In order for robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities in order to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged on top of an object to securely grab it between the robotic gripper and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods have driven robotics researchers to explore the application of deep learning methods in task generalised robotic applications. This paper reviews the current state-of-the-art in regards to the application of deep learning methods to generalised robotic grasping and discusses how each element of the deep learning approach has improved the overall performance of robotic grasp detection. A number of the most promising approaches are evaluated and the most successful for grasp detection is identified as the one-shot detection method. The availability of suitable volumes of appropriate training data is identified as a major obstacle for effective utilisation of the deep learning approaches, and the use of transfer learning techniques is identified as a potential mechanism to address this. Finally, current trends in the field and future potential research directions are discussed.

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass production to mass customization, it is crucial to have an easy-to-follow roadmap for practitioners with moderate expertise, to transform existing robotic processes to customizable LfD-based solutions. To realize this transformation, we devise the key questions of "What to Demonstrate", "How to Demonstrate", "How to Learn", and "How to Refine". To follow through these questions, our comprehensive guide offers a questionnaire-style approach, highlighting key steps from problem definition to solution refinement. The paper equips both researchers and industry professionals with actionable insights to deploy LfD-based solutions effectively. By tailoring the refinement criteria to manufacturing settings, the paper addresses related challenges and strategies for enhancing LfD performance in manufacturing contexts.

This paper describes and demonstrates an autonomous robotic team that can rapidly learn the characteristics of environments that it has never seen before. The flexible paradigm is easily scalable to multi-robot, multi-sensor autonomous teams, and is relevant to satellite calibration/validation and the creation of new remote sensing data products. A case study is described for the rapid characterisation of the aquatic environment, over a period of just a few minutes we acquired thousands of training data points. This training data allowed our machine learning algorithms to rapidly learn by example and provide wide area maps of the composition of the environment. Along side these larger autonomous robots two smaller robots that can be deployed by a single individual were also deployed (a walking robot and a robotic hover-board), observing significant small scale spatial variability.

The COVID-19 outbreak demonstrated the viability of various remote working solutions, telepresence robots (TPRs) being one of them. High-quality video transmission is one of the cornerstones of using such solutions, as most of the information about the environment is acquired through vision. This study aims to compare the camera capabilities of four models of popular telepresence robots using compact reduced LogMAR and Snellen optometry charts as well as text displayed on the projector screen. The symbols from the images are extracted using OCR (Optical Character Recognition) software and the results of the recognition are compared with the symbols on the charts. Double 3 TPR provides the best quality images of optometric charts, but the OCR results of measurements of the image on the projector do not show the clear advantage of one single model over the others. The results demonstrated by Temi 2 and Double 3 TPRs are generally better than the others, suggesting that these TPRs are more feasible to be used in teaching and learning scenarios.

Inland waters pose a unique challenge for water quality monitoring by remote sensing techniques due to their complicated spectral features and small-scale variability. At the same time, collecting the high-quality reference data needed to calibrate remote sensing data products is both time consuming and expensive. In this study, we present the further development of a robotic team composed of an uncrewed surface vessel (USV) providing in situ reference measurements and an unmanned aerial vehicle (UAV) equipped with a hyperspectral imager. Together, this team is able to address the limitations of existing approaches by enabling the simultaneous collection of comprehensive in situ data together with high-resolution hyperspectral imagery. We showcase the capabilities of this team using data collected in a north Texas pond during three collections in the fall of 2020. Machine learning models for 13 variables are trained using the data set of paired in situ measurements and coincident reflectance spectra. These models can successfully estimate physical variables, including temperature, conductivity, pH, and turbidity, as well as the concentrations of blue-green algae, colored dissolved organic matter (CDOM), chlorophyll-a, crude oil, optical brighteners and the ions Ca2+, Cl−, and Na+. We extend the training procedure to utilize conformal prediction to estimate 90% confidence intervals for the output of each trained model. The maps generated by applying each trained model to the collected images reveal the small-scale spatial variability within the pond. Additionally, the permutation importance computed for each feature of the trained models highlights the spectral features relevant to each water quality variable.

In recent decades, the development of surgical systems that minimize patient impact has been a major focus for surgeons and researchers, leading to the advent of robotic systems for minimally invasive surgery. These technologies offer significant patient benefits, including enhanced outcome quality and accuracy, reduced invasiveness, lower blood loss, decreased postoperative pain, diminished infection risk, and shorter hospitalization and recovery times. Surgeons benefit from the elimination of human tremor, ergonomic advantages, improved vision systems, better access to challenging anatomical areas, and magnified 3DHD visualization of the operating field. Since 2000, Intuitive Surgical has developed multiple generations of master-slave multi-arm robots, securing over 7,000 patents, which created significant barriers for competitors. This monopoly resulted in the widespread adoption of their technology, now used in over 11 million surgeries globally. With the expiration of key patents, new robotic platforms featuring innovative designs, such as modular systems, are emerging. This review examines advancements in robotic surgery within the fields of general, urological, and gynaecological surgery. The objective is to analyse the current robotic surgical platforms, their technological progress, and their impact on surgical practices. By examining these platforms, this review provides insights into their development, potential benefits, and future directions in robotic-assisted surgery.

Robotic systems are crucial in modern manufacturing. Complex assembly tasks require the collaboration of multiple robots. Their orchestration is challenging due to tight tolerances and precision requirements. In this work we set up two Franka Panda robots performing a peg-in-hole insertion task. We structure the control system hierarchically, planning the robots’s trajectories feedback-based with a central policy trained with reinforcement learning. These trajectories are executed by a low-level impedance controller on each robot. To enhance training convergence, we use reverse curriculum learning incorporating domain randomization, varying initial configurations of the task. After training, we test the system in a simulation, studying the impact of curriculum parameters on emerging process characteristics like process time and variance. Finally, we transfer the trained model to a real-world setup, comparing results with simulation as well as classical path planning and control approaches.

Background/Objectives: The introduction of robotic surgery has revolutionized surgical procedures bringing significant improvements in procedures such as radical prostatectomy. In Poland, robotic technology was first used in public healthcare in 2010 for colorectal surgery in Wrocław. Public funding for robotic urologic surgery began in 2022. The aim of this study is to evaluate the impact of integrating a stable source of funding on the development and utilization of robotic surgery. Methods: Using data from the National Health Fund, a retrospective analysis of these procedures was conducted, focusing on radical prostatectomies from the beginning of the funding period to November 2023. Results: The study showed that in the first year of public funding (2022), 2,149 radical prostatectomies were performed using robotic systems, and this number almost doubled to 4,331 by October 2023. Patients aged 60 years and older accounted for more than 80% of those undergoing robotic surgery. The rise in the popularity of robotic surgery is attributed to its advantages, including high precision, reduced invasiveness in the surgical field, minimized bleeding and pain, and reduced postoperative wound size. The use of robotic surgery also brings environmental benefits. Conclusions: The growing number of robot-assisted surgeries in Poland reflects the increasing role of robotics in medicine. These advances meet the growing demand for healthcare services and demonstrate the precision and effectiveness of robotic technology, potentially improving healthcare access and outcomes. Further implementation and refinement of robotic solutions are necessary to meet the changing needs of medical specialties.

This study investigates the trends and patterns of robotic-assisted total knee arthroplasty (RA-TKA) from 2016 to 2019. Using data from the Nationwide Inpatient Sample (NIS), we analyzed demographics, prevalence of comorbidities, total cost, and length of stay (LOS) for 88,415 RA-TKA cases identified during this period. Our analysis revealed a significant increase in RA-TKA procedures, from 5,330 in 2016 to 39,495 in 2019. Patients undergoing RA-TKA were slightly younger, with an average age of 66.2 years. The average hospital stay was 1.89 days, and total charges averaged $65,891. We also examined various comorbidities and demographic factors, including race, median household income, and hospital teaching status. The results show that RA-TKA usage in the US has grown substantially, with specific demographic and clinical patterns. Further studies on the long-term outcomes of RA-TKA are needed to fully understand the benefits of this technology.

Vision-language-action (VLA) models represent a promising direction for developing general-purpose robotic systems, demonstrating the ability to combine visual understanding, language comprehension, and action generation. However, systematic evaluation of these models across diverse robotic tasks remains limited. In this work, we present a comprehensive evaluation framework and benchmark suite for assessing VLA models. We profile three state-of-the-art VLM and VLAs —GPT-4o, OpenVLA, and JAT—across 20 diverse datasets from the Open-X-Embodiment collection, evaluating their performance on various manipulation tasks. Our analysis reveals several key insights: (1) current VLA models show significant variation in performance across different tasks and robot platforms, with GPT-4o demonstrating the most consistent performance through sophisticated prompt engineering, (2) all models struggle with complex manipulation tasks requiring multi-step planning, and (3) model performance is notably sensitive to action space characteristics and environmental factors. We release our evaluation framework and findings to facilitate systematic assessment of future VLA models and identify critical areas for improvement in the development of general-purpose robotic systems.

Reusing the tactile knowledge of some previously explored objects helps us to easily recognize the tactual properties of new objects. In this paper, we enable a robotic arm equipped with multi-modal artificial skin, like humans, to actively transfer the prior tactile exploratory action experiences when it learns the detailed physical properties of new objects. These experiences, or prior tactile knowledge, are built by the feature observations that the robot perceives from multiple sensory modalities, when it applies the pressing, sliding, and static contact movements on objects with different action parameters. We call our method Active Prior Tactile Knowledge Transfer (APTKT), and systematically evaluated its performance by several experiments. Results show that the robot improved the discrimination accuracy by around 10% when it used only one training sample plus the feature observations of prior objects. By incorporating the auxiliary features, the transfer learning improved the discrimination accuracy by over 20%. The results also show that the proposed method is robust against transferring irrelevant prior tactile knowledge (negative knowledge transfer).

The evaluation of robotic hands is a subjectively biased, complex process. The fields pertaining to robotic hands are human-centric in nature, making human hands a good standard for benchmark comparisons of robotic hands. To achieve this, we propose a new evaluation index, where we evaluate robotic hands on three fronts: their form, features and performance. An evaluation on how anthropomorphic robotic hands are in basic mobility, and appearance constitutes the ``Form'', while features that can be read, changed and actuated for effective control of robotic hands constitutes the ``Features''. We derived these key features from an extensive analysis of robotic hands in literature. Finally, the robotic hands carry out a series of tasks that evaluate their ``Performance''. An individual score for each category is drawn and we carry out a three-pronged analysis. We also propose an additional feature in the form of price to provide context when analysing multiple hands.

Background - Compared to the da Vinci platform, there is limited experience with the Hugo RAS platform for colorectal surgery in Europe. This difference is especially notable when considering a single complex procedure, such as total colectomy. Aim - To demonstrate the feasibility and safety of using the Hugo RAS for assisted total colectomy. Clinical case- Female patient: eighteen-year-old with Familial Adenomatous Polyposis (FAP). Her IBM was 19. She underwent a total colectomy with ileorectal anastomosis using the Hugo RAS platform. The procedure took 230 minutes and had no complications. The postoperative period was uneventful. She was discharged from the hospital on the third postoperative day. Conclusion - The Hugo RAS platform is one of the emergent minimally invasive robotic platforms that can be used even in total colectomy if the proper patient selection is made. The placement choice of arms and trocars was crucial to obtain a similar operative time of the single laparoscopic approach. The certification of Hugo’s new instruments, such as energy devices and staplers, will make this platform even more competitive.

Abstract: This study aimed to compare the effcacy of robot-assisted and manual cannula insertion in simulated big-bubble deep anterior lamellar keratoplasty (DALK). Novice surgeons with no prior experience in performing DALK were trained to perform the procedure using manual or robot-assisted techniques. The results showed that both methods could generate an airtight tunnel in the porcine cornea, and result in successful generation of a deep stromal demarcation plane representing suffcient depth reached for big-bubble generation in most cases. However, the combination of intraoperative OCT and robotic assistance received a signifcant increase in the depth of achieved detachment in non-perforated cases, comprising a mean of 89% as opposed to 85% of the cornea in manual trials. This research suggests that robot-assisted DALK may offer certain advantages over manual techniques, particularly when used in conjunction with intraoperative OCT.

We introduce a novel hybrid Transformer-CNN architecture for robotic grasp detection, designed to enhance the accuracy of grasping unknown objects. Our proposed architecture has two key designs. Firstly, we develop a hierarchical transformer as the encoder, incorporating the external attention to effectively capture the correlation features across the data. Secondly, the decoder is constructed with cross-layer connections to efficiently fuse multi-scale features. Channel attention is introduced in the decoder to model the correlation between channels and to adaptively recalibrate the channel correlation feature response, thereby increasing the weight of the effective channels. Our method is evaluated on the Cornell and Jacquard public datasets, achieving an image-wise detection accuracy of 98.3% and 95.8% on each dataset, respectively. Additionally, we achieve object-wise detection accuracy of 96.9% and 92.4% on the same datasets. A physical experiment is also performed using the Elite 6Dof robot, with a grasping accuracy rate of 93.3%, demonstrating the proposed method's ability to grasp unknown objects in real-world scenarios. The results of this study show that our proposed method outperforms other state-of-the-art methods.

