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Functional genomic hypothesis generation and experimentation by a robot scientist.

The question of whether it is possible to automate the scientific process is of both great theoretical interest and increasing practical importance because, in many scientific areas, data are being generated much faster than they can be effectively analysed. We describe a physically implemented robotic system that applies techniques from artificial intelligence to carry out cycles of scientific experimentation. The system automatically originates hypotheses to explain observations, devises experiments to test these hypotheses, physically runs the experiments using a laboratory robot, interprets the results to falsify hypotheses inconsistent with the data, and then repeats the cycle. Here we apply the system to the determination of gene function using deletion mutants of yeast (Saccharomyces cerevisiae) and auxotrophic growth experiments. We built and tested a detailed logical model (involving genes, proteins and metabolites) of the aromatic amino acid synthesis pathway. In biological experiments that automatically reconstruct parts of this model, we show that an intelligent experiment selection strategy is competitive with human performance and significantly outperforms, with a cost decrease of 3-fold and 100-fold (respectively), both cheapest and random-experiment selection.

Algorithms↗

Surgical robotics and image guided therapy in pediatric surgery: emerging and converging minimal access technologies.

Minimal access surgery (MAS) is now commonplace in the armamentarium of the pediatric surgeon, and is being applied to a growing list of pediatric surgical diseases. Robot-assisted surgery and image guided therapy (IGT) have evolved as innovative minimal access approaches, and hold the promise of advancing MAS far beyond what is currently possible. The aims of this article are to describe the currently available robotic, and image guided therapy systems, review their present and potential applications, and discuss the future directions of these converging technologies.

Child↗

[Robotic and navigation systems: surgical practicability and benefit for the patient?].

The use of robotics and navigated systems to prepare, perform and reinforce surgical interventions is described by the term "computer aided surgery" (CAS). CAS is expected to make surgery even more precise, safer and cheaper. It comprehends computer based supporting systems (e. g. therapy planning, simulation, navigation), assisting systems, programmable automates and the so called master-slave-systems. When introducing technical innovations, the potential benefit of the patient is the essential issue. Then only practicability under clinical conditions, and additional aspects can be discussed. Conclusively, less spectacular applications of CAS like computer based supporting or assisting systems are more relevant for current practical use than visionary robotic systems.

Diagnostic Imaging↗

Image-guided robotic radiosurgery in a rat glioma model.

Despite the proven efficacy of radiosurgery for the treatment of brain tumors, limited histological information is available after treatment that might allow a better understanding of the relationship between radiation dose, the volume treated, and the response of the surrounding brain to the delivered radiation. The use of an animal model could provide the opportunity to clarify these relationships and answer several other key questions arising in clinical practice. We show here that treatment of small animals with radiosurgery is feasible using a robotically controlled linear accelerator, which offers the advantages of radiosurgery and preserves the potential for fractionated regimens without rigid immobilization. Specifically, we demonstrate the use of a robotically driven linear accelerator to provide radiosurgical treatment to a rat brain tumor model.

Animals↗

Robot-assisted craniotomy.

In the Special Research Centre 414 of the German Research Funding (DFG, Bonn) a system for robot-assisted cranial surgery was developed. It is designed for the accurate and safe execution of craniotomies and repositioning of bone pieces. The system is intended for use in the surgical therapy of craniosynostosis. Preoperatively, CT imaging is performed. In a computerized planning system the position and shape of the intended craniotomy is intuitively planned on a virtual model of the patient's skull. Intraoperatively, after conventional removal of the covering soft tissue, the robot performs the craniotomy autonomously. Extensive testing in phantom studies and animal tests confirmed the reliability and accuracy of the system. A thorough risk analysis of the system was performed. In this paper, the first clinical use of the system on a patient is described and the clinical importance is discussed.

Bone Cysts↗

Robotic harvest of internal mammary vessels in breast reconstruction.

The authors have robotically harvested the internal mammary vessels to provide the recipient pedicle for free-flap breast reconstruction in 22 consecutive cases. Through minimal-access incisions, the robot facilitated the harvest of a pedicle up to 10 cm in length. The pedicle was brought out through the second intercostal space into the mastectomy wound, allowing the anastomosis to be performed on the skin surface with loupes or microscope. This paper illustrates their experience and offers an innovative approach to free-flap breast reconstruction.

Abdominal Muscles↗

A new era of robotic surgery assisted by a computer-enhanced surgical system.

Computer-enhanced robotic surgery has now been introduced into general surgical practice. The robotic system enables us to manipulate endoscopic instruments, as well as instruments during open surgical intervention, regarding both the operative field and operation techniques. This technologic innovation should therefore help surgeons overcome various difficulties and allow them to perform more precise, safer, and more minimally invasive surgery in the coming era.

