关键词： Curriculum   Robotic surgery   Robot assisted   Resident training   General surgery  

摘要： The robotic surgical platform is being utilized by a growing number of hospitals across the country, including academic medical centers. Training programs are tasked with teaching their residents how to utilize this technology. To this end, we have developed and implemented a robotic surgical curriculum, and share our initial experience here. Our curriculum was implemented for all General Surgical residents for the academic year 2014-2015. The curriculum consisted of online training, readings, bedside training, console simulation, participating in ten cases as bedside first assistant, and operating at the console. 20 surgical residents were included. Residents were provided the curriculum and notified the department upon completion. Bedside assistance and operative console training were completed in the operating room through a mix of biliary, foregut, and colorectal cases. During the fiscal years of 2014 and 2015, there were 164 and 263 robot-assisted surgeries performed within the General Surgery Department, respectively. All 20 residents completed the online and bedside instruction portions of the curriculum. Of the 20 residents trained, 13/20 (65 %) sat at the Surgeon console during at least one case. Utilizing this curriculum, we have trained and incorporated residents into robot-assisted cases in an efficient manner. A successful curriculum must be based on didactic learning, reading, bedside training, simulation, and training in the operating room. Each program must examine their caseload and resident class to ensure proper exposure to this platform.

关键词： underwater robot   Batoid (Dasyatis)   hydrodynamics   thrust mechanism   design  

摘要： Given the facts that a vast area of the earth is covered by water and the average depth of the oceans is more than 3,000 m, the issue of the unknowns beneath the water surface is a challenging and questionable one. It has been a few decades since remotely operated vehicles as well as untethered underwater robots have appeared and elevated the level of complex engineering. In this category, underwater robots that mimic fish and aquatic creatures open new horizons. In this article, imitating the body shape, kinematics, and swimming mechanism of a batoid fish (Dasyatidae), a vessel is designed that can swim at an acceptable speed with a limited amount of power. The hull shape is based on a cardioid curve, and drag force is calculated using fundamentals of fluid mechanics. Propulsion of the robot-fish is two wings at starboard and port that are undulating backward;thrust is approximated versus shaft speed. Finally, the power for swimming at the design speed is evaluated and compared with the available data of similar orders of magnitude.

关键词： robotic   ureteral reimplantation   Boari flap   psoas hitch   ureteral stricture  

摘要： Objective To describe our robot-assisted Boari flap ureteric reimplantation (RA-BFUR) technique, Please see Video S1. Methods The RA-BFUR technique is based on the open surgical technique of Ubelhor, and the experience includes 11 cases. Results Excellent results were achieved after a mean follow-up period of > 12 months. Conclusion The RA-BFUR technique could be considered a safe and effective method of ureteric reimplantation for long distal ureteric strictures.

关键词： Applied physics   Materials science   Technology   Engineering  

摘要： Meet the octobot, the first robot to be made entirely from soft materials. Powered by a chemical reaction and controlled by a fluidic logic circuit, it heralds a generation of soft robots that might surpass conventional machines. See Letter p.451

关键词： 并联机器人   动力学   牛顿欧拉方法   仿真  

摘要： 研究一种3-RRRT新型高速并联机器人的运动学及动力学建模及分析方法。采用D-H法建立了各构件体坐标系,以此为基础,建立了3-RRRT并联机器人运动学模型,并给出了其位置解析解;基于牛顿欧拉递推动力学方法进行了系统动力学模型构建,并利用MATLAB进行运动学和动力学数值仿真,得出了系统实现既定轨迹跟踪所需的驱动力矩,并对结果进行了分析。该建模方法的优点是计算量小,并可求得杆件的受力情况,便于实时控制,可为3-RRRT并联机器人的研究提供分析数据,进而为改进其控制策略提供参考和依据。