Cloud robot is becoming popular and security of cloud robot is important. However, the researches of cloud robot safety are a few. This work develops a security policy to defense DDoS attack of cloud robot. In this policy, complex, but accurate calculation models are deployed on the cloud, simple but efficient calculation models are deployed on the robot. In the cloud, there are master server and standby server. The master server transfers parameters of complex but accurate models to the standby server periodically and the master executes the start-stop backup policy. Specifically, this work proposes and proves an algorithm to dynamically adjust the interval of parameter transfer. According to a PDRA feature of Netflow, when DDoS attacks, the master server sends warning signals to the robot and standby server. The robot runs local models to avoid stopping work until it is connected to the standby server. Then, standby server provides service to the robot until the master server recover. Finally, this work implemented a gesture recognition cloud robot based on convolutional neural network, hidden Markov model and PDRA feature of Netflow to verify the policy. Experiment shows that the security policy to defense DDoS attack for cloud robot is effective.

Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement; the aim being to optimise the efficacy of robotic movements in a defined operational environment. For example, robots have been employed in many domains including: cleaning robots (such as vacuum cleaners), automated paint spraying robots, window cleaning robots, forest monitoring robots, agricultural robots (often driven using satellite and geostationary positional satellite data). Additionally, mobile robotic systems have been utilised in disaster areas and locations hazardous to humans (such as war zones in mine clearance). The coverage path planning problem describes an approach which is designed to determine the path that traverses all points in a defined operational environment while avoiding static and dynamic (moving) obstacles. In this paper we present our proposed Smooth-STC model, the aim of the model being to identify an optimal path, avoid all obstacles, prevent (or at least minimise) backtracking, and maximise the coverage in any defined operational environment. The experimental results in a simulation show that, in uncertain environments, our proposed smooth STC method achieves an almost absolute coverage rate and demonstrates improvement when measured against alternative conventional algorithms.

The increasing demand for agricultural automation within the precision agriculture sector necessitates the development of advanced robotic systems to enhance efficiency in fruit harvesting. This study presents the Computer-Aided Design (CAD) and modeling of a 4-degree-of-freedom (DOF) robotic arm specifically designed for automated fruit harvesting applications. Utilizing Fusion 360 software, a comprehensive model has been created, encompassing material selection, stress analysis, and motion simulations to verify both the functionality and durability of the robotic system. Design methodologies are articulated, alongside simulation tests that evaluate the arm’s operational performance. Proposed enhancements aim to optimize harvesting efficiency while minimizing potential damage to crops. The robotic arm is equipped with an adaptive gripper, engineered to adjust to various fruit sizes, ensuring delicate and precise manipulation during the harvesting process. This work establishes a robust foundation for the advancement of robotic systems in agricultural contexts, contributing to improved productivity and sustainability in fruit harvesting operations.

3D printing has significantly transformed the design and manufacture of robotic prostheses, making these devices more accessible, customized, and functional. This paper examines the historical evolution of prosthetic technology, tracing its development from rudimentary mechanical devices to the integration of advanced technologies, such as 3D printing. This innovation has enabled the production of prostheses at lower costs while enhancing their adaptability and performance. The review highlights how 3D printing has driven a disruptive shift in prosthetic customization, and how emerging technologies—including smart materials and artificial intelligence—have expanded the capabilities of prosthetic devices, offering more adaptive and natural movement. However, challenges persist, particularly regarding the need for standardization and infrastructure expansion to ensure equitable access to these technologies. Future research into novel materials and manufacturing techniques holds the potential to improve further the functionality, affordability, and accessibility of prosthetic devices. In conclusion, while 3D printing has marked a significant milestone in the evolution of robotic prosthetics, overcoming existing challenges is essential to realize its global impact and benefits fully.

Background DaVinci Single-Port (SP) robotic surgery offers several benefits compared to traditional multiport laparoscopic or robotic surgeries. One of the main advantages is that it allows for a minimally invasive approach, resulting in a single, smaller incision and reduced trauma to the patient’s body leading to less postoperative pain, faster recovery, and reduced risk of complications. The cosmesis of a single port with minimal visible scarring is also an attractive aspect to the patients; however, many surgeons use an additional port for energy device, stapler use, and drain insertion. Pure single port surgery with one incision is still rare. Here we share our experience of first 10 cases using SP robotic platform in colorectal surgery. Methods From May 2023 to December 2023, colorectal patients who underwent SP-robotic surgery were analyzed. Placement of the incision was umbilicus for 8 patients, and right lower quadrant for 2 patients through which ileostomy maturation was performed. Data including perioperative parameters and postoperative outcomes were analyzed with a median follow-up of 4.6months (range 0.6-7.4months). Results A total number of 10 colorectal patients underwent DaVinci Single-Port robotic colorectal surgery at our institution during this period. Demographics of the patients showed 4 males (40%) and 6 females (60%) with a median age of 63.5years (range 50-75years). Median body mass index (BMI) was 22.89kg/m2 (range 19.92-26.84kg/m2), and 9 patients were diagnosed with colorectal cancer and 1 patient was diagnosed with rectal gastrointestinal tumor. One patient underwent anterior resection and cholecystectomy simultaneously. Mean operation time was 222min (range 142-316min), and mean wound size was 3.25cm (range 2.5-4.5cm). Nine patients underwent surgery with single incision through which single port trocar was inserted, and one patient had one additional port for drain insertion. Mean hospital stay was 6 days (range 4-8 days) with 1 postoperative complication of bleeding requiring transfusion, but there was no re-admission within 30 days. Conclusion Overall, our experience with single-port robotic colorectal surgery has been promising. With only one patient with additional port for drain insertion, all nine patients underwent SP-robotic surgery with single incision for colon as well as rectal surgeries. Compared to an average postoperative length of stay of 6.5-8 days in laparoscopic colorectal surgeries reported in literature, SP-robotic surgery showed faster recovery of 6 days highlighting its benefits in patient recovery and satisfaction.

Nerve-sparing vs. non nerve sparing surgery (NSS vs. non-NSS) is associated with improved functional outcomes in prostatectomy patients. The aim of the present study is to compare the oncological outcomes of patients with high-risk localized prostate cancer undergoing nerve-sparing and non nerve-sparing robot-assisted radical prostatectomy (RARP). Between November 2002 and December 2018, we prospectively recorded data of patients undergoing RARP for high-risk localized prostate cancer (PCa). NSS (nerve-sparing surgery) was offered based on preoperative clinical characteristics of patients and intraoperative assessment. Patients were stratified into 2 groups according to NSS. The primary outcome was biochemical recurrence (BCR), while positive surgical margin (PSM) and cancer-specific survival (CSS) were secondary outcomes. Logistic regression was used to investigate predictive factors. A total of 779 patients were included in the study, 429 (55.1%) underwent NSS while 350 (44.9%) underwent a non-NSS. After a mean (±SD) follow-up of 192 (±14) months, 328 (42.1%) patients developed BCR, no significant difference was found between NSS and non-NSS group (156 vs. 172; p=0.09). Both univariable and multivariable analysis found that nerve-sparing approach was not a predictor of BCR (p>0.05). NSS vs. non-NSS was not associated with worse oncological outcomes in patients with high-risk PCa

In recent decades, many attempts have been made to automate the entire welding process, how-ever, there remain many non-automated welding operations that present a constant hazard to workers. This article presents an automated welding solution with collaborative robots, with this contribution, we intend to help companies in this sector increase productivity, improve quality, effectively reduce costs, and improve working conditions.

This paper proposes a novel biologically inspired design for an insect-scale flapping robot. The proposed scheme employs two motors to drive four wings, mimicking the flapping motion of nat-ural four-winged insects. The vehicle incorporates two pairs of flapping wings to generate lift force, with a transmission mechanism featuring flexure hinges instead of pivot joints, resulting in reduced weight and volume. The flexure hinges also exhibit nonlinear stiffness to facilitate smooth wing motion. The vehicle is designed to be symmetrical in structure, with the wings of each section generating greater lift through the clap-and-fling mechanism. The final product weighs 6.2g, pos-sesses a wingspan of 17cm, a one-sided flapping wing angle of 103 degrees, and generates lift that exceeds its weight, attesting to its successful design.

Objectives: Robotic bilateral axillary breast approach (BABA) thyroid surgery began in 2008 and is now one of the most widely used remote-access thyroid surgeries worldwide. This study aimed to analyze the results of 500 robotic BABA thyroid surgeries performed in a single institution in Korea compared with open thyroid surgery. Methods: From December 2018 to March 2020, 502 robotic BABA thyroidectomies (RTs) and 531 conventional open thyroidectomies (OTs) were performed in our institution by a single endocrine surgeon. We retrospectively reviewed patient medical records and performed a comparative analysis of OT and RT. Results: The RT group was younger (43.41±11.41 versus 54.28±13.41 years, p<0.001) and had a higher proportion of females (84.3% versus 69.3%, p<0.001), a lower BMI (24.66±3.97 versus 25.83±4.07 kg/m2), a higher proportion of lobectomies (52.6% versus 45.2%) and a lower proportion of lateral neck dissections (3.4% versus 10.0%, p<0.001). The RT group had a lnger operation time (145.33±40.80 versus 93.39±43.55 minutes, p<0.001) and higher surgical cost. Although the OT group had a larger tumor size and higher proportion of extrathyroidal extension, the numbers of retrieved lymph nodes were not significantly different between the two groups. Additionally, there was no difference in the stimulated thyroglobulin level before radioactive iodine therapy (7.01±35.73 versus 8.39±58.77, p=0.782). The rates of transient vocal cord palsy and transient hypoparathyroidism were significantly lower in the RT group, and those of scar-related complications were higher in the OT group. Conclusion: Robotic BABA thyroid surgery has advantages not only in better cosmetic outcomes but also in lower rates of vocal cord palsy and hypoparathyroidism, with comparable lymph node retrieval and serum thyroglobulin levels.

Robotic Process Automation (RPA) is a fast growing field inside Business Process Automation (BPA). RPA deals with software robots that use human application interface to do some repetitive tasks like starting programs, filling the forms, clicking on buttons etc. Some RPA software tools like Blue Prism, Rapise and UiPath became popular during last years but there are still some problems with them starting with their high price and difficulties to adapt to the real use cases. On the other hand, Optoklik is a relatively small RPA tool developed to be highly adaptable to the real cases and still easy to use. This paper presents the main functions of Optoklik and discusses its usage in automation of different actions that use human application interface.

Background Hepatic resection offers promising outcomes for patients with hepatocellular carcinoma (HCC) but can be constrained by factors like patient suitability. Continuous advancements in laparoscopic and robotic technologies have made minimally invasive hepatectomies (MIH) viable alternatives to open hepatectomies with benefits in recovery and complications. Materials and Methods We completed a retrospective review on 138 HCC patients at the Hume-Lee Transplant Center that underwent OH or MIH between 2010 and 2020. Univariate and multivariate analyses were completed on demographic, clinical, and tumor-specific data were collected to assess the impact of these variables on overall and disease-free survival at 1-, 3-, and 5-years. Preoperative metrics like length of hospital stay (LOS) and operation duration were also evaluated. Results Of the 109 OH and 29 MIH patients, MIH patients demonstrated shorter LOS and operative times. However, overall survival (OS) and disease-free survival (DFS) were similar between groups, with no significant variations in 1-, 3-, and 5-year survival rates. Ages > 60 years and lack of preoperative transcatheter arterial chemoembolization (TACE) were significant predictors of inferior OS and DFS in multivariate analyses. Conclusions MIH is an efficient substitute to OH with comparable survival even in older patients. The reduced LOS and operation time enhances its feasibility, and older patients previously denied for curative resection may qualify for MIH. Preoperative TACE also enhances survival outcomes, emphasizing its general role in managing resectable HCCs. Both robotic and laparoscopic hepatectomies offer acceptable short- and long-term clinical outcomes, highlighting MIH as the standard choice for HCC patients.

Background: There is a notable lack of protocols addressing extubation techniques in transoral robotic surgery (TORS) for obstructive sleep apnea (OSA). Methods. This retrospective cohort study enrolled patients who underwent TORS for OSA between March 2015 and December 2021 and were managed with different extubation approaches. The patients were divided into two groups: high-flow nasal cannula (HFNC) therapy and conventional oxygen therapy. The use of an airway exchange catheter (AEC) was investigated. Results: The only application of HFNC use versus conventional oxygen therapy led to a statistical reduction of extubation time (p=0.024); length of stay in the intensive care unit (ICU) and the episodes of desaturation below 95% were reduced, but data are non-statically significant. Similarly, the application of an AEC led to a reduction of extubation time in hours (p=0.008) and length of stay in the ICU (p=0.024). Conclusions: In patients with OSA who underwent TORS, the use of HFNC, with or without an AEC, resulted in a significant reduction in extubation time without major adverse events. Additionally, HFNC utilization may decrease desaturation episodes during extubation. Based on the findings of this preliminary investigation, the combination of HFNC and AEC emerges as a promising strategy for enhancing the safety and efficacy of extubation protocols in this patient population.

