Force measurement capability for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasive measurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems_ is introduced in this paper. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of this paper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this paper. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

The International Society for Bipolar Disorders (ISBD) Task Force report on the nomenclature of course and outcome in bipolar disorders

Objectives:  Via an international panel of experts, this paper attempts to document, review, interpret, and propose operational definitions used to describe the course of bipolar disorders for worldwide use, and to disseminate consensus opinion, supported by the existing literature, in order to better predict course and treatment outcomes. Methods:  Under the auspices of the International Society for Bipolar Disorders, a task force was convened to examine, report, discuss, and integrate findings from the scientific literature related to observational and clinical trial studies in order to reach consensus and propose terminology describing course and outcome in bipolar disorders. Results:  Consensus opinion was reached regarding the definition of nine terms (response, remission, recovery, relapse, recurrence, subsyndromal states, predominant polarity, switch, and functional outcome) commonly used to describe course and outcomes in bipolar disorders. Further studies are needed to validate the proposed definitions. Conclusion:  Determination and dissemination of a consensus nomenclature serve as the first step toward producing a validated and standardized system to define course and outcome in bipolar disorders in order to identify predictors of outcome and effects of treatment. The task force acknowledges that there is limited validity to the proposed terms, as for the most part they represent a consensus opinion. These definitions need to be validated in existing databases and in future studies, and the primary goals of the task force are to stimulate research on the validity of proposed concepts and further standardize the technical nomenclature.

A touching movement : force control turns machining robots into universal tools

ABB has written a new chapter in the book of robot applications. While in the past it had been a tedious and time-consuming effort to program a robot for delicate fine-tuning operations, robots can now learn how to best manage such tasks themselves. This innovative approach can reduce overall programming times by up to 80 percent for robots used to grind castings, vastly improving productivity levels. With ABB’s new Flex Finishing system featuring RobotWare Machining FC (force control), one of the last real barriers to productivity improvement in this sector has been lifted.

Staging systems in bipolar disorder: an International Society for Bipolar Disorders Task Force report

We discuss the rationale behind staging systems described specifically for bipolar disorders. Current applications, future directions and research gaps in clinical staging models for bipolar disorders are outlined.

Electric contributions to magnetic force microscopy response from graphene and MoS2 nanosheets

Magnetic force microscopy (MFM) signals have recently been detected from whole pieces of mechanically exfoliated graphene and molybdenum disulfide (MoS2) nanosheets, and magnetism of the two nanomaterials was claimed based on these observations. However, non-magnetic interactions or artefacts are commonly associated with MFM signals, which make the interpretation of MFM signals not straightforward. A systematic investigation has been done to examine possible sources of the MFM signals from graphene and MoS2 nanosheets and whether the MFM signals can be correlated with magnetism. It is found that the MFM signals have significant non-magnetic contributions due to capacitive and electrostatic interactions between the nanosheets and conductive cantilever tip, as demonstrated by electric force microscopy and scanning Kevin probe microscopy analyses. In addition, the MFM signals of graphene and MoS2 nanosheets are not responsive to reversed magnetic field of the magnetic cantilever tip. Therefore, the observed MFM response is mainly from electric artefacts and not compelling enough to correlate with magnetism of graphene and MoS2 nanosheets.

Formations of robotic swarm: an artificial force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding intermember collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc. Also the performance of the proposed distributed swarm control architecture was investigated in the presence of realistic implementation issues such as localization errors, communication range limitations, boundedness of forces etc.

Depression prevention, labour force participation and income of older working aged Australians: a microsimulation economic analysis

Depression has economic consequences not only for the health system, but also for individuals and society. This study aims to quantify the potential economic impact of five-yearly screening for sub-syndromal depression in general practice among Australians aged 45-64 years, followed by a group-based psychological intervention to prevent progression to depression.

Effects of realistic force feedback in a robotic assisted minimally invasive surgery system

Robotic assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye coordination and improve the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Several research efforts have already attempted to restore this feature and study the effects of force feedback in robotic systems. The proposed methods and studies have some shortcomings. The main focus of this research is to overcome some of these limitations and to study the effects of force feedback in palpation in a more realistic fashion.

Molecular dynamics study of response of liquid N,N-dimethylformamide to externally applied electric field using a polarizable force field

The behavior of Liquid N,N-dimethylformamide subjected to a wide range of externally applied electric fields (from 0.001 V/nm to 1 V/nm) has been investigated through molecular dynamics simulation. To approach the objective the AMOEBA polarizable force field was extended to include the interaction of the external electric field with atomic partial charges and the contribution to the atomic polarization. The simulation results were evaluated with quantum mechanical calculations. The results from the present force field for the liquid at normal conditions were compared with the experimental and molecular dynamics results with non-polarizable and other polarizable force fields. The uniform external electric fields of higher than 0.01 V/nm have a significant effect on the structure of the liquid, which exhibits a variation in numerous properties, including molecular polarization, local cluster structure, rotation, alignment, energetics, and bulk thermodynamic and structural properties.

Homogeneous isolation of nanocelluloses by controlling the shearing force and pressure in microenvironment

Nanocelluloses were prepared from sugarcane bagasse celluloses by dynamic high pressure microfluidization (DHPM), aiming at achieving a homogeneous isolation through the controlling of shearing force and pressure within a microenvironment. In the DHPM process, the homogeneous cellulose solution passed through chambers at a higher pressure in fewer cycles, compared with the high pressure homogenization (HPH) process. X-ray diffraction (XRD) and X-ray photoelectron spectroscopy (XPS) demonstrated that entangled network structures of celluloses were well dispersed in the microenvironment, which provided proper shearing forces and pressure to fracture the hydrogen bonds. Gel permeation chromatography (GPC), CP/MAS 13C NMR and Fourier transform infrared spectroscopy (FT-IR) measurements suggested that intra-molecular hydrogen bonds were maintained. These nanocelluloses of smaller particle size, good dispersion and lower thermal stability will have great potential to be applied in electronics devices, electrochemistry, medicine, and package and printing industry. © 2014 Elsevier Ltd.

Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasivemeasurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this chapter. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of thispaper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this chapter. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.