Robotic System Research Articles

Robotic donor hepatectomy for living donor liver transplantation.

Robotic donor hepatectomy introduces a new era in living donor liver transplantation (LDLT), combining advancements in minimally invasive surgery with superior precision and ergonomics. The beginning of LDLT in 1989 aimed to address the scarcity of deceased donor livers, a situation intensified by the technical and ethical challenges associated with this procedure. The integration of robotic systems since 2010s has broadened the scope and impact of liver transplantation, enhancing outcomes significantly for both donors and recipients. This review discusses the significant advancements in robotic surgery, the ongoing challenges such as cost and training needs, and the future toward global standardization and the integration of artificial intelligence. As this technology continues to evolve, it holds the potential to become the new global standard, ensuring safer procedures and enhanced outcomes for patients worldwide.

Fractional‐order fixed‐time sliding mode control of robotic manipulators with robust exact differentiator

AbstractThis paper introduces a robust position tracking control structure of exoskeleton robots (ERs). An open environment and body flexibility are the main challenges in ER control system design. First, a fractional‐order nonsingular terminal sliding mode (FONTSM) controller is proposed for a robotic manipulator with uncertainty, where lumped unknown dynamics are computed by time‐delay estimation (TDE). Secondly, a robust exact differentiator (RED) is employed as the output feedback observer for the velocity sensorless robotic system. Thirdly, the stability of the FONTSM control system is demonstrated. It is proved that the system error can move to the specified value along the sliding mode surface at a fixed time and can reach the sliding mode surface after a finite time. Finally, simulations on a 2‐DOF robotic manipulator show the effectiveness of the fixed‐time control strategies. When a combined trigonometric function disturbance is applied, the joint angle error is reduced to 1% by the model‐free controller based on output feedback within approximately 1 s.

Automated robotic systems in surgical practice

The use of robotic systems has long gone beyond experimental medicine. More than 200 thousand operations per year are carried out with the use of just the most popular robotic complex Da Vinci. Further development of robotics will contribute to improvement of quality and accuracy of surgical interventions. Even now, it enables reduction of postoperative complications to almost zero. This review presents the analysis of the results of introducing robots into surgery. An overview of the data presented in PubMed, Cochrane Library, Science Direct and eLIBRARY was performed.

Research on the Motion Control Strategy of a Lower-Limb Exoskeleton Rehabilitation Robot Using the Twin Delayed Deep Deterministic Policy Gradient Algorithm.

The motion control system of a lower-limb exoskeleton rehabilitation robot (LLERR) is designed to assist patients in lower-limb rehabilitation exercises. This research designed a motion controller for an LLERR-based on the Twin Delayed Deep Deterministic policy gradient (TD3) algorithm to control the lower-limb exoskeleton for gait training in a staircase environment. Commencing with the establishment of a mathematical model of the LLERR, the dynamics during its movement are systematically described. The TD3 algorithm is employed to plan the motion trajectory of the LLERR's right-foot sole, and the target motion curve of the hip (knee) joint is deduced inversely to ensure adherence to human physiological principles during motion execution. The control strategy of the TD3 algorithm ensures that the movement of each joint of the LLERR is consistent with the target motion trajectory. The experimental results indicate that the trajectory tracking errors of the hip (knee) joints are all within 5°, confirming that the LLERR successfully assists patient in completing lower-limb rehabilitation training in a staircase environment. The primary contribution of this study is to propose a non-linear control strategy tailored for the staircase environment, enabling the planning and control of the lower-limb joint motions facilitated by the LLERR.

TVIE-based fault-tolerant model predictive control for trajectory tracking of mobile robot

This paper investigates the trajectory tracking control issue for a linear parameter-varying (LPV) system of a wheeled mobile robot (WMR) with actuator fault and constraints, where a time-varying intermediate estimator (TVIE)-based fault-tolerant model predictive control (MPC) method is proposed. To obtain the real system with actuator fault, based on the existing traditional IE, an optimized objective function is designed to update its observer gain online, which results in a TVIE. A new estimation-based predictive model in MPC is designed by introducing the estimations of error state and fault from the TVIE. Moreover, compared with the existing IE or extended state observer (ESO), the estimation performance of TVIE is better. Then the MPC optimization strategy is used to design fault-tolerant controllers. To guarantee stability and recursive feasibility, the bimodal MPC strategy is used, where a terminal penalty and a terminal constraint are included. Finally, the effectiveness and superiority of the proposed approach is illustrated in experiment.

