The robotic platform can be viewed as an advanced thoracoscopic instrument and can be utilized for any pathology amenable to thoracoscopic surgery. This ultimately comes down to surgeon comfort, but many have demonstrated the robotic approach to be useful in benign and malignant mediastinal disease in all compartments with at least equivalent-if not superior-outcomes compared to sternotomy for many metrics. There are various robotic approaches to the same compartments (such as with thymectomy), and no one robotic approach has proven superior to another. Here we describe our robotic approach to common mediastinal pathology.
Download full-text PDF |
Source |
---|---|
http://dx.doi.org/10.1016/j.thorsurg.2022.08.007 | DOI Listing |
J Nonlinear Sci
January 2025
Robotics and Mechatronics Department, University of Twente, Enschede, The Netherlands.
In this paper, we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems. Leveraging Dirac structures, instead of symplectic or Poisson structures, this formalism allows the incorporation of energy exchange within the spatial domain or through its boundary, which allows for a more comprehensive description of continuum mechanics. Building upon our recent work in describing nonlinear elasticity using exterior calculus and bundle-valued differential forms, this paper focuses on the systematic derivation of port-Hamiltonian models for solid and fluid mechanics in the material, spatial, and convective representations using Hamiltonian reduction theory.
View Article and Find Full Text PDFACS Appl Mater Interfaces
January 2025
Department of Materials Science and Engineering, University of Connecticut, Storrs, Connecticut 06269, United States.
Emerging soft robots based on liquid crystal elastomers (LCEs) exhibit remarkable capabilities for large reversible shape morphing, enabling them to adapt to complex environments and perform diverse tasks such as locomotion and camouflage. Despite extensive studies, current methods for locally controlled actuation of LCE-based soft robots often involve intricate structural design, complex programming of LCEs, incorporation of multiple materials, or complex actuation methods. Here, we present a simple and efficient approach to achieve multiple deformation modes within a simply programmed LCE structure by harnessing Joule heating-induced thermal gradients across the LCE volume.
View Article and Find Full Text PDFSci Rep
January 2025
School of Electrical Engineering, University of Belgrade, Bulevar Kralja Aleksandra 73, Belgrade, Serbia.
The expansion of LEAN and small batch manufacturing demands flexible automated workstations capable of switching between sorting various wastes over time. To address this challenge, our study is focused on assessing the ability of the Segment Anything Model (SAM) family of deep learning architectures to separate highly variable objects during robotic waste sorting. The proposed two-step procedure for generic versatile visual waste sorting is based on the SAM architectures (original SAM, FastSAM, MobileSAMv2, and EfficientSAM) for waste object extraction from raw images, and the use of classification architecture (MobileNetV2, VGG19, Dense-Net, Squeeze-Net, ResNet, and Inception-v3) for accurate waste sorting.
View Article and Find Full Text PDFNat Commun
January 2025
Toyota Central R&D Labs. Inc.; 41-1, Yokomichi, Nagakute, Aichi, Japan.
We propose a network architecture for electronic skin with an extensive sensor array-crucial for enabling robots to perceive their environment and interact effectively with humans. Fault tolerance is essential for electronic skins on robot exteriors. Although self-healing electronic skins targeting minor damages are studied using material-based approaches, substantial damages such as severe cuts necessitate re-establishing communication pathways, traditionally performed with high-functionality microprocessor sensor nodes.
View Article and Find Full Text PDFWhen evaluating the long-term follow-up of robotic-assisted transabdominal preperitoneal (r-TAPP) approach to inguinal hernias, research remains limited due to small patient cohorts and shorter follow-up durations. The most significant research on inguinal hernia repair utilizing r-TAPP procedure includes follow-up periods of up to 2 years and examines approximately 150 cases. This article presents data from 434 consecutive r-TAPP procedures conducted on 324 patients, with follow-up ranging from a minimum of 3 years to 8 years.
View Article and Find Full Text PDFEnter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!