 implementations be used in the field of pharmacy, taking pharmacies as an example? In order to uncover the potentials, a separate considerably empirical approach was used to determine by means of questionnaires among pharmacies how advanced the transformation of processes at pharmacies towards more digitalisation is and which determinant problems still exist. The sample size, which was used, is n=420 and it can be stated as a result that both in the active use of technical possibilities and instruments as well as in digital networking and communication, the majority of pharmacies are far behind using the variety of possibilities that already exist. Thus it is not necessary to elaborate new solutions, but to utilize existing options. The objective of the report is to offer a management structure for pharmacies with the PIVOT approach, which will enable them to manage the problems better.

AHP를 이용한 중소기업의 제조용 로봇 도입 성공요인 분석

The purpose of this study is to analyze the success factors for adoption of industrial robots in small and medium-sized enterprises(SMEs). We identified the perceptional differences of success factors between industrial robot suppliers and buyers. In this study we derived factors for adoption of industrial robots from literature review and developed questionnaire for the Analytic Hierarchy Process(AHP). Forty seven responses were collected and analyzed success factors. As a result of this study, technical factors were the most important factor as a critical success factor for adoption of industrial robots. Specifically, the competence of robot system integrators was analyzed as the most important factor, and robot product quality, top management support, automation level, and work standardization were important in order. The difference in perception of success factors between industrial robot suppliers and buyers was not statistically significant.

관절 공간에서 DSP 기반의 협업 로봇 제어 구현의 튜토리얼

This paper presents a tutorial for robotics education on control implementation of a collaborative robot using digital signal processors(DSPs). In most robotics classes, the kinematics and dynamics of robots are major considerations. Robot control is considered as an extension. However, the subject, robot control, requires more time and effort to implement since it is more complicated. Herein, a tutorial on robot control implementation using DSPs is presented as an introduction to real control applications, and an example of completing a robot system integration from kinematics to control is introduced. A time-delayed control (TDC)method is implemented in joint space as an example of control algorithms. Experimental results of the position control of a robot arm are demonstrated.

Novel heuristic approach to integrating task sequencing and production system configuration

The robot system integration (SI) business targets the construction of production lines for various products that differ from customer to customer. Improving the efficiency of line design is important for increasing profits in the SI business. Especially in the construction of assembly lines, the optimal system configuration, with an appropriate combination of robotic and human stations, is critical for maximizing the return on investment of customers. Yet, the optimal system configuration depends heavily on the task sequence in the process plan. In this paper, task sequencing and system configuration are regarded as two interdependent sub-problems of line design. The exact joint optimum of the two problems can be found only if they are solved together, in an integrated way. However, this is computationally intractable for problems of industrially relevant sizes. To overcome this challenge, a heuristic method exploiting industrial knowledge is proposed for solving the two problems simultaneously. The heuristic constructs promising task sequences according to the capabilities of the applicable resources, considering aspects such as, among others, human work quality or robot tool change times. Then, a close-to-optimal system configuration is computed by considering the promising task sequences and their various relevant combinations. The proposed method is illustrated in a case study on the assembly of electrical components in the automotive industry.

Engineering Interoperable, Plug-and-Play, Distributed, Robotic Control Systems for Futureproof Fusion Power Plants

Maintenance and inspection systems for future fusion power plants (e.g., STEP and DEMO) are expected to require the integration of hundreds of systems from multiple suppliers, with lifetime expectancies of several decades, where requirements evolve over time and obsolescence management is required. There are significant challenges associated with the integration, deployment, and maintenance of very large-scale robotic systems incorporating devices from multiple suppliers, where each may utilise bespoke, non-standardised control systems and interfaces. Additionally, the unstructured, experimental, or unknown operational conditions frequently result in new or changing system requirements, meaning extension and adaptation are necessary. Whilst existing control frameworks (e.g., ROS, OPC-UA) allow for the robust integration of complex robotic systems, they are not compatible with highly efficient maintenance and extension in the face of changing requirements and obsolescence issues over decades-long periods. We present the CorteX software framework as well as results showing its effectiveness in addressing the above issues, whilst being demonstrated through hardware that is representative of real-world fusion applications.

The Increasing Centrality of Robotic Technology in the Context of Nursing Care: Bioethical Implications Analyzed through a Scoping Review Approach.