CNN-MLP-Based Configurable Robotic Arm for Smart Agriculture

Amidst escalating global populations and dwindling arable lands, enhancing agricultural productivity and sustainability is imperative. Addressing the inefficiencies of traditional agriculture, which struggles to meet the demands of large-scale production, this paper introduces a highly configurable smart agricultural robotic arm system (CARA), engineered using convolutional neural networks and multilayer perceptron. CARA integrates a highly configurable robotic arm, an image acquisition module, and a deep processing center, embodying the convergence of advanced robotics and artificial intelligence to facilitate precise and efficient agricultural tasks including harvesting, pesticide application, and crop inspection. Rigorous experimental validations confirm that the system significantly enhances operational efficiency, adapts seamlessly to diverse agricultural contexts, and bolsters the precision and sustainability of farming practices. This study not only underscores the vital role of intelligent automation in modern agriculture but also sets a precedent for future agricultural innovations.

Retzius-Sparing Robot-Assisted Radical Prostatectomy Using the Hinotori Surgical Robot System Platform: Report of the First Series of Experiences.

The aim of this study is to describe the first series of six patients undergoing Retzius-sparing robot-assisted radical prostatectomy (rs-RARP) using the hinotori surgical robot system (hinotori SRS) and to compare the treatment outcomes with those achieved with the da Vinci surgical platform. This study included 20 cases involving the rs-RARP procedure (hinotori: N = 6; da Vinci: N = 14) that were performed between May 2021 and April 2024 in a single institution. No significant differences were observed between the hinotori and da Vinci groups regarding the preoperative findings. In the hinotori group, there were four cases of pT2 that showed negative surgical margins in all the cases. However, positive surgical margins were observed in two of the cases with pT3. The surgical outcomes were also similar between the two groups except for console time, which tended to be shorter in the da Vinci group (p = 0.058). There were no major complications in the initial six cases with the hinotori SRS. Immediate urinary continence was observed in 50% of the cases with the hinotori group compared with 64% for the da Vinci group. This is the first study to report cases of rs-RARP performed on a hinotori SRS. It seems that the hinotori SRS shows similar treatment outcomes compared with the cases treated via the da Vinci platform.

Robotic surgery in the aspect of liver transplantation

Introduction. Almost 60 years have passed since the first liver transplant performed by Thomas Starzl. During this time, medical technologies have gradually improved, which has made it possible to use more and more new methods and approaches in this type of medical care. One of the new techniques of recent decades is robotic surgery, which is gradually being introduced into medical practice, including in the field of transplant medicine.Objective. The purpose of writing this review was to summarize knowledge and describe the current status of development of robotic surgery in the aspect of liver transplantation, namely: liver resection in donors, as well as graft implantation in the recipient.Material and methods. The review includes foreign and domestic publications on minimally invasive donor liver surgery. Publications on the topic of robotic liver resection in the aspect of liver transplantation were also processed.Conclusion. Robotic surgery using advanced robotic systems represents the next step in the development of minimally invasive technologies in liver transplantation. Robotic systems provide more precise and dexterous control of instruments, allowing surgeons to perform complex procedures with greater precision and less risk to patients. However, the robotic approach is still very limited in geographical distribution and requires much more experience than laparoscopy. The upcoming introduction of new robotic systems that support haptic feedback or cavitronic ultrasonic surgical aspirators will further promote a widespread adoption of robotic liver resection in liver donors and liver recipients.

Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL

Although there is a growing demand for cooking behaviors as one of the expected tasks for robots, a series of cooking behaviors based on new recipe descriptions by robots in the real world has not yet been realized. In this study, we propose a robot system that integrates real-world executable robot cooking behavior planning using the Large Language Model (LLM) and classical planning of PDDL descriptions, and food ingredient state recognition learning from a small number of data using the Vision Language model (VLM). We succeeded in experiments in which PR2, a dual-armed wheeled robot, performed cooking from arranged new recipes in a real-world environment, and confirmed the effectiveness of the proposed system.

Robotic-Assisted Microsurgery in Lymphatic Reconstruction.

