摘要： Background. The role of robotic instruments in mitral valve (MV) surgery continues to evolve. The purpose of this study was to assess the safety, efficacy, and scope of MV surgery using a lateral endoscopic approach with robotics (LEAR) technique. Methods. From 2006 to 2013, a dedicated LEAR team performed 1,257 consecutive isolated MV procedures with or without tricuspid valve repair or atrial ablation. The procedures were performed robotically through five right-side chest ports with femoral artery or ascending aortic perfusion and balloon occlusion. Operative videos and data were recorded on all procedures and reviewed retrospectively. Results. The mean age of all patients was 59.3 +/- 20.5 years, and 8.4% (n = 105) had previous cardiac surgery. The MV repair was performed in 1,167 patients (93%). The MV replacement was performed in 88 patients (7%), and paravalvular leak repair in 2 patients. Concomitant atrial ablation was performed in 226 patients (18%), and tricuspid valve repair in 138 patients (11%). Operative mortality occurred in 11 patients (0.9%) and stroke in 9 patients (0.7%). Predischarge echocardiograms demonstrated mild or less mitral regurgitation in 98.3% of MV repair patients. At mean follow-up of 50 +/- 26 months, 44 patients (3.8%) required MV reoperation. Application of the LEAR technique to all institutional isolated MV procedures increased from 46% in the first year to more than 90% in the last 3 years. Conclusions. Mitral valve repair or replacement, including concomitant procedures, can be performed safely and effectively using the LEAR technique. With a dedicated robotic team, the vast majority of patients with MV disorders, either isolated or with concomitant problems, can be treated using the LEAR technique. (C) 2015 by The Society of Thoracic Surgeons

关键词： LTE   Robot   Cloud computing  

摘要： Although the robots integrated with communication module can provide various functions, there is intrinsic limitation because of the instable wireless connection, restricted bandwidth and limited coverage of network. Fortunately, assisted by LTE (Long Term Evolution) techniques, the robots can be deployed more widely to support bandwidth-intensive applications. Hence, this paper proposes a LTE-based robotics system integrated with cloud computing to enhance the capability of data transmissions and intelligence for providing higher quality and more friendly services. Furthermore, we develop a robot with emotional recognition and feedback for improving Quality of Service (QoS) and Quality of Experience (QoE), and design a testbed for verifying system's feasibility and performance. (c) 2015 Elsevier B.V. All rights reserved.

关键词： ROBOTIC exoskeletons   ROBOTS -- Control systems   MEDICAL rehabilitation   INFORMATION & communication technologies   TECHNOLOGICAL innovations  

关键词： Construction automation   Robotics in construction   Ambient integrated robotics   S-curves  

摘要： The following article reviews past and current tendencies and derives and describes opportunities for future construction automation that go beyond the current notion of construction automation. Various indicators suggest that conventional construction methodology has reached its limits. An overlay of S-curves can be used to describe the relationship between the stagnation and technical limits of conventional construction and the initiation, development, and growth of new strategies and technologies of construction automation. Although approaches of construction automation are still in an innovation or seed phase, it can be expected that with continued effort put into research and development these approaches may soon enter into the growth phase and encounter adoption on a larger scale. Furthermore, the article shows that overtime, the ability of robot systems has grown, allowing them to work more and more in comparably unstructured environments as well as to be deployed in numerous and diverse fields. Currently, it can already be observed that construction automation technology, STCR approaches, service robot systems, and other microsystems technology are merging with the built environment, becoming inherent elements of buildings, building components, and building furniture. (C) 2015 Elsevier B.V. All rights reserved.

关键词： DELTA Robot   3D Printing   Parallel Robot   Image Recognition   Pick-and-place  

摘要： This investigation concerns the design and implementation of the DELTA parallel robot, covering the entire mechatronic process, involving kinematics, control design and optimizing methods. To accelerate the construction of the robot, 3D printing is used to fabricate end-effector parts. The parts are modular, low-cost, reconfigurable and can be assembled in less time than is required for conventionally fabricated parts. The controller, including the control algorithm and human-machine interface (HMI), is coded using the Borland C++ Builder 6 Personal software environment. The integration of the motion controller with image recognition into an opto-mechatronics system is presented. The robot system has been entered into robotic competitions in Taiwan. The experimental results reveal that the proposed DELTA robot completed the tasks in those competitions successfully.

关键词： Smart Assistive Powered Wheelchair   Mobile Robotics   Real-time Navigation   Dynamic   Localized Adjustable Potential Force Fields  

摘要： Providing an assistive navigation system that augments rather than usurps user control of a powered wheelchair represents a significant technical challenge. This paper evaluates an assistive collision avoidance method for a powered wheelchair that allows the user to navigate safely whilst maintaining their overall governance of the platform motion. The paper shows that by shaping, switching and adjusting localized potential fields we are able to negotiate different obstacles by generating a more intuitively natural trajectory, one that does not deviate significantly from the operator in the loop desired-trajectory. It can also be seen that this method does not suffer from the local minima problem, or narrow corridor and proximity oscillation, which are common problems that occur when using potential fields. Furthermore this localized method enables the robotic platform to pass very close to obstacles, such as when negotiating a narrow passage or doorway.

关键词： Technology   Culture  

摘要： Ken Goldberg reviews three books that probe the nexus of people and robots.

摘要： Transoral endoscopic head and neck surgery is a new approach for the treatment of oropharyngeal tumors. Using either a robotic system and/or laser, surgeons gain access through the mouth via minimally invasive technique and thus have improved visualization of the tumors of the oropharynx, without disfiguring incisions. This transoral route of access minimizes long-term speech and swallowing dysfunction. Surgeons view this approach as a considerable technologic advance, analogous to the evolution in radiation therapy from conventional two- and three-dimensional conformal techniques to intensity-modulated techniques. Although the use of radiation with or without chemotherapy to treat oropharyngeal cancer (OPC) is supported by evidence from prospective clinical trials, there are no prospective data supporting the use of this new surgical approach for OPC. Here, we review the fundamentals of transoral endoscopic head and neck surgery, with robotics and laser technology, and discuss ongoing clinical trials for patients with OPC. (C) 2015 by American Society of Clinical Oncology

关键词： 五自由度上肢康复训练机器人   拉格朗日动力学   简化计算   线性化转换  

摘要： 脑卒中是老年人发病率较高的疾病之一,传统临床康复训练方法存在治疗效率低等问题,机器人参与辅助上肢康复运动训练更具有针对性,持续时间也更长,可重复性更高,且疗效显著。该文主要针对五自由度上肢康复训练机器人动力学建模问题展开相关研究,在传统机器人拉格朗日动力学方程中引入Q矩阵,在参考坐标系下将动力学方程进行线性化转换,并给出该方法的计算公式,利用新方法建立五自由度上肢康复训练机器人动力学模型。通过MATLAB三维仿真表明所建模型准确且方法快速而有效,可作为一类多自由度机器人建模的新方法,同时为辅助或替代医师对患者进行康复训练奠定夯实的数学基础。

关键词： 高速重载   柔性   动态特性   多目标优化  

摘要： 提出一种考虑关节柔性影响的高速重载码垛机器人动力学性能优化方法。首先,考虑关节柔性的影响,建立了刚柔耦合动力学方程;随后进行了模态分析以及受迫振动分析;提出以最低阶固有频率最大和各关节驱动力矩基于目标轨迹上的最大值最小作为动力学优化目标;最后构造有约束的多目标优化问题,并利用遗传算法对该多目标优化问题进行求解。优化结果表明,机器人的动力学性能明显改善,说明优化方法合理有效。