BACKGROUND Robotic surgery has been considered to be significantly better than laparoscopic surgery for complicated procedures.AIM To explore the short-term effect of robotic and laparoscopic spleen-preserving splenic...BACKGROUND Robotic surgery has been considered to be significantly better than laparoscopic surgery for complicated procedures.AIM To explore the short-term effect of robotic and laparoscopic spleen-preserving splenic hilar lymphadenectomy(SPSHL)for advanced gastric cancer(GC)by Huang’s three-step maneuver.METHODS A total of 643 patients who underwent SPSHL were recruited from April 2012 to July 2017,including 35 patients who underwent robotic SPSHL(RSPSHL)and 608 who underwent laparoscopic SPSHL(LSPSHL).One-to-four propensity score matching was used to analyze the differences in clinical data between patients who underwent robotic SPSHL and those who underwent laparoscopic SPSHL.RESULTS In all,175 patients were matched,including 35 patients who underwent RSPSHL and 140 who underwent LSPSHL.After matching,there were no significant differences detected in the baseline characteristics between the two groups.Significant differences in total operative time,estimated blood loss(EBL),splenic hilar blood loss(SHBL),splenic hilar dissection time(SHDT),and splenic trunk dissection time were evident between these groups(P<0.05).Furthermore,no significant differences were observed between the two groups in the overall noncompliance rate of lymph node(LN)dissection(62.9%vs 60%,P=0.757),number of retrieved No.10 LNs(3.1±1.4 vs 3.3±2.5,P=0.650),total number of examined LNs(37.8±13.1 vs 40.6±13.6,P=0.274),and postoperative complications(14.3%vs 17.9%,P=0.616).A stratified analysis that divided the patients receiving RSPSHL into an early group(EG)and a late group(LG)revealed that the LG experienced obvious improvements in SHDT and length of stay compared with the EG(P<0.05).Logistic regression showed that robotic surgery was a significantly protective factor against both SHBL and SHDT(P<0.05).CONCLUSION RSPSHL is safe and feasible,especially after overcoming the early learning curve,as this procedure results in a radical curative effect equivalent to that of LSPSHL.展开更多
Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up s...Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.展开更多
In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at lo...In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at low speeds.Based on the Newton-Euler approach,an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions.The hydrodynamic coefficients are computed using computational fluid dynamics(CFD)methods.Oscillation amplitudes and phases are determined by fitting an optimized fish body wave.The performance of the robotic shark is estimated by varying the oscillation frequency and offset angle.The results show that with oscillation frequency increasing,the swimming speed increases linearly.The robotic shark reaches the maximum swimming speed of 1.05 m/s with an oscillation frequency of 1.2 Hz.Furthermore,the turning radius decreases nonlinearly as the offset angle increased.The robotic shark reaches the minimum turning radius of 1.4 times the body length with 0.2 Hz frequency and 12°offset angle.In the vertical plane,as the pectoral fin angle increases,the diving velocity increases nonlinearly with increase rate slowing down.展开更多
In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a ...In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a high turning rate and a small turning radius.According to different tasks,these robotic fishes are designed with decorated pectoral fins for a two-dimensional horizon plane,or controllable pectoral fins with multiple degrees of freedom for a three-dimensional space.Through observing and analyzing the fast-starts of real fish,we separately develop a dynamic trajectory tracking strategy based C-start control method and an L-shaped sliding method based S-start control method.Finally,a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°,a top turning rate of approximately670°/s,and an upper limit of turning precision of less than 10°and an S-start with a peak turning rate up to318.08±9.20°/s.The experimental results verify the feasibility of our high-maneuverability-oriented mechatronic design and control methods.展开更多
In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motio...In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.展开更多
基金Supported by the Scientific and Technological Innovation Joint Capital Projects of Fujian Province,China,No.2016Y9031the Construction Project of Fujian Province Minimally Invasive Medical Center,No.[2017]171+2 种基金the Second-batch Special Support Funds for Fujian Province Innovation and Entrepreneurship Talents,No.2016B013Science and Technology Innovation Joint Fund Project of Fujian Province,No.2017Y9004the Special Fund for Clinical Research of the Wu Jieping Medical Foundation,No.320.6750.17511