Lymphatic reconstruction entails microsurgery of the smallest human vessels with little microsurgical error tolerance. Surgical outcomes are therefore tightly tied to microsurgical performances and can be restricted by physiologic tremor or muscle tiring throughout extensive procedures. Recently introduced highly specialized microsurgical robots are promising to help overcome these human limitations, particularly relevant for lymphatic microsurgery. Ideal indications and setups for these robotic systems, however, are not yet well established. Reviewing the first 5 years of clinical experience with these microsurgical robots revealed a total of 204 robotically performed lymphatic anastomoses. Most reported use cases (84.4%) involved microsurgical reconstructions of lymphatic flow at the upper and lower extremities, of which 42% of patients were treated for breast cancer-related lymphedema. Considering rising cancer incidences and survival rates, these numbers highlight the potential of robotic-assisted microsurgery for this patient group, whereas the concept of robotic-assisted microsurgery per se can aid surgeons to achieve a new level of microsurgical excellence.

Bio-Inspired Motion Emulation for Social Robots: A Real-Time Trajectory Generation and Control Approach.

Assistive robotic platforms have recently gained popularity in various healthcare applications, and their use has expanded to social settings such as education, tourism, and manufacturing. These social robots, often in the form of bio-inspired humanoid systems, provide significant psychological and physiological benefits through one-on-one interactions. To optimize the interaction between social robotic platforms and humans, it is crucial for these robots to identify and mimic human motions in real time. This research presents a motion prediction model developed using convolutional neural networks (CNNs) to efficiently determine the type of motions at the initial state. Once identified, the corresponding reactions of the robots are executed by moving their joints along specific trajectories derived through temporal alignment and stored in a pre-selected motion library. In this study, we developed a multi-axial robotic arm integrated with a motion identification model to interact with humans by emulating their movements. The robotic arm follows pre-selected trajectories for corresponding interactions, which are generated based on identified human motions. To address the nonlinearities and cross-coupled dynamics of the robotic system, we applied a control strategy for precise motion tracking. This integrated system ensures that the robotic arm can achieve adequate controlled outcomes, thus validating the feasibility of such an interactive robotic system in providing effective bio-inspired motion emulation.

Analyzing the emergence of surgical robotics in Africa: a scoping review of pioneering procedures, platforms utilized, and outcome meta-analysis.

Surgical practice globally has undergone significant advancements with the advent of robotic systems. In Africa, a similar trend is emerging with the introduction of robots into various surgical specialties in certain countries. The need to review the robotic procedures performed, platforms utilized, and analyze outcomes such as conversion, morbidity, and mortality associated with robotic surgery in Africa, necessitated this study. This is the first study examining the status and outcomes of robotic surgery in Africa. A thorough scoping search was performed in PubMed, Google Scholar, Web of Science, and African Journals Online. Of the 1,266 studies identified, 16 studies across 3 countries met the inclusion criteria. A meta-analysis conducted using R statistical software estimated the pooled prevalences with the 95% confidence interval (CI) of conversion, morbidity, and mortality. Surgical robots are reportedly in use in South Africa, Egypt, and Tunisia. Across four specialties, 1,328 procedures were performed using da Vinci (Intuitive Surgical), Versius (CMR Surgical), and Senhance (Asensus Surgical) surgical robotic platforms. Urological procedures (90.1%) were the major procedures performed, with robotic prostatectomy (49.3%) being the most common procedure. The pooled rate of conversion and prevalence of morbidity from the meta-analysis was 0.21% (95% CI, 0%-0.54%) and 21.15% (95% CI, 7.45%-34.85%), respectively. There was no reported case of mortality. The outcomes highlight successful implementation and the potential for wider adoption. Based on our findings, we advocate for multidisciplinary and multinational collaboration, investment in surgical training programs, and policy initiatives aimed at addressing barriers to the widespread adoption of robotic surgery in Africa.

Time-Synchronized Convergence Control for n-DOF Robotic Manipulators with System Uncertainties.

A time-synchronized (TS) convergence control method for robotic manipulators is proposed. Adversely to finite-time control, a notion of time-synchronization convergence is introduced based on the ratio persistence property, which can ensure that all system components converge simultaneously in a finite time. Firstly, a robust disturbance observer is constructed to be compatible with the time-synchronized control framework and precisely estimate system uncertainties. Furthermore, we design a (finite) time-synchronized controller to ensure that all states of the robotic manipulator simultaneously converge to an equilibrium point, irrespective of initial conditions. Stability analysis shows the feasibility of the proposed TS control method. At last, simulations are performed with a two-link rehabilitation robotic system, and the comparison results indicate its superiority.