At the dawn of the fourth industrial revolution, the healthcare industry is experiencing a momentous shift in the direction of increasingly pervasive technologization of care. If, up until the 2000s, imagining healthcare provided by robots was a purely futuristic fantasy, today, such a scenario is in fact a concrete reality, especially in some countries, such as Japan, where nursing care is largely delivered by assistive and social robots in both public and private healthcare settings, as well as in home care. This revolution in the context of care, already underway in many countries and destined to take place soon on a global scale, raises obvious ethical issues, related primarily to the progressive dehumanization of healthcare, a process which, moreover, has undergone an important acceleration following the outbreak of the COVID-19 pandemic, which has made it necessary to devise new systems to deliver healthcare services while minimizing interhuman contact. According to leading industry experts, nurses will be the primary users of healthcare robots in the short term. The aim of this study is to provide a general overview, through a scoping review approach, of the most relevant ethical issues that have emerged in the nursing care field in relation to the increasingly decisive role that service robots play in the provision of care. Specifically, through the adoption of the population-concept-context framework, we formulated this broad question: what are the most relevant ethical issues directly impacting clinical practice that arise in nursing care delivered by assistive and social robots? We conducted the review according to the five-step methodology outlined by Arksey and O'Malley. The first two steps, formulating the main research question and carrying out the literature search, were performed based on the population-context-concept (PCC) framework suggested by the Joanna Briggs Institute. Starting from an initial quota of 2,328 scientific papers, we performed an initial screening through a computer system by eliminating duplicated and non-English language articles. The next step consisted of selection based on a reading of the titles and abstracts, adopting four precise exclusion criteria: articles related to a nonnursing environment, articles dealing with bioethical aspects in a marginal way, articles related to technological devices other than robots, and articles that did not treat the dynamics of human-robot relationships in depth. Of the 2,328 titles and abstracts screened, we included 14. The results of the 14 papers revealed the existence of nonnegligible difficulties in the integration of robotic systems within nursing, leading to a lively search for new theoretical ethical frameworks, in which robots can find a place; concurrent with this exploration are the frantic attempts to identify the best ethical design system applicable to robots who work alongside nurses in hospital wards. In the final part of the paper, we also proposed considerations about the Italian nursing context and the legal implications of nursing care provided by robots in light of the Italian legislative panorama. Regarding future perspectives, this paper offers insights regarding robot engagement strategies within nursing.

Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes.

Technological advances in recent years have shown interest in the development of robots in the medical field. The integration of robotic systems in areas of assistance and rehabilitation improves the user’s quality of life. In this context, this article presents a proposal for the unified control of a robotic standing wheelchair. Considering primary and secondary tasks as control objectives, the system performs tasks autonomously and the change of position and orientation can be performed at any time. The development of the control scheme was divided in two parts: (i) kinematic controller to solve the desired motion problem; and (ii) dynamic compensation of the standing wheelchair–human system. The design of the two controllers considers the theory of linear algebra, proposing a low computational cost and an asymptotically stable algorithm, without disturbances. The stability and robustness analysis of the system is performed by analyzing the evolution of the control errors in each sampling period. Finally, real experiments of the performance of the developed controller are performed using a built and instrumented standing wheelchair.

Design, control, and experiments of a fluidic soft robotic eel

This work develops a fluidic soft robotic eel which combines the adaptability of soft material and the flexibility of eel-shaped body together. The soft eel-like robot consists of multiple soft actuation segments each of which is capable of bidirectional bending by two embedded symmetrical fluidic chambers. Propulsion will be produced when proper control rules are applied to the bending angles of the actuation segments. Robot design, prototype fabrication and system integration are described step by step. A motion controller based on central pattern generator (CPG) is designed for the soft eel-like robot by using identified parameters. Substantial experiments are implemented to evaluate the performance of the prototype. It is shown that the soft eel-like robot can flexibly perform linear motion and turning motion. Moreover, the soft eel-like robot keeps good continuity even when the parameters of the CPG-based controller changes. In general, the experimental results verify the effectiveness of the design and control methods for the soft eel-like robot, which provides a potential candidate to underwater exploration with limited space.

Design of a Field Programmable Gate Array for Swarm Intelligent Controller Based on a Portable Robotic System

Portable robots are considered an important device in many areas such as in medical, space research, emergency situations, applications, etc. The robots complete tasks efficiently and effectively without any human interaction. The most important advantages of portable robots are their small size and very high speed in problem processing with relatively high accuracy and efficiency compared with constant devices. In this paper, the authors discussed the applications of the robot systems based on swarm intelligent controller and field programmable gate array (FPGA). A component-oriented FPGA design platform is proposed for robot system integration because FPGAs are known to be power-efficient hardware platforms. From the results, they found that FPGA and swarm intelligence are very efficient in robotic systems and used in a wide area of applications.

Smart Assistive Architecture for the Integration of IoT Devices, Robotic Systems, and Multimodal Interfaces in Healthcare Environments.

This paper presents a new architecture that integrates Internet of Things (IoT) devices, service robots, and users in a smart assistive environment. A new intuitive and multimodal interaction system supporting people with disabilities and bedbound patients is presented. This interaction system allows the user to control service robots and devices inside the room in five different ways: touch control, eye control, gesture control, voice control, and augmented reality control. The interaction system is comprised of an assistive robotic arm holding a tablet PC. The robotic arm can place the tablet PC in front of the user. A demonstration of the developed technology, a prototype of a smart room equipped with home automation devices, and the robotic assistive arm are presented. The results obtained from the use of the various interfaces and technologies are presented in the article. The results include user preference with regard to eye-base control (performing clicks, and using winks or gaze) and the use of mobile phones over augmented reality glasses, among others.