Healthcare is undergoing a technological transformation, particularly in robotic surgery and arti-ficial intelligence (AI) applied to cytology. These innovations are improving the precision and effi-ciency of both surgical procedures and laboratory diagnostics. Robotic systems, such as the Da Vinci, enable surgeons to perform complex procedures with enhanced control and precision, leading to minimally invasive surgeries with reduced recovery times. This technology has signifi-cantly impacted urological, cardiac, and gastrointestinal surgeries, and its use is expected to grow. In cytology, AI automates the analysis of cell samples, leading to faster and more accurate diag-noses, especially in detecting diseases like cervical cancer. AI reduces errors and enhances diag-nostic accuracy by identifying complex patterns in cellular images. Predictive analytics, driven by big data, also allows for personalized treatments based on patient-specific data. However, these technologies face challenges, including high costs, ethical concerns, data privacy issues, and resistance from healthcare professionals. Continuous training is essential for medical personnel to effectively adopt these tools. Furthermore, the rise of telemedicine and telesurgery, supported by advancements in 5G, offers new opportunities for remote care but also introduces risks, such as depersonalization of medical care and technological barriers. Ultimately, while robotic surgery and AI hold great promise for improving clinical outcomes, their successful integration will depend on addressing these challenges and ensuring that healthcare professionals are adequately prepared for the digital future.

This article presents a kinematic analysis of a 4-degree-of-freedom (DOF) robotic arm equipped with a 3-finger gripper, specifically designed for harvesting fruits of varying sizes. The kinematic modeling is thoroughly detailed, encompassing the equations of motion, homogeneous transformation matrices, and kinematic solutions required for the efficient operation of the robotic arm. This analysis is crucial for optimizing both the design and programming of agricultural robots, aiming to enhance harvesting efficiency and reduce labor costs. Additionally, an in-depth examination of the 3-finger gripper’s movement is provided, illustrating how MATLAB facilitates the simulation and visualization of its dynamic behavior during the opening and closing processes. The benefits of using MATLAB for this purpose are emphasized, including its ease of implementation, advanced simulation capabilities, and seamless integration with other tools to optimize the performance of robotic systems in agricultural settings. This study makes a valuable contribution to the field of agricultural robotics, offering technical insights that can be applied in the development of sophisticated robotic solutions for the modern agricultural industry.

Background: The advantage of a robotic assisted (RARP) over a laparoscopic (LRP) approach in radical prostatectomy (RP) remains to be demonstrated. Aim of the study is to use a homogeneous population in real life and single surgeon surgery, to analyze the oncological and functional results based on the type of the surgical approach. Methods: This is a prospective trial on non-metastatic prostate cancers (PC) patients considered after multidisciplinary decision to RP, using RARP or LRP. A real-life setting was analyzed at our Urological Departments, using homogeneous criteria for the management of PC cases and a one surgeon experience on 444 cases (284 LRP and 160 RARP) .Results: Mean operative time was significantly lower in RARP (173.33±44.3 min) than in LRP (153.21±25.1 min) (p<0.001). In cases submitted to an extended lymph node dissection (eLND), the mean number of lymph nodes removed was 15.16±7.83 and 19.83±4.78 respectively in LRP and RARP procedures (p<0.001), but positive lymph nodes (pN1) were similarly found in 15.8% of LRP patients and 13.6% of RARP patients (p=0.430). Surgical margins (SM) positivity was not significantly higher in RARP group (20.0%) when compared to LRP group (15.9%) (p=0.145). During the postoperative follow-up, a biochemical recurrence (BCR) was detected in 14.4% and 7.5% of cases in the LRP and RARP group respectively (p=0.014). Better results of PAD test at 3-month interval using RARP approach (mean pad weight 75.57±122 grams and 14±42 grams respectively in LRP and RARP (p<0.01)) were described. Conclusions: In the comparison between RARP and LRP approach, a clear advantage of the robotic approach is a significant reduction in operating times, days of hospitalization and postoperative catheterization compared to laparoscopic surgery. It is not possible to describe any certain oncological advantage both in terms of surgical margins and pathological lymph nodes removed. In RARP cases a reduction to the limit of significance is described in terms of biochemical recurrence. RARP produces a more rapid recovery of urinary continence at 3 months postoperatively without significant advantages in terms of erective potency recovery.

Automating pruning tasks entails overcoming several challenges, encompassing not only robotic manipulation but also environment perception and detection. To achieve efficient pruning, robotic systems must accurately identify the correct cutting points. A possible method to define these points is to choose the cutting location based on the number of nodes present on the targeted cane. For this purpose, in grapevine pruning, it is required to correctly identify the nodes present on the primary canes of the grapevines. In this paper, a novel method of node detection in grapevines is proposed with four distinct state-of-the-art versions of the YOLO detection model: YOLOv7, YOLOv8, YOLOv9 and YOLOv10. These models were trained on a public dataset with images containing artificial backgrounds and afterwards validated on different cultivars of grapevines from two distinct Portuguese viticulture regions with cluttered backgrounds. This allowed to evaluate the robustness of the algorithms on the detection of nodes in diverse environments, compare the performance of the YOLO models used, as well as create a publicly available dataset of grapevines obtained in Portuguese vineyards for node detection. Overall, all used models were capable of achieving correct node detection on images of grapevines from the three distinct datasets. Considering the trade-off between accuracy and inference speed, the YOLOv7 model demonstrated to be the most robust in detecting nodes in 2D images of grapevines, achieving F1-Score values between 70 % and 86.5 % with inference times of around 89 ms for an input size of 1280×1280 px. Considering these results, this work contributes with an efficient approach for real-time node detection for further implementation on an autonomous robotic pruning system.

Large datasets play a crucial role in the progression of surgical robotics, facilitating advancements in the fields of surgical task recognition and automation. Moreover, public datasets enable the comparative analysis of various algorithms and methodologies, thereby assessing their effectiveness and performance. The ROSMA (Robotics Surgical Maneuvers) dataset provides 206 trials of common surgical training tasks performed with the da Vinci Research Kit (dVRK). In this work, we extend ROSMA dataset with two annotated subsets: ROSMAT24, which contains bounding box annotations for instrument detection, and ROSMAG40, which contains high and low level gesture annotations. We propose an annotation method that provides independent labels for the right-handed tool and the left-handed tool. For instrument identification, we validate our proposal with a YOLOv4 model in two experimental scenarios. We demonstrate the generalization capabilities of the network to detect instruments in unseen scenarios. For gesture segmentation, we propose two label categories: high-level annotations that describe gestures at a maneuvers level, and low-level annotations that describe gestures at a fine-grain level. To validate this proposal, we have designed a recurrent neural network based on a bidirectional long-short term memory layer. We present results for four cross-validation experimental setups, reaching up to a 77.35% mAP.

Background: Robot-assisted laparoscopic surgery robot-assisted surgical system has gained significant popularity over open and laparoscopic interventions. However, given its high costs, it remains unclear what clinical advantages robot-assisted laparoscopic surgery offers over conventional laparoscopic surgery. Objective: This umbrella review aims to synthesize and compare the clinical outcomes of robot-assisted laparoscopic surgery versus conventional laparoscopic surgery for five surgical procedures. Inclusion criteria: All systematic reviews and meta-analyses published in the past five years that compared the clinical outcomes of conventional laparoscopic surgery and robot-assisted laparoscopic surgery for cholecystectomy, colectomy, hysterectomy, nephrectomy and/or prostatectomy were included. Methods: A systematic literature search was conducted in PubMed and Scopus. The quality of all included reviews was assessed with the AMSTAR 2 quality assessment tool. Each review’s study characteristics (and a list of primary sources) were extracted, along with the quantitative and qualitative data for the following ten clinical outcomes: blood loss, rate of conversion to open surgery, hospitalization costs, incisional hernia rate, intraoperative complication rate, postoperative complication rate, length of hospital stay, operative time, readmission rate and wound infection rate. Results: Fifty-two systematic reviews and (network) meta-analyses were included in this umbrella review, covering more than 1,288,425 patients from 1046 primary sources published between 1996 and 2022. The overall quality of the included reviews was assessed to be low or critically low. Robot-assisted laparoscopic surgery yielded comparable results as conventional laparoscopic surgery in terms of blood loss, conversion to open surgery rate, intraoperative complication rate, postoperative complication rate, readmission rate and wound infection rate for most surgical procedures. While the hospitalization costs of robot-assisted laparoscopic surgery were higher and the operative times of robot-assisted laparoscopic surgery were longer than conventional laparoscopic surgery, robot-assisted laparoscopic surgery reduced the length of hospital stay of patients in nearly all cases. Conclusion: Robot-assisted laparoscopic surgery achieved comparable results with conventional laparoscopic surgery for cholecystectomy, colectomy, hysterectomy, nephrectomy and prostatectomy based on ten clinical outcomes. Further research is needed to prove that robot-assisted laparoscopy is as safe and reliable as conventional laparoscopic surgery.

About 70% of children and adolescents with cerebral palsy experience gait impairments which affect their autonomy and well-being. Robotic-assisted gait training using the Lokomat is particu-larly promising for rehabilitation as it provides a standardized environment favoring the massive repetition of the movement, in which physical demands are low on the therapist and high training loads can be achieved. As no guidelines exist regarding training protocols and Lokomat settings, the goal of this study was to review the literature on Lokomat-assisted gait therapy and possibly make training recommendations. The twelve studies reviewed reported both positive and null effects of Lokomat training on gait. Half of the studies combined Lokomat with other types of training and only five used a control intervention to assess its benefit. Overall, training was administered 1-5 times per week for 20-60 minutes, over 1-12 weeks. Although Lokomat settings were not always described, progressively decreasing body-weight support and guidance, while increasing treadmill speed appear to be prioritized. The variety of training protocols and settings used did not allow pooling of the studies to assess effects of interventions on gait parameters in children and adoles-cents with cerebral palsy. This review highlights the need for homogenization of interventions so that clear guidelines can emerge and be applied in rehabilitation centers.

We report on an exploratory study conducted at a graduate school in Sweden with a humanoid robot, Baxter. First, we describe a list of potentially useful capabilities for a robot teaching assistant derived from brainstorming and interviews with faculty members, teachers, and students. These selected capabilities consist of reading, greeting, alerting, remote operation, clarification, and motion. Second, we present feedback on how the robot's capabilities, demonstrated in part with the Wizard of Oz approach, were perceived, and iteratively adapted over the course of several lectures, using the \EP tool. Third, we discuss observations and findings regarding the capabilities and the development process. Our findings suggest that using a social robot as a teaching assistant is promising using the chosen capabilities. We find that personalizing the capabilities and the role of embodiment are important topics to be considered in future work.

Service robots operating in indoor environments should recognize dynamic changes from sensors, such as RGB-D camera, and recall the past context. Therefore, we propose a context query-processing framework, comprising spatio-temporal robotic context query language (ST-RCQL) and spatio-temporal robotic context query-processing system (ST-RCQP), for service robots. We designed them based on the spatio-temporal context ontology. ST-RCQL can query not only the current context knowledge but also the past. In addition, ST-RCQL includes a variety of time operators and time constants, and thus queries can be written very efficiently. The ST-RCQP is a query-processing system equipped with a perception handler, working memory, and backward reasoner for real-time query-processing. Moreover, ST-RCQP accelerates query-processing speed by building a spatio-temporal index in the working memory, where percepts are stored. Through various qualitative and quantitative experiments, we demonstrate the high efficiency and performance of the proposed context query-processing framework.

This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed is designed to replicate six degrees of freedom (6DOF) motion maneuvering to accurately simulate the dynamic behaviors of free-floating robotic manipulators and free-tumbling space debris under microgravity conditions. The testbed incorporates two industrial 6DOF robotic manipulators, a 3-finger robotic gripper, and a suite of sensors, including cameras, force/torque sensors, and tactile tensors. Such a setup provides a robust platform for testing and validating technologies related to autonomous tracking, capture, and post-capture stabilization within the context of active space debris removal missions. Preliminary experimental results have demonstrated advancements in motion control, computer vision, and sensor fusion. This facility is positioned to become an essential resource for the development and validation of robotic manipulators in space, offering substantial improvements in the effectiveness and reliability of autonomous capture operations in space missions.