Model to Simulate Brain Biopsies Using a Navigated Robotic Guiding System and a Bone Cutting Laser

Model to Simulate Brain Biopsies Using a Navigated Robotic Guiding System and a Bone Cutting Laser

German sugar beet farmers’ intention to use autonomous field robots for seeding and weeding

Robotic weed control is not yet widely adopted, despite its technological availability and proven economics and sustainability in crop cultivation by replacing seasonal labor and synthetic pesticides. This impedes technologically enabled changes toward more sustainable agricultural systems. Given that adopting robotics for the weeding process requires changing existing systems, farmers' appraisals for the new and the current weeding technology may constitute barriers. However, this dualism has been largely ignored by previous studies. Based on a duality approach, we investigate farmers’ beliefs, and adaptive and maladaptive appraisals of current and new robotic weeding in sugar beets. The main variable of interest is their behavioral intention to adopt weeding robots. For our sample of German farmers, we identify the main enablers perceived efficacy of the robots and social norms. The main barrier are maladaptive rewards from traditional weeding. We recommend policy incentives to promote large-scale uptake of new and more sustainable robotic technologies. To improve efficacy perceptions of such robotic systems public demonstrations/talks are mostly relevant. Maladaptive rewards can be reduced, for instance, by notifying about the dependency of the current practices on future availability of synthetic inputs or seasonal workers.

Defect detection on RTM composite parts via robotic contact measurement system

In this work a new approach to detect and to evaluate defects typical of carbon fiber parts manufactured via resin transfer molding (RTM) is presented. The approach is based on a robotic contact measurement system, as an alternative or combined solution to vision methods. The research is meant to provide more accurate local geometry information to the global information acquired using vision systems. The system consists of a collaborative robot equipped with a force-torque sensor that scans the surface of the workpiece with a defined motion strategy. To evaluate the system, tests were conducted on a 3D printed part presenting a feature representative of the defects found on carbon fiber components. The results are compared with the CAD model and data acquired using a structured light scanner, showing that robotic contact measurement can be a viable method to enhance the reconstruction of a part with a higher accuracy. The system is then applied and validated on a real part made with RTM.

A transcrestal sinus floor elevation strategy based on a haptic robot system: An in vitro study.

To reveal the force profiles recorded by haptic autonomous robotic force feedback during the transcrestal sinus floor elevation (TSFE) process, providing a reference for the surgery strategy during TSFE. A total of 42 maxillary sinus models with different angles of the sinus floor (30°, 40°, 50°, 60°, 70°, 80°, and 90°, compared to vertical plane) were 3D printed. Implant site preparation was performed using a robotic system, and the total force (Ft) and axial force along the drill (Fz) during the surgery were recorded by the haptic robotic arm. The actual initial breakthrough point (drill contacting sinus floor) and complete breakthrough point (drill penetrating the sinus floor) were defined visually (the actual IBP and the actual CBP). The theoretical initial breakthrough point (the theoretical IBP) and the theoretical complete breakthrough point (the theoretical CBP) defined by the robot-guided system and the CBCT were determined by real-time force feedback and imaging distance measurement, respectively. The distance from the bottom of the resin model to the actual IBP and the actual CBP was defined as Di and Dt, respectively. The difference in Fz began to increase significantly at 70°, while the difference in Ft became significant at 60°. When the angle was greater than 70°, there was no significant difference in the discrepancy between the actual and theoretical perforation points. Compared to judging the breakthrough point by CBCT, real-time force feedback TSFE under robotic surgery achieved more accurate initial breakthrough point detection. The smaller the angle, the larger the breakthrough force for the drill. The real-time force feedback of haptic robotic system during TSFE could provide reliable reference for dentists. More clinical studies are needed to further validate the application of robotic surgery assisted TSFE.

Utility and challenges of ureteral visualization using a fluorescent ureteral catheter in high risk surgeries for colorectal cancer.

Ureteral injury occurs in 0.3-1.5% of colorectal cancer surgeries. Devices to visualize the ureteral course and avoid ureteral injury are required for minimally invasive surgery (MIS). The NIRC™ fluorescent ureteral catheter (FUC) is a versatile ureteral visualization device currently available in Japan that can be used in combination with a variety of laparoscopic and robotic systems. In this study, we examined the outcomes of high-risk patients who underwent colorectal cancer surgery with FUC insertion. One hundred forty-one patients who underwent MIS for colorectal cancer and colorectal cancer recurrence at our institute between January 2021 and May 2024 underwent preoperative FUC insertion because of the high risk of ureteral injury and surgical difficulty. For these patients, patient background data and short-term outcomes were examined. The results are expressed as the median and interquartile range. Age, 70 [60-78]; M:F(n), 84:57; BMI, 22.1 [19.7-24.7]; T4 (TNM classification), 52 cases (36.9%); preoperative intestinal obstruction, 45 cases (31.9%); abscess formation, 30 cases (21%); surgical history, 70 cases (50%); recurrent cancer, 14 cases (9.9%); preoperative chemo-radiotherapy, 28 cases (19.9%); time required for FUC insertion, 12 [9-19] minutes; operation time, 412 [309-552] minutes; blood loss, 10 [5-30]ml; open conversion, 0 cases; postoperative hospitalization, 12 [9-17.5]; circumferential resection margins < 1mm (rectal surgery), 4/87 cases (4.6%); comorbidities, 0 ureteral injury, 1 urethral injury during FUC insertion (0.7%) and 16 CD Grade 3 or higher cases (11%). FUC may improve the safety of MIS and reduce blood loss in addition to preventing ureteral injury and is expected to have oncological advantages for ensuring the margin of the tumor without fear of ureteral injury. However, the time required for and complications associated with FUC are challenging. New methods for less invasive and easier ureteral visualization may be needed.