文摘BACKGROUND Robotic surgery has been considered to be significantly better than laparoscopic surgery for complicated procedures.AIM To explore the short-term effect of robotic and laparoscopic spleen-preserving splenic hilar lymphadenectomy(SPSHL)for advanced gastric cancer(GC)by Huang’s three-step maneuver.METHODS A total of 643 patients who underwent SPSHL were recruited from April 2012 to July 2017,including 35 patients who underwent robotic SPSHL(RSPSHL)and 608 who underwent laparoscopic SPSHL(LSPSHL).One-to-four propensity score matching was used to analyze the differences in clinical data between patients who underwent robotic SPSHL and those who underwent laparoscopic SPSHL.RESULTS In all,175 patients were matched,including 35 patients who underwent RSPSHL and 140 who underwent LSPSHL.After matching,there were no significant differences detected in the baseline characteristics between the two groups.Significant differences in total operative time,estimated blood loss(EBL),splenic hilar blood loss(SHBL),splenic hilar dissection time(SHDT),and splenic trunk dissection time were evident between these groups(P<0.05).Furthermore,no significant differences were observed between the two groups in the overall noncompliance rate of lymph node(LN)dissection(62.9%vs 60%,P=0.757),number of retrieved No.10 LNs(3.1±1.4 vs 3.3±2.5,P=0.650),total number of examined LNs(37.8±13.1 vs 40.6±13.6,P=0.274),and postoperative complications(14.3%vs 17.9%,P=0.616).A stratified analysis that divided the patients receiving RSPSHL into an early group(EG)and a late group(LG)revealed that the LG experienced obvious improvements in SHDT and length of stay compared with the EG(P<0.05).Logistic regression showed that robotic surgery was a significantly protective factor against both SHBL and SHDT(P<0.05).CONCLUSION RSPSHL is safe and feasible,especially after overcoming the early learning curve,as this procedure results in a radical curative effect equivalent to that of LSPSHL.
文摘Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.
基金financially supported by the National Natural Science Foundation of China(Grant No.51909040)the Natural Science Foundation of Heilongjiang Province(Grant No.LH2020E073)the Key Technology Research and Development Program of Shandong(Grant No.2020CXGC010702).
文摘In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at low speeds.Based on the Newton-Euler approach,an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions.The hydrodynamic coefficients are computed using computational fluid dynamics(CFD)methods.Oscillation amplitudes and phases are determined by fitting an optimized fish body wave.The performance of the robotic shark is estimated by varying the oscillation frequency and offset angle.The results show that with oscillation frequency increasing,the swimming speed increases linearly.The robotic shark reaches the maximum swimming speed of 1.05 m/s with an oscillation frequency of 1.2 Hz.Furthermore,the turning radius decreases nonlinearly as the offset angle increased.The robotic shark reaches the minimum turning radius of 1.4 times the body length with 0.2 Hz frequency and 12°offset angle.In the vertical plane,as the pectoral fin angle increases,the diving velocity increases nonlinearly with increase rate slowing down.
基金supported by the National Natural Science Foundation of China(Grant Nos.61375102, 61333016 and 61421004)
文摘In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a high turning rate and a small turning radius.According to different tasks,these robotic fishes are designed with decorated pectoral fins for a two-dimensional horizon plane,or controllable pectoral fins with multiple degrees of freedom for a three-dimensional space.Through observing and analyzing the fast-starts of real fish,we separately develop a dynamic trajectory tracking strategy based C-start control method and an L-shaped sliding method based S-start control method.Finally,a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°,a top turning rate of approximately670°/s,and an upper limit of turning precision of less than 10°and an S-start with a peak turning rate up to318.08±9.20°/s.The experimental results verify the feasibility of our high-maneuverability-oriented mechatronic design and control methods.
基金The authors gratefully acknowledge financial support from the National Science Foundation of China(Nos.61773358)and Cyrus Tang Foundation.
文摘In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.