The optimal surgical approach for thymoma resection is still an object of debate. The increasing experience in robotic-assisted thoracic surgery (RATS) has led to the progressive affirmation of this technique as a valid alternative to Video-Assisted Thoracic Surgery (VATS), sternotomy and thoracotomy in this setting. The present study aims to compare the post-operative and short-term results of RATS Thymectomy for thymoma with those of other main surgical approaches (sternotomy, thoracotomy, and VATS) from a high-volume single center.Between May 2021 - September 2023, 40 consecutive patients underwent RATS Thymectomy for I to limited-stage III thymoma in our center. Three homogenous groups of consecutive patients who received thymic surgery by main alternative approaches (sternotomy, thoracotomy, VATS) over the last 5 years, were identified in order to perform a comparative analysis. Data of operative technique, time of surgery, associated resections, conversion rate, overall morbidity, tumor size, radicality, postoperative pain, length of hospital stay, and cosmetic results were recorded and compared between each control group and the RATS group. Tumor size was higher in the sternotomy group, but not significantly. The mean operative time of RATS interventions was significantly lower than that of sternotomy and VATS. It was significantly shorter compared to thoracotomy if excluding docking-undocking time. Higher rate of associated adjacent structures resection was reported in the sternotomy group (p=0.005). Conversion rate was significantly higher in VATS group (p= 0.026) compared to RATS. Postoperative pain at 24 and 48 hours was significantly lower in RATS group compared to the others. Improved cosmetics results were reported after RATS compared to sternotomy (p= 0.0001) and thoracotomy (p= 0.001) groups, with a trend towards better results compared to VATS (p=0.05). Length of hospital stay was shorter in the RATS group with a significant difference vs. the sternotomy group (p<0.001). These results from a single center confirm the safety and effectiveness of RATS for the treatment of limited stage thymoma. Advantage in terms of operative outcomes, post-operative pain, cosmetic results, and hospital stay was observed if compared to the alternative approaches. Short-term oncologic outcome was excellent based on the high complete excision rate of the tumor.

Background: In the landscape of thoracic surgery, innovation continually drives progress, offering novel approaches to address complex pathologies while prioritizing patient well-being. Dual-portal robotic-assisted thoracic surgery DRATS represents the next frontier in this evolution. In this report we describe our experience with the DRATS approach for segmentectomy with the indocyanine green intersegmental plane identification. Methods: We presented the case of a patient who underwent a DRATS lingulectomy and lymphadenectomy stations 5, 6, 7, and 10 using the daVinci Surgical System. Results: The patient's postoperative course was uneventful with chest tube was removed in second post operative day. The final pathological analysis confirmed a low-grade malignant potential adenocarcinoma, with main diameter of 1.1 cm, at 3 cm from lung margins. 12 nodes were removed, from station 5,6,7,10,11, all of the free of metastases. Conclusions: Our initial observations suggest that Dual-Portal Robotic-Assisted Tho-racic Surgery (DRATS) demonstrates notable feasibility.

(1) Background. Intracavitary hyperthermic chemotherapy (HITHOC) remains a part of the complex mosaic which is the multimodal approach in advanced stage thymomas and pleural malignancies, and its role is still widely debated. In recent years, several studies have demonstrated the feasibility and the efficacy of HITHOC combined with cytoreductive surgery in the treatment of thymoma relapses and malignant pleural mesothelioma (MPM). However, there are currently no studies available on pleurectomy/removal of pleural lesions using the robotic technique, in association with intrathoracic chemotherapy. The aim of this narrative review is to evaluate the feasibility and safety of robotic pleurectomy/removal of relapses and HITHOC in patients with pleural recurrence of thymoma or MPM, after having analyzed the literature concerning this controversial topic, and to report our experience with robotic surgery. (2) Methods: A review of papers published on this topic, from 1980, was conducted. Later, the data of consecutive patients affected by thymoma relapses or MPM who underwent robotic surgery in combination with HITHOC will be collected and analyzed. The surgery performed, prior to intrathoracic infusion of the high-temperature chemotherapy, consisted of the removal of the recurrences or pleurectomy, depending on the pathology. All surgeries were performed with a 4-port-fully robotic technique. (3) Results: Between 2017 and 2022, nine patients underwent robotic cytoreductive surgery in combination with HITHOC. No intraoperative complications occurred. One patient had a grade II Clavien-Dindo postoperative complication. Oncological follow-up showed results in line with the literature. (4) Conclusion: With the limitation of the small number of patients, considering the results, robotic surgery may represent the surgical approach of choice, in combination with HITHOC, in patients with pleural relapses of thymoma and early-stage MPM.

Robotic surgery is a rapidly developing and evolving surgical technique. This literature review evaluates the advantages and disadvantages in the context of gallbladder disease comparing robotic Cholecystectomy to the well-established laparoscopic Cholecystectomy. Significant advantages are reduced operative blood loss, hospital stays and post operative pain, alongside increased patient satisfaction and improved visualization and precision compared to the laparoscopic approach. Disadvantages include lack of tactile feedback, significant cost attributed to equipment, training requirements and increased procedural time due to the set-up sequences. The implementation of robotic surgery also poses significant changes for the training of future surgeons. Whilst it can standardize training and increases opportunity for simulation, the concern is the loss of traditional skills. Currently the evidence base remains mixed however the use of robotics in the right setting, with suitably trained operatives and appropriate patients can enable improved outcomes for patients with gallbladder disease. There is a lot of scope for development including the implementation of tactile feedback to aid operative technique and artificial intelligence to aid patient safety. Likely broadening the use and potential benefit of robotic surgery not only for cholecystectomy but many surgical specialties.

Background and Objectives: The aim of this study is to investigate the diagnostic-therapeutic prob-lem of pelvic recurrence of rectum cancer, highlighting current surgical standards and the possi-ble role of the minimally invasive approach. This retrospective analysis of our surgical case study wishes to enter this debate while suggesting a possible line of action, based on the site of recur-rence. Materials and Methods: We examined, retrospectively, all the patients diagnosed, between 2008 and 2018, with cancer of the rectum at the "Pietro Valdoni" Department of Surgery and monitored their follow-up for 5 years. The sample consisted of 368 patients with rectal neoplasm, 136 females and 232 males, with an average age of 65.8 (ranging from 37 to 86). In 103 of the cases, the neo-plasm was located in the upper rectum (28%), in 119 cases in the middle rectum (32.3%), in 102 cases in the lower rectum (27.7%), in 31 cases (8.4%) at the level of the right/sigma junction and in 13 cases it was not possible to define the site with certainty (3.5%). Results: We examined all patients diagnosed with cancer of the rectum between 2008 and 2018 at the "Pietro Valdoni" Department of Surgery retrospectively and monitored their follow-up for 5 years. The sample consists of 368 patients with rectal neoplasm, 136 females and 232 males. Conclusions: The discussion remains open as to which approach is best at surgical level, whether laparoscopic, robotic or open-air. Our experience informs us that the most dangerous site remains on the anastomotic site.

Dairy cattle predicted by genomic breeding values to be heat tolerant are known to have less milk production decline and lower core body temperature increases in response to elevated temperatures. In a study conducted at the University of Melbourne’s Dookie Robotic Dairy Farm during summer, we identified the most 20 heat-susceptible and 20 heat-tolerant cows in a herd of 150 Holstein Friesian lactating cows based on their phenotypic responses (changes in respiration rate, surface body temperature, panting score, and milk production). Hair samples were collected from the tip of the cows' tail following standard genotyping protocols. The results indicated variation in feed saved and HT genomic estimated breeding values (GEBVs) (P≤0.05) across age, indicating a potential for their selection. As expected, the thermotolerant group had higher GEBVs for HT and feed saved but lower for milk production. In general, younger cows had superior GEBVs for Balanced Performance Index (BPI), Type Weighted Index (TWI) and Australian Selection Index (ASI), whilst older cows were superior in fertility, feed saved (FS) and HT. The study demonstrated highly significant (P≤ 0.001) negative correlations (-0.28 to -0.74) between HT and GEBVs for current Australian Dairy cattle selection indices (BPI, TWI, ASI, HWI) and significant (P≤ 0.05) positive correlations between HT and GEBVs for traits like FS (0.45) and fertility (0.25). Genomic selection for HT will help improve cow efficiency and sustainability of dairy production under hot summer conditions. However, a more extensive study involving more lactating cows across multiple farms is recommended to confirm the associations between the phenotypic predictors of HT and GEBVs.

This paper addresses the effects of electric power quality on robotics operation. A general overview is reported to highlight the main characteristics of electric power quality and their effects on a powered system by considering an end-users viewpoint. Then, authors outline the influence of voltage dip effects by focusing at robotic grasping applications. A specific case of study is reported as referring to LARM Hand IV, a three-fingers robotic hand, which has been designed and built at LARM in Cassino. A dedicated test rig has been settled up for generating predefined voltage dips. Experimental tests are carried out for evaluating the effects of different types of voltage dips on the grasping of objects.

Introduction: Novel robotic surgery systems (da Vinci Xi) are superior to classical open and laparoscopic techniques with its clear and three-dimensional view. We aimed to present the first case low anterior resection of rectal cancer and vaginal specimen extraction with Da Vinci Xi.Case: A 75-year-old female patient with rectum adenocarcinoma was undergone robotic-assisted low anterior resection (LAR) of the rectum, vaginal removal of the specimen, colorectal anastomosis and loop ileostomy. The operation time was 190 minutes. There were no postoperative complications. Pathological tumor stage was stage pT1N0 with negative proximal, distal and radial resection margins. The patient was discharged on the third postoperative day.Conclusion: Robot-assisted LAR, total mesorectal excision, vaginal removal of the specimen, colorectal anastomosis, and loop ileostomy can be performed easily and safely with Da Vinci Xi at early stage rectal cancer. And the vaginal extraction of the specimen avoids us from a traditional abdominal incision.

Monitoring seaweed growth rates and biomass is crucial for optimizing harvest strategies in aquaculture systems. While such a task can be performed manually on a small farm, such as the Integrated Multi-Trophic Aquaculture (IMTA) system at Harbor Branch Oceanographic Institute at Florida Atlantic University (HBOI), a commercial farm will have to rely on the automated sensor to perform such a task. This study introduces an advanced LSTM-based approach for forecasting seaweed growth and biomass. Utilizing a combination of real and synthetic data, LSTM models are trained and evaluated for their predictive performance. Synthetic sensor data was generated using mathematical equations that simulate realistic aquaculture conditions, with added noise to reflect sensor variability. Building on the foundation of the Pseudorandom Encoded Light for Evaluating Biomass (PEEB) sensor deployed at the seaweed tank in the HBOI IMTA system, we refine the process of biomass estimation by introducing non-linear regression models for predicting seaweed growth and biomass. The results showed that the LSTM model trained with a loss function under physics constraint, combining MSE and physical laws, outperformed models trained with MSE alone, achieving a significantly lower error in predicting seaweed growth. The variation trend of the predicted biomass from the network matched well with the sensor measurement after moving average preprocessing, demonstrating the robustness of the proposed technique in handling noisy sensor data. This study highlights the potential of integrating machine learning with physical models to optimize seaweed cultivation and support sustainable aquaculture practices.

The integration of Artificial Intelligence (AI) in healthcare has transformed clinical practices by improving the accuracy of diagnosis, optimizing surgical procedures, improving the patient experience, and accelerating drug development. This article provides a comprehensive overview of the many applications of artificial intelligence (AI) across several industries, including fast diagnostics, where ML algorithms greatly enhance the accuracy and velocity of disease diagnosis. State-of-the-art robotic-assisted minimally invasive surgical procedures that shorten patients' hospitalization and improve their chances of recovery, cutting-edge AI applications in healthcare monitoring, and medication development. The article also looks at the primary challenges that AI in healthcare will inevitably encounter, such as differences in product quality, a shortage of skilled workers, privacy and ethical issues, and the need for improved regulatory frameworks. Despite the challenges, AI contributes significant advantages to the healthcare industry, providing novel and remarkable contributions to the efficiency of medical procedures and the progress of medical outcomes. The paper emphasizes the importance of cooperation in overcoming current challenges and enhancing the acceptability of AI technology in clinical settings. This will ensure that AI-driven innovations continue to enhance the standards of patient care.

This paper addresses the approach of fully automated intelligent control systems in production organizations, focusing on intelligent production systems research. The overview highlights a gap in control operations ahead of assembly as single-purpose control machines are frequently employed, which is precisely their drawback. Conversely, there are accurate multipurpose measurement centers that do not provide total quality control over the manufactured parts because of the cost and length of the measuring procedure. The study's primary objective was to create an intelligent modular control system, whose concept enables it to control various components. The purpose of the modular intelligent control system is to keep an eye on each module's quality during the pre-assembly phase. This system ensures exact control over the production process of modules by integrating sophisticated sensors, diagnostic tools, and intelligent control mechanisms. The technology makes it possible to monitor several parameters and important quality features. Integrated sensors and diagnostic technologies identify possible inaccuracies and disparities, guaranteeing prompt diagnosis of issues in specific modules. The system's intelligent control algorithms streamline the production process and guarantee synchronization between individual modules to achieve consistent quality and performance. One advantage of implementing the solution is that, on average, inspection time is reduced by 40 to 60% as compared to the prior manual inspection approach. In addition, full measurement data archiving was made available, and finally, the human element—which introduced a substantial error rate into this process—was removed. This system also helps to increase the project's overall efficiency, predictability, and safety while allowing for quick adjustments by standards and requirements.