关键词： 机器人动力学   控制智能化   多体系统动力学   专题   性能评价指标   变形机器人   人的发展   力学理论  

摘要： 机器人动力学的研究是所有类型机器人发展过程中不可逾越的环节，也是形成机器人终极产品性能评价指标重要的科学依据，以往机器人的发展已经表明，多体系统动力学是机器人研发中不可或缺的基础力学理论。随着新型传动与驱动机构以及智能与软物质材料的出现，可以预计柔性化、软性化、可变化、微型化和控制智能化将成为未来机器人发展的重要方向，使机器人的各种作动更接近生物体的仿生体，因此，以仿生为主要特征的刚柔耦合、柔软体和变形机器人对任务和环境的适应性强，其快速发展在一定程度上将促进机器人研究的步伐，同时，这种趋势和需求也将会使得机器人动力学和控制研究面临重大挑战。

关键词： 仿人机器人   站立平衡控制   三连杆动力学模型   线性二次调节器  

摘要： 为了解决仿人机器人抗扰动站立平衡控制问题,提出了一种三连杆动力学模型作为仿人机器人的简化模型,该模型充分考虑了机器人腿部、身体和手臂的连杆分布质量,相比于传统的线性倒立摆模型或者飞轮倒立摆模型具有更高的精确性.基于这种模型,设计了仿人机器人的站立抗扰动平衡控制器.首先将仿人机器人模型简化为三连杆动力学模型,通过参数辨识方法获取结构化的参数,并经过线性化处理,将复杂的非线性动力学模型线性化.然后采用线性二次调节器(LQR)设计机器人的平衡控制器.实验在仿人机器人KONG-II上进行,通过将机器人踝关节设置成具有一定阻尼特性的欠驱动状态,来实现三连杆动力学模型的形式.实验结果对比了机器人采用两连杆动力学模型和三连杆动力学模型时的抗外力扰动性能,验证了本文方法的有效性和鲁棒性.

关键词： 焊接机器人   Solidworks   有限元分析   拓扑优化  

摘要： 以自主研发的SR3-600型六关节工业焊接机器人为研究对象,设计了机器人的整体方案及传动形式。运用Solidworks对机器人的各部件进行三维建模及虚拟样机的装配,并利用有限元分析软件Ansys Workbench对机器人在最危险工况下的结构强度进行仿真计算,包括静力学和动力学分析。仿真结果验证了机器人结构强度的可靠性,并在满足性能要求的前提下对机器人进行有限元拓扑优化以提高其负载-自重比,为相关机器人的设计提供了理论依据。

关键词： 机器人竞赛   机器人工程   机器人足球比赛   机器人研究   中国科协   参赛队伍   中国科学院   前沿科学   前沿方向   参观活动  

摘要： 7月28日上午,第16届中国青少年机器人竞赛在中国科学院大学雁栖湖校区圆满闭幕。经过3天的比赛,来自安徽、四川、福建、广东、广西、湖北和北京的青少年机器人团队,从497支中小学生参赛队伍中脱颖而出,分别获得机器人综合技能比赛、FLL机器人工程挑战赛、VEX机器人工程挑战赛、机器人足球比赛的冠军,20个机器人研究团队的创意项目获得一等奖。

关键词： 平面三杆双足机器人   动力学行为   随机不确定扰动   反馈控制方法  

摘要： 研究随机不确定扰动诱发的平面三杆双足机器人动力学行为,并对其进行优化。在实现理想情形下平面三杆双足机器人稳定行走的基础上,建立了随机不确定扰动下双足机器人的运动学模型、混杂动力学模型,研究了具有HZD反馈控制的机器人在随机不确定扰动下的动力学行为;针对随机不确定扰动,提出了一种BPNN-HZD反馈控制方法,采用该方法对平面三杆双足机器人进行控制,优化其动力学行为。仿真实验结果表明:当平面三杆双足机器人不能以足够大的力度补偿随机不确定扰动影响时,机器人会逐渐出现发散的动力学行为;BPNN-HZD反馈控制方法能够显著减弱随机不确定扰动对机器人动力学行为的影响,从而有效避免机器人的发散动力学行为。