Objectives: To assess the Southeast Section of the American Urological Association (SESAUA) trainee exposure to and thoughts on robotic simulation.
Design: Questionnaire-based study of SESAUA residency trainees to determine their access to robotic simulation, live robotic experience to date, and opinion regarding the adequacy of current robotic training.
Setting: Three trainees from each SESAUA training program were invited to Orlando, Florida for a formal 2-day robotic training course. Day 1 was a 3-component didactic session. Day 2 involved faculty directing the trainees in set tasks on a live porcine model for 4 hours and another 4 hours on the Mimic dV-Trainer (Mimic Technologies, Inc, Seattle, WA) for directed exercises.
Participants: Thirty-two trainees from 14 programs in the SESAUA participated in the course and filled out a 1-page, 8-item questionnaire following their simulator exposure.
Results: Seventeen (53.1%) trainees, including 5 urology year-3 trainees, reported never having had robotic console time. Of the trainees, 65.6% (21 of 32) had access to the Mimic dV-Trainer or Mimic "backpack" whereas 10 had no exposure to robotic simulation; 84.4% (27 of 32) felt that the simulator replicated real-life robotic console surgery and 90.6% (29 of 32) felt the simulator was helpful or would be helpful for training in their program. Trainees felt the "tubes 2" drill, which mimics a vesicourethral anastomosis, was the most difficult drill to perform.
Conclusions: A majority of trainees in the SESAUA have had limited to no robotic console time. A high number of resident trainees in the SESAUA have exposure to virtual reality robotic simulation. Trainees believe that the simulator replicates real-life robotic console movements and almost all believe they would be benefit from having access to robotic simulation.
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http://dx.doi.org/10.1016/j.jsurg.2013.04.014 | DOI Listing |
PLoS One
January 2025
Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava, Bratislava, Slovakia.
This paper introduces a novel approach for the offline estimation of stationary moving average processes, further extending it to efficient online estimation of non-stationary processes. The novelty lies in a unique technique to solve the autocorrelation function matching problem leveraging that the autocorrelation function of a colored noise is equal to the autocorrelation function of the coefficients of the moving average process. This enables the derivation of a system of nonlinear equations to be solved for estimating the model parameters.
View Article and Find Full Text PDFInt J Med Robot
February 2025
Shenyang Jianzhu University, Shenyang, China.
Background: A surgical robot with force feedback can guarantee precise and gentle manipulation for endometrial repair, ensuring the effectiveness and safety of the manipulation. However, the design of force sensors for surgical robots is challenging due to the limited anatomical space and the requirement for continuous rotation.
Methods: This paper presents a novel force-sensing surgical instrument for endometrial repair, including an inner scraping instrument and an outer force sensing sheath.
Sci Rep
January 2025
Zhongyuan University of Technology, Zhengzhou, 450007, China.
This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact force model and free motion model, which are orthogonal to each other. Furthermore, by combining the performance function and constraint function, the original system tracking error is transformed to a new one, whose boundedness can ensure that the original system variable converges to the predetermined range within the specified time.
View Article and Find Full Text PDFSensors (Basel)
January 2025
Department of Automation, "Dunarea de Jos" University of Galati, 800008 Galati, Romania.
This paper deals with a "digital twin" (DT) approach for processing, reprocessing, and scrapping (P/R/S) technology running on a modular production system (MPS) assisted by a mobile cyber-physical robotic system (MCPRS). The main hardware architecture consists of four line-shaped workstations (WSs), a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) and a mobile visual servoing system (MVSS) mounted on the end effector. The system architecture integrates a hierarchical control system where each of the four WSs, in the MPS, is controlled by a Programable Logic Controller (PLC), all connected via Profibus DP to a central PLC.
View Article and Find Full Text PDFSensors (Basel)
January 2025
College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.
To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed.
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