(1) Background: Mobile health (mHealth) solutions can become means of improving functional recovery and reducing the peri-operative burden and costs associated with arthroplasty procedures. Aim of this study is to explore the objectives, functionalities, and outcomes of a platform designed to provide personalized surgical experiences to qualified patients, along with the associated problems and opportunities. (2) Methods: A survey-based analysis was conducted on patients who were prescribed the use of a specific care management platform and underwent primary Robotic total knee arthroplasty (rTKA) between January 2021 and February 2023. (3) Results: Patients registered on the platform who have undergone primary Robotic TKA (rTKA) were considered. The mean age of registered patients is 68,6 years. The male (M) / female (F) ratio is 45.1% / 54.9%. The patients interviewed were at an average distance of 485 days from the intervention, with a standard deviation of 187.5. The survey highlighted appreciation for the App and its features but limits in its use and in its perception from the patients. All these data were evaluated according to the Wald principles and strategies to improve patient recruitment, enhance adherence, and create a comprehensive patient journey for optimized surgical experiences were analyzed. (4) Conclusions: This patient care platform may have the potential to impact surgical experiences by increasing patient engagement, facilitating remote monitoring, and providing personalized care. There is the need to emphasizes the importance of integrating the recruiting process, improving adherence strategies, and creating a comprehensive patient journey within the platform

Abstract. Leiomyoma is a benign tumour of smooth muscle cells classified into three groups: solid leiomyoma, angioleiomyoma and leiomyoblastoma. Angioleiomyoma arises from the tunica media of veins and arteries of vascular smooth muscle.Nasal cavity, paranasal sinus and oral cavity are the most frequent locations in Head and Neck region. Here we present the case of a tongue base angioleiomyoma with an emphasis on clinical data, pathologic findings and surgical approach. The patient complained about a one-month of globus sensation, dysphagia and hemoptysis without other systemic symptoms. Laryngoscopy revealed the presence of a 2 cm solitary submucosal mass located on the left tongue base covered with normal mucosa. The patient underwent direct laryngoscopy to perform a biopsy for the purpose of achieving the conclusive diagnosis. Treatment options were discussed, included surgical resection. Transoral robot-assisted resection was performed without complications. Clearly the description of our case does not want to have a purpose in terms of indications but wants to describe the possibility of considering TORS in the case of benign tumours of the tongue base, especially in cases like this where a standard technique can difficulty be achieved. Current literature review was provided and discussed.

Background: Mood disorders, especially depression, and emotional difficulties such as anxiety are very common problems among patients with spinal cord injury (SCI). The loss of physical training may deteriorate their mental state, which in turn has a significant impact on the improvement of functioning. The aim of the present study was to examine the influence of innovative rehabilitation approaches involving robotic assisted gait therapy (RAGT) on mood and anxiety symptoms in pa-tients with SCI. Methods: To this single-centre, single-blinded, single-arm, prospective study, 110 participants with subacute SCI were enrolled; patients were divided into experimental (robotic assisted gait therapy -RAGT) and control (conventional gait therapy with dynamic parapodium - DPT) groups. They received five training sessions per week over 7- weeks. The severity of de-pression was assessed by Depression Assessment Questionnaire (KPD) and anxiety symptoms by State - Trait Anxiety Inventory (STAI X-1) on the beginning and end of therapy. Results: SCI patients experienced significantly lower levels of anxiety and depression-related symptoms after completing the seven-week rehabilitation program (KPD: Z=6.35; p<0.001; r=0.43; STAI X-1: Z=-6.20; p<0.001; r=0.42) in both group of patients. In the RAGT group, post-rehabilitation measurements also indicated an improvement in psychological functioning, i.e., a decrease in depression and anxiety, and an increase in self-regulation. Significant results were noted for each variable (STAI X-1: Z = -4.93; KPD: Z = -5.26; SR: Z = -3.21). In the control group, there was also a decrease in the effect on the depression, anxiety-state and an increase in self-regulation ability (STAI X-1: Z=-4.01; KPD: Z=-3.65; SR: Z=-2.83). Rehabilitation modality did not appear to have a statistically significant relationship with the magnitude of improvement in KPD (including SR) and STAI scores. However, there were some significant differences when comparing the groups by extent and depth of injury and type of paralysis. The study also did not find a significant rela-tionship between improvements in physical aspects and changes in psychological factors. Conclusion: Subjects in RAGD and DPT groups experienced a decrease in anxiety and depres-sion after a 7-week rehabilitation program. However, the rehabilitation modality (DPT vs. RAGT) did not differentiate patients with SCI in terms of the magnitude of this change. Our results may suggest that individuals with severe neurological condition and complete spinal cord injury (AIS A) may experience more benefit in terms of change in psychological parameters after rehabilitation with RAGT.

Palpation is a simple but effective method to differentiate tumors from healthy tissues. Development of miniaturized tactile sensors embedded on endoscopic or robotic devices are the key toward precise palpation diagnosis and the subsequent timely treatment. This paper reports on the fabrication and characterization of a novel tactile sensor with mechanical flexibility and optical transparency that can be easily mounted on soft surgical endoscopes and robotics. Utilizing the pneumatic sensing mechanism, the sensor offers a high sensitivity of 1.25 mbar and negligible hysteresis, enabling the detection of phantom tissues with different stiffnesses ranging from 0 to 2.5 MPa. Our configuration combining pneumatic sensing and hydraulic actuating also eliminates electrical wiring from the functional elements located at the robot end-effector, thereby enhancing the system safety. The optical transparency path in the sensors together with its mechanical sensing capability open interesting possibility in early detection of solid tumor as well as in the development of all in-one soft surgical robots that can perform visual/mechanical feedback and optical therapy.

As the global population faces an increasing prevalence of physical disabilities, the challenge of motor rehabilitation has become increasingly urgent. Considering that approximately 15% of the global population lives with some form of disability, with a significant number having motor disa-bilities that greatly impact their quality of life, the integration of robotic technologies into rehabili-tation processes offers an opportunity for significant improvement in functional recovery and pa-tient autonomy. This analysis aims to evaluate the progress and challenges encountered in imple-menting robotic technology for the rehabilitation of patients with physical disabilities, highlighting the potential of emerging technologies such as exoskeletons, assisted training devices, and brain-computer interface systems in facilitating motor recovery. By examining relevant clinical studies, the analysis demonstrates the varied effectiveness of robotic therapies compared to traditional re-habilitation methods, while also highlighting the need for ongoing research to optimize care prac-tices and address challenges related to cost, accessibility, and treatment personalization. In con-clusion, robotic technologies represent a promising direction in motor rehabilitation, with the po-tential to revolutionize the care of patients with physical disabilities, significantly improving quali-ty of life and social integration.

Within environmental perception, automatic navigation and object detection, computer vision is a crucial and demanding field with many applications in modern industries, such as multi-target long-term visual tracking in automated production, defect detection, and driverless robotic vehicles with sensing ability. The performance of computer vision has greatly improved recently thanks to developments in deep learning algorithms and hardware computing capabilities, which has spawned the creation of a large number of related applications. This paper presents the results of a detailed review of over 50 papers published over the course of two decades (1999–2024), with a primary focus on the technical advancement of computer vision. To elucidate the foundational principles, an examination of typical visual algorithms based on traditional correlation filtering was initially conducted. Subsequently, a comprehensive overview of the most recent advancements in deep learning-based computer vision techniques was compiled. Furthermore, a comparative analysis between conventional and novel algorithms was undertaken to discuss the future trends and directions of computer vision. Lastly, the feasibility of employing visual SLAM (Simultaneous Localization and Mapping) algorithms in the context of autonomous vehicles with sensing capability was explored. Furthermore, we explored a thorough and efficient architecture for utilizing these techniques in autonomous robotic vehicles into unmanned green and low-carbon smart factories, underlining novel advances as well as potential prospects for future research.

Robotic systems have been widely used in various industries, so the security of communication between robots and their components has become an issue that needs to be focused on. As a framework for developing robotic systems, the security of ROS2 can directly affect the security of the upper-level robotic systems. Therefore, it is a worthwhile research topic to detect and analyze the security of ROS2. In this paper, we adopt a formal approach to analyze the security of the communication mechanism of ROS2. First, we use a state transition system to model the potential vulnerabilities of ROS2 based on the ROS2 communication mechanism and the basic process of penetration testing. Secondly, we introduce the CIA model on the basis of the established vulnerability model and use LTL to define its security properties. Then, we design and implement a vulnerability detection tool for ROS2 applications based on the vulnerability model and security properties. Finally, we experimentally test some ROS2-based applications, and the results show that ROS2 has vulnerabilities without additional protection safeguards.

This paper proposes a new kind of airship actuator configuration for surveillance and environmental monitoring missions. We present the design and application of a 6-propeller electrical airship (Noamini) with independent tilting propellers, allowing improved and flexible maneuverability. The vehicle has different combinations of differential propulsion and can be used in 2, 4 or 6 motors configuration. We developed a high-fidelity airship simulator for the Noamini airship, which was used to test and validate a control-guidance approach. Incremental Nonlinear Dynamic Inversion (INDI) is used for the velocity/attitude control to follow a high-level L1 guidance reference in a simulated waypoint tracking mission with wind and turbulence. The proposed framework will be soon implemented in the onboard control system of the Noamini, an autonomous airship for environmental monitoring and surveillance applications.

Crack inspection is important to monitor the structural health of pavement structures and to facilitate an easier rehabilitation process. Currently, pavement crack inspection is conducted manually, which is inefficient and costly at the same time. For solving the problem, this work has developed a robotic system for automated data collection and analysis in real-time. The robotic system navigates on the pavement and collects visual images from the surface. A deep learning-based semantic segmentation framework named RCDNet was proposed and implemented on the onboard computer of the robot to identify cracks from the visual images. Simulation results show that the deep learning model obtained 96.29% accuracy for predicting the images. The proposed robotic system was tested on both indoor and outdoor environments and was observed that it can complete inspecting a 3m × 2m grid within 10 minutes and a 2.5m × 1m grid within 6 minutes. This outcome shows that the proposed robotic method can drastically reduce the time of manual inspection. Furthermore, a severity map based on the results from visual images was also generated to provide an idea of which locations should be paid more attention to repair in a test grid.

Bionic robotic hand can perform many movements similar to human hand. But there is still a significant gap in manipulation between robot and human hand. It is necessary to understand the finger kinematics and motion patterns of human hand to improve the performance of robotic hand. This study aimed to comprehensively investigate normal hand motion patterns by evaluating the kinematics of hand grip and release in healthy individuals. The data corresponding to rapid grip and release were collected from the dominant hand of 22 healthy people by sensory glove. The kinematics of 14 finger joints were analyzed, including the dynamic range of motion (ROM), peak velocity, joint sequence and finger sequence. The results show that the proximal interphalangeal (PIP) joint had a largest dynamic ROM than metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints. Besides, the PIP joint had the highest peak velocity, both in flexion and extension. For joint sequence, the PIP joint moved prior to the DIP or MCP joints during flexion, while extension started in DIP or MCP joints, followed by PIP joint. Regarding the finger sequence, the thumb started to move before four fingers, and stopped moving after the fingers during both grip and release. This study explored the normal motion patterns in hand grip and release, which provided kinematic reference for the design of robotic hand and thus contribute to its development.

Vision-based tactile sensors (VBTS) have become the de facto method of giving robots the ability to obtain tactile feedback from their environment. Unlike other solutions to tactile sensing, VBTS offers high spatial resolution feedback without compromising on instrumentation costs or incurring additional maintenance expenses. However, conventional cameras used in VBTS have a fixed update rate and output redundant data, leading to computational overhead downstream. In this work, we present a neuromorphic vision-based tactile sensor (N-VBTS) that employs observations from an event-based camera for contact angle prediction. Particularly, we design and develop a novel graph neural network, dubbed TactiGraph, that asynchronously operates on graphs constructed from raw N-VBTS streams exploiting their spatiotemporal correlations to perform predictions. Although conventional VBTS uses an internal illumination source, TactiGraph is reported to perform efficiently in both scenarios, with and without an internal illumination source. Rigorous experimental results revealed that TactiGraph achieved a mean absolute error of 0.62∘ in predicting the contact angle and was faster and more efficient than both conventional VBTS and other N-VBTS, with lower instrumentation costs. Specifically, N-VBTS requires only 5.5% of the compute-time needed by VBTS when both are tested on the same scenario.

Over the years, Artificial Intelligence (AI) has seen a steady progress in development and evolution that can aid many sectors. Today, AI plays an essential role in the Fourth Industrial Revolution, and it is making its way into the military sector as well. Many countries are actively looking into AI military technology. Some of these innovations include image recognition, text analysis, Self-driving vehicles (SDV), gaming, robotic process automation (RPA) & Robotic and Autonomous Systems (RAS), and Autonomous Weapons Systems (AWS). In this research, we discuss the advantages of each innovation mentioned and analyze the many different cybersecurity threats that awaken due to military artificial intelligence systems. We then discuss the open research areas to better improve the current state of military artificial intelligence applications in terms of ethics, system security, proper strategy plan, accepted responsibility matrix, and introduction of relevant laws.

In this work is represented conceptual model of robot-manipulator for capture and holding no-cooperation client spacecraft, which has Payload Adapter interface PAS 1666 S, PAS 1194 C, PAS 1666 MVS, PAS 1184 VS, when there are dynamic errors of linear and angular position of client spacecraft in the interval +/-5 deg. per minute and +/-0.1 meters per minute respectively.

