Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification

Motion analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) and the control structures enabling it to achieve milli/micromanipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) are presented in this article. Two control algorithms are proposed suitable for minimally invasive surgery (MIS) with submillimeter accuracy and for minimally invasive micro-surgery (MIMS) with submicrometer accuracy. The RCM constraint is performed without having any mechanical constraint. Control algorithms also apply orientation constraint preventing the tip to orient relative to the soft tissues due to the robot movements. Experiments were conducted to verify accuracy and effectiveness of the proposed control algorithms for MIS and MIMS operations. The experimental results demonstrate accuracy and performance of the proposed position control algorithms.

Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)

In this paper a 6-RRCRR parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) is introduced. Remote centre-of-motion (RCM) control algorithms of PRAMiSS suitable for minimally invasive surgery and microsurgery are also presented. The programmable RCM approach is implemented in order to achieve manipulation under the constraint of moving through the fixed penetration point. Having minimised the displacements of the mobile platform of the parallel micropositioning robot, the algorithms also apply orientation constraint to the instrument and prevent the tool tip to orient due to the robot movements during the manipulation. Experimental results are provided to verify accuracy and effectiveness of the proposed RCM control algorithms for minimally invasive surgery.

Corner Inlet and Nooramunga Habitat Mapping Project – Part 2 : High resolution mapping and change detection analysis using 2011 Rapid Eye Satellite Image compared to 2009 ALOS Satellite Image

Building on a habitat mapping project completed in 2011, Deakin University was commissioned by Parks Victoria (PV) to apply the same methodology and ground-truth data to a second, more recent and higher resolution satellite image to create habitat maps for areas within the Corner Inlet and Nooramunga Marine and Coastal Park and Ramsar area. A ground-truth data set using in situ video and still photographs was used to develop and assess predictive models of benthic marine habitat distributions incorporating data from both RapidEye satellite imagery (corrected for atmospheric and water column effects by CSIRO) and LiDAR (Light Detection and Ranging) bathymetry. This report describes the results of the mapping effort as well as the methodology used to produce these habitat maps.

Overall accuracies of habitat classifications were good, with error rates similar to or better than the earlier classification (>73 % and kappa values > 0.58 for both study localities). The RapidEye classification failed to accurately detect Pyura and reef habitat classes at the Corner Inlet locality, possibly due to differences in spectral frequencies. For comparison, these categories were combined into a ‘non-seagrass’ category, similar to the one used at the Nooramunga locality in the original classification. Habitats predicted with highest accuracies differed from the earlier classification and were Posidonia in Corner Inlet (89%), and bare sediment (no-visible seagrass class) in Nooramunga (90%). In the Corner Inlet locality reef and Pyura habitat categories were not distinguishable in the repeated classification and so were combined with bare sediments. The majority of remaining classification errors were due to the misclassification of Zosteraceae as bare sediment and vice versa. Dominant habitats were the same as those from the 2011 classification with some differences in extent. For the Corner Inlet study locality the no-visible seagrass category remained the most extensive (9059 ha), followed by Posidonia (5,513 ha) and Zosteraceae (5,504 ha). In Nooramunga no-visible seagrass (6,294 ha), Zosteraceae (3,122 ha) and wet saltmarsh (1,562 ha) habitat classes were most dominant.

Change detection analyses between the 2009 and 2011 imagery were undertaken as part of this project, following the analyses presented in Monk et al. (2011) and incorporating error estimates from both classifications. These analyses indicated some shifts in classification between Posidonia and Zosteraceae as well as a general reduction in the area of Zosteraceae. Issues with classification of mixed beds were apparent, particularly in the main Posidonia bed at Nooramunga where a mosaic of Zosteraceae and Posidonia was seen that was not evident in the ALOS classification. Results of a reanalysis of the 1998-2009 change detection illustrating effects of binning of mixed beds is also provided as an appendix.

This work has been successful in providing baseline maps at an improved level of detail using a repeatable method meaning that any future changes in intertidal and shallow water marine habitats may be assessed in a consistent way with quantitative error assessments. In wider use, these maps should also allow improved conservation planning, advance fisheries and catchment management, and progress infrastructure planning to limit impacts on the Inlet environment.

Practical field use of eye-tracking devices for consumer research in the retail environment

Eye-tracking equipment is now affordable and portable, making it a practical instrument for consumer research. Engineered to best analyze gaze on a plane (e.g., a retail shelf), both portable eye-tracking glasses and computer monitor–mounted hardware can play key roles in analyzing merchandise displays to better understand what consumers view. Researchers and practitioners can use that information to improve the sales efficacy of displays. Eye-tracking hardware was nearly exclusively used to investigate the reading process but can now be used for a broader range of study, namely in retail settings. This article presents an approach to using glasses eye tracker (GET) and light eye tracker (LET) eye-tracking hardware for applied consumer research in the field. We outline equipment use, study construction, data extraction as well as benefits and limitations of the technology collected from several pilot studies.

Preoperative immunonutrition and its effect on postoperative outcomes in well-nourished and malnourished gastrointestinal surgery patients: a randomised controlled trial

Background/Objectives:
Invasive procedures such as surgery cause immunosuppression, leading to increased risk of complications, infections and extended hospital stay. Emerging research around immune-enhancing nutrition supplements and their ability to reduce postoperative complications and reduce treatment costs is promising. This randomised controlled trial aims to examine the effect of preoperative immunonutrition supplementation on length of hospital stay (LOS), complications and treatment costs in both well-nourished and malnourished gastrointestinal surgery patients.

Subjects/Methods:
Ninety-five patients undergoing elective upper and lower gastrointestinal surgery were recruited. The treatment group (n=46) received a commercial immuno-enhancing supplement 5 days preoperatively. The control group (n=49) received no supplements. The primary outcome measure was LOS, and secondary outcome measures included complications and cost.

Results:
A nonsignificant trend towards a shorter LOS within the treatment group was observed (7.1±4.1 compared with 8.8±6.5 days; P=0.11). For malnourished patients, this trend was greater with hospital stay reduced by 4 days (8.3±3.5 vs 12.3±9.5 days; P=0.21). Complications and unplanned intensive care admission rates were very low in both the groups. The average admission cost was reduced by AUD1576 in the treatment group compared with the control group (P=0.37).

Conclusions:
Preoperative immunonutrition therapy in gastrointestinal surgery has the potential to reduce the LOS and cost, with greater treatment benefit seen in malnourished patients; however, there is a need for additional research with greater patient numbers.