Cocreative Development of Robotic Interaction Systems for Health Care: Scoping Review.

Robotic technologies present challenges to health care professionals and are therefore rarely used. Barriers such as lack of controllability and adaptability and complex control functions affect the human-robot relationship. In addition to educational opportunities, the possibility of individual adaptation can improve the usability and practical implementation of robotics. Previous work has focused on developments from a technology-centered perspective and has included user interests too late in the process. This study addresses the following research question: What cocreative research approaches are used in the field of nursing robotics to improve the usability, intended use, and goal-directed application of robotic developments for nurses and to support the nursing process? This scoping review provides an overview of the topic and the research activities taking place within it. Five databases and the reference lists of the identified publications were searched for studies without further restrictions. Studies were included if they developed and evaluated interaction and control platforms for robotic systems in health care in a cocreative way with end users. The search resulted in 419 hits, of which 3 publications were included. All publications were feasibility or user studies that were mainly carried out in the European Union. The 3 interaction and control platforms presented were all prototypes and not commercially available. In addition to those in need of care, all studies also included family carers and health care professionals. Robotic interaction and control platforms in health care are rarely, if ever, developed and evaluated with feasibility or user studies that include prototypes and end users. While the involvement of end users is crucial, this review emphasizes that all stakeholders, including health care professionals, should participate in the development process to ensure a holistic understanding of application needs and a focus on user experiences and practical health care needs. It is emphasized that the active involvement of end users in the development process is critical to effectively meeting the needs of the target group.

Evaluation of forces applied to tissues during robotic-assisted surgical tasks using a novel force feedback technology

BackgroundThe absence of force feedback (FFB) is considered a technical limitation in robotic-assisted surgery (RAS). This pre-clinical study aims to evaluate the forces applied to tissues using a novel integrated FFB technology, which allows surgeons to sense forces exerted at the instrument tips.MethodsTwenty-eight surgeons with varying experience levels employed FFB instruments to perform three robotic-assisted surgical tasks, including retraction, dissection, and suturing, on inanimate or ex-vivo models, while the instrument sensors recorded and conveyed the applied forces to the surgeon hand controllers of the robotic system. Generalized Estimating Equations (GEE) models were used to analyze the mean and maximal forces applied during each task with the FFB sensor at the “Off” setting compared to the “High” sensitivity setting for retraction and to the “Low”, “Medium”, and “High” sensitivity settings for dissection and suturing. Sub-analysis was also performed on surgeon experience levels.ResultsThe use of FFB at any of the sensitivity settings resulted in a significant reduction in both the mean and maximal forces exerted on tissue during all three robotic-assisted surgical tasks (p < 0.0001). The maximal force exerted, potentially associated with tissue damage, was decreased by 36%, 41%, and 55% with the use of FFB at the “High” sensitivity setting while performing retraction, dissection, and interrupted suturing tasks, respectively. Further, the use of FFB resulted in substantial reductions in force variance during the performance of all three types of tasks. In general, reductions in mean and maximal forces were observed among surgeons at all experience levels. The degree of force reduction depends on the sensitivity setting selected and the types of surgical tasks evaluated.ConclusionsOur findings demonstrate that the utilization of FFB technology integrated in the robotic surgical system significantly reduced the forces exerted on tissue during the performance of surgical tasks at all surgeon experience levels. The reduction in the force applied and a consistency of force application achieved with FFB use, could result in decreases in tissue trauma and blood loss, potentially leading to better clinical outcomes in patients undergoing RAS. Future studies will be important to determine the impact of FFB instruments in a live clinical environment.