In the framework of the H2020 CLEANDEM project a small robotic vehicle was equipped with a series of different sensors, developed for the preliminary inspection of areas possibly contaminated by radiation. Such unmanned inspection allows to identify dangerous locations prior to the possible start of human operations. One of the developed devices, named MiniRadMeter, is a compact, low-cost sensor to perform gamma and neutron radiation field mapping of the environment. The MiniRadMeter was successfully tested in a simulated field mission with four "hidden" radioactive sources and a neutron generator. In this work we describe the test procedure and the results, also supported by the outcome of dedicated Monte Carlo simulations.

Complex atypical endometrial hyperplasia (CAH) carries a high probability of cancer. Intraoperative evaluation of endometrial cancer in cases of CAH has not been reliable. The safety and sensitivity of sentinel lymph node (SLN) sampling has been validated. We aim to evaluate the efficacy and safety of SLN sampling in CAH managed by the da Vinci robotic platform. A total of 113 patients with a preoperative diagnosis of CAH were included in this retrospective cohort study. All underwent a robot assisted total laparoscopic hysterectomy and bilateral salpingo-oophorectomy with 69 patients undergoing SLN sampling. Statistical analysis calculated the probability of cancer, SLN map rate, and surgical complications. Predictors of cancer were evaluated. Forty-seven percent of the entire cohort were diagnosed with endometrial cancer. Median age was 63 years in the SLN cohort (N = 69) and 61 in the No SLN cohort (N = 44) (p= 0.363).  Median BMI was 34 Kg/m2 in the SLN cohort and 40 in the No SLN cohort (p= 0.004). Bilateral SLN map was 92.8% and unilateral SLN map rate was 7.2%. There were no grade 3-4 complications in the SLN cohort, and 4 grade 3-4 complications in the No SLN group (p=0.021). A preoperative diagnosis of CAH bordering on or cannot rule out cancer was the only predictor of cancer.

Efficient processing of end-of-life lithium-ion batteries of electric vehicles is important and a pressing challenge for a circular economy. Regardless of whether the processing strategy is recycling, repurposing or remanufacturing, the first processing step would usually involve disassembly. As battery disassembly is a dangerous task, efforts have been made to robotise it. In this paper, a robotic disassembly platform using four industrial robots is proposed to automate the non-destructive disassembly of a plug-in hybrid electric vehicle battery pack into modules. The work was conducted as a case study to demonstrate the concept of autonomous disassembly of an electric vehicle battery pack. A two-step object localisation method based on visual information is used to overcome positional uncertainties from different sources and is validated by experiments. Also, the unscrewing system is highlighted, and its functions, such as handling untightened fasteners, loosening jammed screws, and changing the nutrunner adapters with square drives, are detailed. Furthermore, the time required for each operation is compared with that taken by human operators. Finally, the limitations of the platform are reported and future research directions are suggested.

In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment.

This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from the surrounding objects and scenery. An deep artificial neural network (ANN) with perceptrons classifies EMG signals, discerning the type of muscular stimuli generated. The research unveils a fuzzy-based oscillation patterns generator (OPG) designed to emulate functions akin to a neural central pattern generator, producing coordinated fish undulations. The OPG generates swimming behavior as an oscillation function, decoupled into coordinated step signals, right and left, for a dual electromagnetic oscillator in the fish propulsion system. Furthermore, the research presents an underactuated biorobotic mechanism of the subcarangiform type, comprising a two-solenoid electromagnetic oscillator, an antagonistic musculoskeletal elastic system of tendons, and a multi-link caudal spine composed of helical springs. The biomechanics dynamic model and control for swimming, as well as the ballasting system for submersion and buoyancy, are deduced. Experimental results encompass EMG pattern recognition, OPG, and coordinated fish locomotion, with additional topics illustrated through numerical simulations.

This paper presents a new optical, multi-functional, high-resolution 3-axis sensor which serves to navigate and can, for example, replace standard joysticks in medical devices such as electric wheelchairs, surgical robots or medical diagnosis devices. A light source, e.g. a laser diode is affixed to a movable axis and projects a random geometric shape on an image sensor (CMOS or CCD). The software in the downstream microcontroller identifies the geometric shape’s center, distortion and size, then calculates X, Y, and Z coordinates. These coordinates can then be processed in attached devices. The 3-axis sensor is characterized by its very high resolution, precise reproducibility and plausibility of the coordinates produced. In addition, optical processing of the signal provides a high level of safety against electromagnetic and radio frequency interference. The sensor presented here is adaptive and can be adjusted to fit a user’s range of motion (stroke and force). This recommendation aims to optimize sensor systems such as joysticks in medical devices in terms of safety, ease of use, and adaptability.

This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this work, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex (3D printed), Elastosil M4601 and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design/production approach with molds is proposed to obtain the gripper's PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board – Arduino UNO. This paper presents the main simulation and experimental results of this research work.

The development of intelligent medical service robots for patient care presents significant chal-lenges, particularly in integrating diverse knowledge sources and enabling robots to autono-mously perform tasks in dynamic and unpredictable healthcare environments. This study in-troduces a novel framework that combines large language models (LLMs) with healthcare-specific knowledge and robotic operations to enhance autonomous task execution for a Robotic Health Attendant (RHA). Utilizing OpenAI’s ChatGPT, the RHA processes structured information about patient care protocols and unstructured human inputs to generate context-aware robot actions. A prototype system was tested in a simulated patient room where the RHA successfully performed both simple individual actions and complex tasks involving the execution of multiple actions, based on real-time dialogues with the LLM and predefined task specifications. The results demonstrate the potential of LLMs to reduce the reliance on hardcoded logic and provide healthcare professionals with the ability to interact with robotic systems through natural lan-guage.

We previously reported our initial experience of subxiphoid single-port robotic-assisted thoracic surgery (SRATS) thymectomy using the single-port robotic surgical system (SPS). However, the potential benefits of this technique remain unknown. Thus, this study examined the multi-institutional experience of SRATS thymectomy and compared perioperative outcomes of this technique with those of subxiphoid single-port video-assisted thoracic surgery (SVATS) thymectomy. Data of patients who underwent subxiphoid SRATS and SVATS thymectomy performed by three thoracic surgeons at three institutions between September 2018 and May 2024 were retrospectively collected. In total, 110 patients were included, with 85 and 25 undergoing SRATS and SVATS thymectomy, respectively. No significant differences were noted in the total operative time (154.46±74.06 vs. 146.76±67.07 min, P=0.674) and conversion rate to median sternotomy (0% vs. 4 %, P=0.227) between the two groups. The SRATS group was associated with a lower conversion rate to multi-port surgery (2% vs. 20%, P=0.006), shorter chest tube drainage duration (1.40±0.94 vs. 2.00±1.29 days, P=0.001), and shorter postoperative hospital stay (2.87±1.26 vs. 5.08±5.20 days, P=0.007). Subxiphoid SRATS thymectomy using the SPS is feasible and can be a good alternative to conventional minimally invasive thymectomy. Further large-scale randomized controlled studies are needed to confirm its benefits.

An early hypothesis in robot-assisted stroke therapy was that sensorimotor stimulation through robotic assistance is beneficial for recovery. Despite 25 years of upper-limb rehabilitation robotics research, this hypothesis remains untested barring a few studies with small sample sizes. This review aims to provide a critical summary of the current state of this hypothesis by collating evidence from rehabilitation robotics and other related therapeutic approaches. The review starts with a causal model to expose the various direct and indirect routes through which robotic assistance can aid sensorimotor recovery. The indirect routes include the influence of robotic assistance on therapy intensity, patient motivation, and active participation. The direct route is through changes in cortical networks through Hebbian(-like) learning and changes in peripheral tissue properties. There is currently mixed evidence for the direct causal effect of robotic assistance on recovery from the upper-limb rehabilitation robotics literature. However, evidence from the neuromuscular electrical stimulation literature provides some support for this causal role. Based on the data at hand, we hypothesize that the enhanced movement-related sensory feedback from robotic assistance has a direct, possibly small, causal role in the sensorimotor recovery of the upper-limb, and this effect might be detectable with high-intensity therapy. Large, high-intensity, controlled studies are warranted to support or refute the role of robotic assistance on recovery, which is both scientifically and practically important.

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

The upper extremities limitation represents one of the essential functional impairments in patients with cervical spinal cord injury. Electromechanics assisted devices and robots are increasingly used in neurorehabilitation to help functional improvement in patients with neurological diseases. This review aimed to systematically report the evidence-based, state-of-art on clinical applications and robotic-assisted arm training (RAT) in motor and functional recovery in subjects affected by cervical spinal cord injury. The present study has been carried out within the framework of the Italian Consensus Conference on "Rehabilitation assisted by robotic and electromechanical devices for persons with disability of neurological origin" (CICERONE). PubMed/MEDLINE, Cochrane Library, and Physiotherapy Evidence Database (PEDro) databases were systematically searched from inception to September 2021. The 10-item PEDro scale assessed the study quality for the RCT and the AMSTAR-2 for the systematic review. Two different authors rated the studies included in this review. If consensus was not achieved after discussion, a third reviewer was interrogated. The 5-item Oxford CEBM scale was used to rate the level of evidence. A total of 11 studies were included. The selected studies were: two systematic reviews, two RCTs, one parallel-group controlled trial, one longitudinal intervention study and five case series. One RCT was scored as a high-quality study, while the systematic review was of low quality. RAT was reported as feasible and safe. Initial positive effects of RAT were found for arm function and quality of movement in addition to conventional therapy. The high clinical heterogeneity of treatment programs and the variety of robot devices could severely affect the generalizability of the study results; therefore, future studies are warranted to standardize the type of intervention and evaluate the role of robotic-assisted training in subjects affected by cervical spinal cord injury.

This paper presents the robotic platform, PiBot, that has been developed and that is aimed at improving the teaching of Robotics with vision to secondary students. Its computational core is the Raspberry Pi 3 controller board, and the greatest novelty of this prototype is the support developed for the powerful camera mounted on board, the PiCamera. An open software infrastructure written in Python language was implemented so that the student may use this camera, or even a WebCam, as the main sensor of this robotic platform. Also, higher level commands have been provided to enhance the learning outcome for beginners. In addition, a PiBot 3D printable model and the counterpart for the Gazebo simulator were also developed and fully supported. They are publicly available so that students and educational centers that do not have the physical robot or can not afford the costs of these, can nevertheless practice and learn or teach Robotics using these open platforms: DIY-PiBot and/or simulated-PiBot.

This article presents a new input device for spastic patients and others with similar symptoms. The sensor consists of a disc used to determine positions and can replace standard joysticks in medical devices such as electric-powered wheelchairs. Using a standard joystick while operating a powered wheelchair can result in dangerous situations when spastic movements occur and extremities cramp making them uncontrollable. To avoid this, a disc was developed that can be controlled with any body part. By shifting weight (x- and y-axis) the disc can tilt in any direction creating a proportional output signal and can also be pushed down in the center (z-axis) to open a menu on a screen for example. When spasms occur it is impossible for users to get stuck on the input device because the disc is flat and can be mounted within a control panel. Body parts coming into contact with the disc would merely slide across the disc without triggering unintentional actions. The sensor presented here is also adaptive and can be adjusted to fit a user’s strength and range of motion. This proposal aims to develop an input device that enables spastic patients to operate sensitive systems safely.

(1) Background: Efficient detection and rectification of defects or post-processing manufacturing conditions such as sharp edges and burrs on metal components are crucial for quality control in precision manufacturing industries. (2) Methods: This paper describes a lab-scale integrated system for real-time and automated metal edge image detection using a customized YOLOv5 ma-chine vision algorithm. The YOLOv5 algorithm and model were developed and embedded in the NVIDIA Jetson Nano microprocessor. The YOLOv5 model can detect three different image types for classification i.e., normal, sharp, and burrs edge on aluminum workpiece blocks. An integrated system connects the NVIDIA Jetson Nano with an embedded YOLOv5 model to a Mitsubishi Electric Melfa RV-2F-1D1-S15 manipulator to perform selective automated chamfer-ing and grinding when certain condition defects are detected. (3) Results: The model demonstrates durable performance, achieving a mean average precision of 0.886 across defect classes with minimal misclassifications. The Mitsubishi Electric Melfa RV-2F-1D1-S15 manipulator received input from the machine vision system and performed an automated chamfering and grinding process accordingly; (4) Conclusions: By integrating camera, embedded deep learning in the microprocessor and manipulator, automated chamfering and grinding process in metal component shapes can be efficiently rectified. This tailored solution promises to improve productivity and consistency in metal manufacturing and remanufacturing.

(1) Background: The aim of this study is to investigate the diagnostic-therapeutic problem of pelvic recurrence of rectum cancer, highlighting current surgical standards and the possible role of the minimally invasive approach. This retrospective analysis of our surgical case study wishes to enter this debate while suggesting a possible line of action, based on the site of recurrence; (2) Methods: We examined, retrospectively, all the patients diagnosed, between 2008 and 2018, with cancer of the rectum at the "Pietro Valdoni" Department of Surgery and monitored their follow-up for 5 years. The sample consisted of 368 patients with rectal neoplasm, 136 females and 232 males, with an average age of 65.8 (ranging from 37 to 86); (3) Results: In 103 of the cases, the neoplasm was located in the upper rectum (28%), in 119 cases in the middle rectum (32.3%), in 102 cases in the lower rectum (27.7%), in 31 cases (8.4%) at the level of the right/sigma junction and in 13 cases it was not possible to define the site with certainty (3.5%); (4) Conclusions: The discussion re-mains open as to which approach is best at surgical level, whether laparoscopic, robotic or open-air. Our experience informs us that the most dangerous site remains on the anastomotic site.

This study investigates the adoption of Robotic Process Automation (RPA) in marketing operations, exploring its impact on efficiency, data accuracy, and overall effectiveness. RPA has emerged as a transformative technology, automating routine tasks such as data entry, report generation, and campaign management, which has significantly enhanced operational efficiency within marketing departments. By automating repetitive processes, RPA enables marketing professionals to focus on strategic and creative tasks, resulting in accelerated campaign execution and improved productivity. Additionally, the integration of RPA with Customer Relationship Management (CRM) systems has led to more accurate and consistent data, providing valuable real-time insights that enhance decision-making and personalization in marketing strategies. Despite these benefits, the study also highlights several challenges associated with RPA adoption. These include concerns about workforce implications, such as job displacement and the need for reskilling, as well as implementation difficulties related to system compatibility and workflow design. Ethical and regulatory considerations, particularly regarding data privacy and compliance, are also critical factors that organizations must address to maintain customer trust and adhere to legal standards. The study further explores the potential of integrating artificial intelligence (AI) with RPA to drive future innovations in marketing automation. AI-driven RPA offers advanced capabilities, including predictive modeling and personalized marketing, which promise to enhance the effectiveness of automation strategies. The findings underscore the need for organizations to adopt best practices in RPA implementation and remain adaptable to technological advancements to fully leverage the benefits of automation and maintain a competitive edge in the dynamic marketing landscape.

This qualitative research explores the role of digital transformation in procurement through insights gathered from interviews with industry leaders. Digital technologies such as Robotic Process Automation (RPA), Big Data Analytics, Artificial Intelligence (AI), and Blockchain are examined for their impact on operational efficiency, strategic procurement management, supplier relationships, and sustainability practices. Findings reveal that these technologies streamline processes, enhance decision-making capabilities, and improve transparency, thereby enabling organizations to achieve greater agility and competitive advantage. Strategic factors including leadership commitment, strategic investments, and digital skills development emerge as crucial for navigating challenges such as organizational resistance, data security, and integration complexities. The study underscores the transformative potential of digital transformation in procurement, emphasizing its role in driving innovation, fostering sustainability, and aligning procurement practices with broader organizational goals. Looking forward, the research suggests that organizations must continue to innovate and adapt to technological advancements to maintain resilience and leadership in a digital economy. By integrating digital strategies effectively, organizations can enhance operational efficiencies, strengthen supplier relationships, and promote ethical business practices, ultimately positioning themselves for sustained success.

Background: Locally advanced rectal cancers (10-20%) can present with infiltration into adjacent viscera. R0 resections remain the key factor for better survival. Traditionally these cases have been managed with open surgery. There are some limitations of laparoscopic surgery in these case, which can potentially be overcome by robotic surgery. Objectives: To determine the feasibility and outcome results of robotic multi-visceral resection of stage T4 rectal carcinoma. Methods: Consecutive patients having locally advanced carcinoma of rectum, who undergone robotic multi-visceral resection as the primary treatment between 2015 -2018 were included, through our database which was maintained prospectively. All perioperative and intraoperative parameters were analyzed. Patient demographics, co-morbidities, preoperative imaging, endoscopic findings, operative data, histopathology results, postoperative hospital course and procedure related postoperative adverse events were noted and analyzed. Results: Twenty-one patients with the diagnosis of nonmetastatic locally advanced rectal cancers were operated with Robotic Si/X platform. The median body mass index was 28.5 kg/m2 (range 21-42). The mean blood loss during operation was 20 ml (range 5-200), and the mean duration of surgery was 280 min (range 240-430). The median hospital stay after operation was 6 days (range 4-25 days). On postoperative histopathology, R0 resection rate was 90.5% (19/21). Conclusions: The robotic multi-visceral en-bloc resection of stage T4 rectal carcinoma is technically feasible and oncologically safe. Advanced technical skills, accurate radiological staging and careful patient selection can allow the extension of minimal access surgery to this challenging group of patients.

This article examines the integration of artificial intelligence (AI) and robotic process automation (RPA) in financial accounting and management, underscoring their role in driving the digital transformation of corporate finance. It discusses the shortcomings of traditional financial processes and highlights the potential of AI and RPA technologies to enhance efficiency, accuracy, and cost-effectiveness. The paper also explores the limitations of RPA, such as its challenges in processing unstructured data and handling complex decision-making scenarios. Looking forward, it considers the future trends in AI and RPA, emphasizing the benefits of cloud technology in scaling automated systems and addressing associated challenges.

This study presents a comprehensive systematic review that addresses the critical transi- 1 tion from ROS 1 to ROS 2, spotlighting the significant enhancements and the pressing need for a 2 detailed exploration of ROS 2 within the robotics community. Despite the extensive deployment 3 and adaptations of ROS in varied robotics applications, literature lacks a cohesive synthesis that 4 delineates the advancements, limitations, and broader impacts of ROS 2 compared to its predecessor, 5 ROS 1. Our contribution bridges this gap by assembling the largest database of ROS-related research, 6 encompassing 7,498 articles, with a focused analysis in this survey on 431 ROS2-specific publications. 7 We categorize these into i.) articles that discuss and analyze core ROS 2 concepts, ii.) articles that 8 propose frameworks or tools for ROS 2, and iii.) articles utilizing ROS 2. Furthermore, we summarize 9 literature findings of ROS 2 challenges, advancements, and future direction in the fields of a.) security, 10 b.) real-time, c.) middleware, d.) embedded and distributed systems, e.) communication reliability 11 and QoS, and f.) multi-robot systems. The methodology involved meticulous data collection and 12 categorization from multiple databases, facilitating an in-depth online accessible resource. Results 13 underscore ROS2’s enhancements in modularity, real-time capabilities, and security, extending its 14 applicability across various robotic platforms and industries. However, challenges in scalability and 15 reliability persist, signaling avenues for future enhancements. This review not only deepens the 16 understanding of ROS2’s contributions but also charts a path for ongoing improvements in robotic 17 systems design.

Background: Wilms tumor (WT) is the main renal tumor in children. SIOP-UMBRELLA Guidelines admit Nephron sparing surgery (NSS) in syndromic patients, and in small (&lt;300 ml) nonsyndromic unilateral WTs, without lymph node involvement, and with a substantial expected remnant renal function, after neoadjuvant chemotherapy. We report our prechemotherapy transperitoneal robot-assisted partial nephrectomy (RAPN) in a unilateral non-syndromic Wilms tumor. Methods: A 6-year-old-child showed an exophytic 3.6 cm diameter solid rounding mass involving the upper right renal pole at an incidental abdominal echotomography. CT-scan and abdominal MRI proved no local infiltration neither lymph node involvement was appreciated, suggesting an exophytic mass easily resectable through a NSS robotic approach, with a low risk of rupture and no subverted renal anatomy. The preoperative imaging was not suggestive for WT. A virtual 3D reconstruction of the tumor was performed. Results: the oncologic board approved a robot-assisted partial nephrectomy with the intraperitoneal approach. The histopathologic analysis displayed a WT. The patient underwent 10 vincristine-doses adjuvant chemotherapy. 28-months follow-up showed no tumor recurrence. Conclusions: Intraperitoneal RAPN can represent an opportunity for WT and needs to be assessed as a challenging possibility. This case suggests a potential role of prechemotherapy RAPN in the near future for highly selected patients.

Cotton is the most ubiquitous and profitable fiber with diverse industrial and domestic applications. Grown in over 100 countries, it has a global market value of about $40 billion and employs over 350 million people from fields to textile mills, contributing about 7% of total labor-force recruitment in developing economies. Cotton has an indeterminate growth habit and an extensive tap root system affected by soil physicochemical and environmental conditions. There is a consensus among experts that conventional cotton cultivation still has a long way to attain sustainability, which is essential if cotton will maintain its competitive edge over other natural and synthetic fibers like hemp, polyesters, and rayon. Despite several efforts already committed to growing cotton sustainably, sustainability has eluded cotton cultivation globally because of the intense farm inputs (freshwater, pesticides, and heavy-duty equipment) needs, especially in developing economies. Some of the technological advancements towards achieving the goal of sustainable cotton cultivation include the development of new varieties, improved irrigation and mulching and precision agriculture techniques, application of remote sensing and Unmanned Aerial Systems (UAS) combined with image processing, and the introduction of autonomous and multi-purpose robotic platforms for growing and harvesting cotton. This review attempts to evaluate the successes already achieved by stakeholders in moving cotton towards sustainable production and identify areas where efforts are still needed to reach sustainable production and improved profitability goals for cotton with projections for future research directions.

This study examines the practicality and limitations of using a FANUC CRX-10 iA/l collaborative robot to assemble a product component, highlighting the trade-offs between increased roboisation and reduced manual intervention. Through a detailed case study in the i-Labs laboratory, critical factors affecting precision assembly such as station layout, tooling design and robot programming are discussed. The findings highlight the benefits of robots for non-stop operation, freeing up human operators for higher value tasks despite longer cycle times. In addition, the paper advocates further research into reliable gripping of small components, a current challenge for robotics. The work contributes to open science by sharing partial results and methods that could inform future problem solving in robotic assembly.

Base on building information modeling(BIM) plus with Robotic process automation (RPA) technology is rapid development in smart building operations and maintenance (O&M). RPA is a workflow-based automated execution tool that is particularly well suited for replacing manual execution of simple and repetitive tasks using computer systems. The use of RPA technology can saves man-hours and increases productivity, which is important for the automation of building operations and maintenance operations.. The BIM technology, as an advanced technology in the construction industry, it can provide new ideas and methods for building operation and maintenance based on its visualization characteristics. That’s integrating RPA with BIM technology which will enhance the digitalization and virtualization of smart building operation and management. In this article will first introduce the features of RPA and BIM technology and then discuss the technical roadmap for remote automated operation and maintenance of smart building equipment room to implemention a low-cost and high efficient building equipment room operation and maintenance solution.

This study presents a platform for ex-vivo detection of cancer nodules, addressing automation of medical diagnoses in surgery and associated histological analyses. The proposed approach takes advantage of the property of cancer to alter the mechanical and acoustical properties of tissues, because of changes in stiffness and density. A force sensor and an ultrasound probe were combined to detect such alterations during force-regulated indentations. To explore the specimens, regardless of their orientation and shape, a scanned area of the test sample was defined using shape recognition applying optical background subtraction to the images captured by a camera. The motorized platform was validated using seven phantom tissues, simulating the mechanical and acoustical properties of ex-vivo diseased tissues, including stiffer nodules that can be encountered in pathological conditions during histological analyses. Results demonstrated the platform’s ability to automatically explore and identify the inclusions in the phantom. Overall, the system was able to correctly identify up to 90.3% of the inclusions by means of stiffness in combination with ultrasound measurements, paving pathway towards robotic palpation during intraoperative examinations.

Introduction: This review explores the literature and presents institutional cases of concurrent robotic multisite surgery—in particular, robot-assisted radical prostatectomy (RARP) and robot-assisted partial nephrectomy (RAPN) for synchronous prostate and kidney cancers. We highlight dual-console synchronous robotic procedures, emphasizing the unique docking tech-nique developed. Aim: The aims of the study were to evaluate the feasibility, safety, and clinical outcomes of concurrent RARP and RAPN for synchronous prostate cancer and small renal tumors, as well as other concurrent robotic multisite surgeries, and to compare institutional findings with the existing literature. Materials and Methods: We describe the unique docking technique used in our procedures, which facilitates atraumatic transitions between surgeries using the same port sites. Additionally, eligible studies on concurrent robotic multisite surgery that were published in English were retrieved from the MEDLINE, Embase, and Cochrane Library databases. Data on operative time, blood loss, complications, and postoperative outcomes were extracted. Results: Eight cases from our institution demonstrated the feasibility and safety of the proposed approach, which is consistent with previous reports. The unique docking technique and dual-console setup enhance surgical precision, offering significant benefits in patient outcomes. As part of the litera-ture review, nine retrospective studies involving 40 cases of concurrent RARP and RAPN were reviewed. Additionally, eleven retrospective studies involving 392 cases of concomitant RARP and robotic transabdominal preperitoneal inguinal hernia repair (RTAPPIHR) were analyzed. Conclusions: Concurrent RARP and RAPN for synchronous prostate and kidney tumors is a viable and effective approach. Our early experience suggests that this and other combined procedures can optimize patient care and reduce costs. Prospective trials are needed to validate these findings and further refine the techniques.

The Advanced Meteorological Image (AMI) onboard GEOKOMPSAT 2A (GK-2A) enables the retrieval of dust aerosol optical depth (DAOD) from geostationary satellites using infrared (IR) channels. IR observations allow the retrieval of DAOD and the dust layer altitude (24 hour) over surface properties, particularly over deserts. In this study, dust events in northeast Asia from 2020 to 2021 were investigated using five GK-2A thermal IR bands (8.7, 10.5, 11.4, 12.3, and 13.3 μm). For the dust cloud, the observed brightness temperature differences (BTDs) of 10.5 and 12.3 μm were found to be always negative, while the BTD of 8.7 and 10.5 μm varies relying on the dust intensity. Making the best use of optical properties, a physical approach for DAOD lookup tables (LUTs) was developed using IR channels to retrieve the DAOD. This study simulated the characteristics of thermal radiation transfer using the forward model and dust aerosols can explain by BTD (10.5, 12.3 μm), which is an intrinsic characteristic of dust aerosol. The DAOD and property of dust can be gained from the brightness temperature (BT) of 10.5 μm and the BTD of 10.5, 12.3 μm. Additionally, the cumulative distribution function (CDF) was employed to strengthen the continuity of 24-hour DAOD, which was applied to the algorithm by calculating the conversion value coefficient for the DAOD error correction of the IR with daytime visible aerosol optical depth (VAOD) as the true value. The results show that DAOD product can be successfully used during both daytime and nighttime to continuously monitor the flow of yellow dust from the GK-2A satellite in northeast Asia. In particular, the validation result of IR DAOD was similar to that of the active satellite product (CALIPSO/CALIOP), which showed a tendency similar to that for IR DAOD at night.

Objective We aim to assess the quality of life for women with genitourinary fistulas before and after surgery, utilizing the WHOQOL-BREF questionnaire to contrast the preoperative and postoperative results. Materials and Methods: This quasi-experimental study was conducted at the Department of Urology, SIUT, Karachi, Pakistan, from January to December 2023. We used the WHOQOL-BREF questionnaire to assess the quality of life. Participants completed the questionnaire both before the surgical intervention and three months after successful fistula repair. The collected data were entered and analysed using IBM SPSS v26, with a significance level set at p≤ 0.05. Results The participants had a mean age of 35.50 years, with a standard deviation of 8.87 years. Before undergoing genitourinary fistula repair, the average WHOQOL-BREF score was 12.17 with a standard deviation of 5.77. Following the repair, the mean score showed a significant improvement, rising to 96.67 with a standard deviation of 11.86. This marked improvement was statistically significant, with a p-value of 0.0001. Conclusion This study concludes that genitourinary fistula repair at our tertiary care hospital significantly and positively impacts patients' quality of life. The findings emphasize the critical role of timely and appropriate surgical intervention in improving overall well-being. Continued comprehensive care and support are vital for these patients' holistic recovery and long-term health.

Technology-based approaches for upper limb (UL) motor rehabilitation after stroke are designed mostly for severely affected patients to increase their recovery chances. However, the available randomised controlled trials (RCTs) focused on efficacy of technology-based interventions often include patients with a wide range of motor impairment. This scoping review aims at overviewing the actual severity of stroke patients enrolled in RCTs which claim to specifically address UL severe motor impairment. The literature search was conducted on Scopus and PubMed databases and included articles from 2008 to May 2024, specifically RCTs investigating the impact of technology-based interventions on UL motor functional recovery after stroke. Forty-eight studies were selected. They showed that upon patients’ enrolment the values of the UL Fugl-Meyer Assessment and Action Research Arm Test covered the whole range of both scales, thus revealing the non-selective inclusion of severe impaired patients. Heterogeneity in terms of numerosity, characteristics of enrolled patients, trial design, implementation, and reporting were present across studies. No clear difference in the severity of the included patients according to the intervention type was found. Patient stratification upon enrolment is crucial to best direct resources to those patients who will benefit the most from a given technology-assisted approach (personalised rehabilitation).

Background Robotic-assisted thoracic surgery (RATS) has become the standard procedure for treating lung malignancy, offering numerous advantages over traditional methods. However, the minimally invasive nature of RATS presents unique challenges, notably a limited field of view and reduced tactile feedback for the surgeon. These limitations can significantly impact the surgeon's ability to navigate complex anatomical structures during surgery. To address these challenges, we recognized the need for enhanced preoperative familiarization with each patient’s specific anatomy. In response, we developed an innovative virtual reality (VR) surgical navigation system, utilizing head-mounted displays (HMDs), designed to provide surgeons with a more comprehensive and interactive understanding of the patient's anatomy before the actual surgery. This VR system aims to extend the surgeon's capabilities in both preoperative sumilation and intraoperative navigation, potentially mitigating the inherent limitations of RATS. Methods Three-dimensional (3D) volumized data, meticulously extracted from preoperative computed tomography (CT) scans, were seamlessly integrated into the Perspectus VR Education software. These data were then displayed on an HMD, facilitating an interactive 3D reconstruction of pulmonary structures. This reconstruction allowed for each structure to be visualized individually, enabling detailed preoperative resection simulations tailored to each patient's unique anatomy. During RATS, these specific 3D reconstructed images were made accessible within the surgeon's console through the TilePro™ multi-display input, providing real-time, intraoperative guidance. Results During the preoperative simulations, the 3D anatomic structure of the pulmonary vessels, as well as the spatial relationship between the lesion and adjacent tissues, were successfully visualized. This enhanced visualization enabled surgeons to thoroughly evaluate a patient's anatomy, significantly improving the safety and accuracy of the subsequent procedure. The integration of VR software with the HMD provided surgeons with a true 3D interaction with real patient data. This setup not only offered a unique perspective through the surgical console but also allowed for easy manipulation of the data on a mobile laptop, thereby enhancing the overall surgical planning process. Conclusions VR simulation using HMDs offers a viewing experience akin to that of a robotic 3D viewer, potentially providing an innovative avenue for surgeons to develop specific robotic surgical skills without the need for practicing on live patients. This technology, when integrated with routine imaging modalities, can significantly enhance preoperative planning. Such integration not only contributes to the safety but also improves the accuracy of anatomical resections. Our findings suggest that VR simulation with HMDs is particularly effective in assisting surgeons to accurately identify lesion locations in RATS, thereby optimizing surgical outcomes.

In this paper, we look at how Artificial Swarm Intelligence can evolve using evolutionary algorithms that try to minimize the sensory surprise of the system. We will show how to apply the free-energy principle, borrowed from statistical physics, to quantitatively describe the optimization method (sensory surprise minimization), which can be used to support lifelong learning. We provide our ideas about how to combine this optimization method with evolutionary algorithms in order to boost the development of specialized Artificial Neural Networks, which define the proprioceptive configuration of particular robotic units that are part of a swarm. We consider how optimization of the free-energy can promote the homeostasis of the swarm system, i.e. ensures that the system remains within its sensory boundaries throughout its active lifetime. We will show how complex distributed cognitive systems can be build in the form of hierarchical modular system, which consists of specialized micro-intelligent agents connected through information channels. We will also consider the co-evolution of various robotic swarm units, which can result in development of proprioception and a comprehensive awareness of the properties of the environment. And finally, we will give a brief outline of how this system can be implemented in practice and of our progress in this area.

The paper delineates the developed vision system of the UR5 cobot and the operating algorithm of the robotic quality control station. The hardware-software architecture of the developed robotic station was shown, consisting of a UR5 cobot equipped with a web camera and a stationary industrial camera with a lighting system. Image processing and analysis algorithms were described, the method of control and communication between the station components was discussed, and two operating scenarios were presented as a single robotic station and a robotic line. Based on the results obtained, the level of measurement noise, accuracy, and repeatability of the developed vision system were estimated.

This research introduces an Intelligent Robotic Arm with Adaptive Collision Avoidance, employing real-time current fluctuation analysis for human-proximity detection. Precision and versatility in motors and actuators are given top priority in the robotic arm setup. Motor power lines are continually monitored by integrated high-precision current sensors, and a real-time data processing system separates natural fluctuations from those caused by outside influences. When a human comes into contact with the surface of the robotic arm, the system excels at detecting their closeness by identifying unique patternsin the variations of current. This sets off an adaptive collision avoidance system, which quickly flips the main power supply’s kill switch to bring the vehicle to an emergency stop. A crucial component is adaptability, as the system dynamically modifies sensitivity in response to environmental condi- tions. Comparative studies show that this approach performs better than conventional static sensing techniques. Experiments under control confirm the great precision, accuracy, and low false positive rate. The use of a failsafe technique improves system integrity by preventing false alarms and enabling recovery after an emergency

The paper provides a comprehensive review of the recent advancements and methodologies in Human-Robot Collaboration (HRC) applied to the manufacturing assembly process. In modern manufacturing, the assembly process involves intricate and time-consuming operations, often necessitating flexible manual interventions. However, the cost and stability issues associated with manual labor highlight the need for collaborative solutions integrating humans and robots. HRC, as a viable solution, involves the joint effort of humans and robots in manufacturing tasks, presenting advantages in terms of precision, reproducibility, and cycle time. This review categorizes and discusses methodologies such as task allocation, reinforcement learning, and Cyber-Physical Systems (CPS)-based planning approaches that facilitate HRC in the assembly process. It also explores experiments and future trends to address challenges and enhance efficiency in manufacturing assembly through intelligent collaboration between humans and robots. The objective of this research is to provide insights and directions for further research in HRC to optimize manufacturing processes. By analyzing the existing state-of-the-art and presenting future prospects, this paper aims to guide researchers and practitioners toward more effective implementations of HRC in manufacturing assembly, ultimately leading to improved operational efficiency and productivity.

Regional anesthesia in postoperative pain management have developed in recent years, especially with the advent of fascial plane blocks. This study aims to compare the ultrasound-guided bilateral erector spinae plane block (ESPB) versus bilateral transversus abdominis plane block (TAPB) on postoperative analgesia after laparoscopic or robotic urologic surgery. This was a retrospective observational study; 97 patients (ESPB-group) received bilateral ultrasound-guided ESPB with 20 mL of ropivacaine 0.375% plus 0.5 mcg/kg of dexmedetomidine in each side at the level of T7-T9, and 93 patients (TAPB-group) received bilateral ultrasound-guided TAPB with ropivacaine 0.375% or 0.25%. The primary outcome was post-operative numeric rating scale (NRS) pain score, which was significantly lower in the ESPB-group on postoperative days 0, 2, and 3 (p=0.012, p=0.016 and p=0.004). Concerning the secondary outcomes, consumption of ropivacaine was significantly lower in ESPB-group (p<0.001) and the total amount of analgesic rescue doses was significantly lower in the ESPB-group than TAPB-group in postoperative days from 2 to 4 (1 vs 3, p>0.001). Incidence of postoperative nausea and vomiting was higher in the TAPB-group and no block related complications were observed. We conclude that ESPB provide better postoperative pain control with less consumption of local anesthetic and less total rescue analgesic therapies.

This paper presents a comprehensive comparative analysis of four different computational vision algorithms for implementing an unpalleting system in a factory environment, under typical edge computing constraints. The primary objective is to automate the process of detecting and locating specific variable-shaped objects on a pallet, enabling a robotic system to accurately unstack them. The four algorithms evaluated are Pattern Matching, Scale-Invariant Feature Transform, Oriented FAST and Rotated BRIEF, and Haar cascade classifiers. Each technique is described in detail in this paper, and their implementations are outlined. Experimental results are thoroughly analyzed, assessing the algorithms’ performance based on accuracy, robustness to variability, computational speed, detection sensitivity, and resource consumption. The findings reveal the strengths and limitations of each algorithm, providing valuable insights for selecting the most appropriate technique based on the specific requirements of the unpalleting system. This research contributes to the advancement of automated object detection and localization in industrial environments, paving the way for more efficient and reliable unpalleting systems.

This paper presents a novel integration of Systems Engineering (SE) methodologies and Industry 4.0 (I4.0) technologies in the design of robotic systems, with a focus on enhancing underwater robotic missions. Using the conceptual design of an underwater exploration vehicle as a case study, we demonstrate how SE can systematically incorporate I4.0 tools to improve mission performance and meet stakeholder expectations. The study begins with an overview of the SE approach, emphasizing the conceptual design stage, aligning with the application and case study of design theories. We then explore various I4.0 technologies, highlighting their functional benefits rather than technical specifics, addressing design methods for Industry 4.0. Remotely Operated Vehicles (ROVs) are examined in terms of classification, components, and tasks, showcasing their evolution driven by technological advancements, thus tackling the complexity and design of complex systems. The core of our study involves defining stakeholder expectations, using quality function deployment for requirements definition, and performing a functional and logical decomposition of the ROV system. Our approach underscores the importance of understanding and integrating new technologies functionally, aligning with the transition towards Industry/Society 5.0. This work not only illustrates the synergy between SE and I4.0 but also offers a structured methodology for advancing the design and functionality of complex systems, setting a blueprint for future developments in this field.