General Surgery↗

Totally endoscopic coronary artery bypass grafting on cardiopulmonary bypass with robotically enhanced telemanipulation: report of forty-five cases.

BACKGROUND: Robotically enhanced telemanipulation is a new powerful tool for minimally invasive procedures that allows totally endoscopic cardiac surgery. Between June 1999 and February 2001, 45 robotically enhanced totally endoscopic coronary artery bypass grafting procedures on the arrested heart were performed at our institution with the use of the da Vinci telemanipulation system (Intuitive Surgical, Inc, Mountain View, Calif). METHODS: In 37 patients a single-vessel totally endoscopic coronary bypass operation was performed. Eight patients had different types of multivessel revascularization with both internal thoracic arteries. The initial conversion rate was 22% and dropped to 5% in the last 20 patients. Two patients required reexploration via median sternotomy. The first 22 patients had excellent graft patency on discharge. The procedural time for single-vessel totally endoscopic bypass was 4.2 +/- 0.4 hours, bypass time was 136 +/- 11 minutes, and aortic crossclamp time amounted to 61 +/- 5 minutes. CONCLUSION: The present data show the feasibility of closed chest single- and double-vessel revascularization, with good clinical results. However, procedural time is prolonged and the complex endoscopic and endoaortic occlusion techniques, as well as the extensive anesthesiologic monitoring, are demanding. The need for conversion to an open procedure diminished after a relatively short learning curve. All postulated benefits of totally endoscopic surgery other than excellent cosmesis must be evaluated in larger cohorts.

Aged↗

The Middlesex University rehabilitation robot.

This paper describes the development of an electrically powered wheelchair-mounted manipulator for use by severely disabled persons. A detailed review is given explaining the specification. It describes the construction of the device and its control architecture. The prototype robot used several gesture recognition and other input systems. The system has been tested on disabled and non-disabled users. They observed that it was easy to use but about 50% slower than comparable systems before design modifications were incorporated. The robot has a payload of greater than 1 kg with a maximum reach of 0.7-0.9 m.

Computer Systems↗

Applying robotic technology to aid people with severe disabilities.

Researchers at Rice University and the Baylor College of Medicine in Houston have developed a prototype robotic aid for people with severe disabilities, with emphasis on low cost, versatility, and ease of use. Using custom software written for the Macintosh¿ line of personal computers and a custom input device that emulates a mouse, a user can command a modified HERO 2000¿ robot to perform simple fetch and carry tasks in a structured indoor environment. Further interaction with the environment is possible using a household appliance controller that is also interfaced to the computer.

Computers↗

Metabolic and cardiac responses to robotic-assisted locomotion in motor-complete tetraplegia: a case report.

BACKGROUND/OBJECTIVE: To examine acute metabolic responses to treadmill locomotion in a participant with motor-complete tetraplegia. METHODS: The participant--a woman with a chronic ASIA B C3-C4 spinal cord injury--walked on a treadmill with 40% body weight support (BWS) and robotic assistance. Oxygen consumption (VO2), minute ventilation (VE), and heart rate (HR) were measured during seated resting, supported standing, and 40 minutes of walking with stepping assistance from a Lokomat-driven gait orthosis. RESULTS: A resting VO2 equal to 50 milliliters per minute was predictably low, and did not change after the participant assumed an upright posture. Both VO2 and VE increased immediately upon onset of locomotion, suggesting a neurogenic rather than a humoral regulatory response to movement. VO2 averaged 2.4 metabolic units (METS) during locomotion at an average expenditure of 2.98 kilocalories per minute. HR was unaltered by standing, but during locomotion averaged 1 7 beats higher than during resting. Increases in VE but not VO2 upon standing, and decreases in VO2 but not VE immediately after walking, rule out changes in VE alone as the source for increased VO2 during walking. CONCLUSION: The data collected on this single participant show that treadmill locomotion with BWS and robotic assistance elicits a metabolic response to treadmill gaiting characterized by increased VO2, VE, HR, and caloric expenditure.

Adult↗

Design, construction, and characterization of a novel robotic welding fume generator and inhalation exposure system for laboratory animals.

Respiratory effects observed in welders have included lung function changes, metal fume fever, bronchitis, and a possible increase in the incidence of lung cancer. Many questions remain unanswered regarding the causality and possible underlying mechanisms associated with the potential toxic effects of welding fume inhalation. The objective of the present study was to construct a completely automated, computer-controlled welding fume generation and inhalation exposure system to simulate real workplace exposures. The system comprised a programmable six-axis robotic welding arm, a water-cooled arc welding torch, and a wire feeder that supplied the wire to the torch at a programmed rate. For the initial studies, gas metal arc welding was performed using a stainless steel electrode. A flexible trunk was attached to the robotic arm of the welder and was used to collect and transport fume from the vicinity of the arc to the animal exposure chamber. Undiluted fume concentrations consistently ranged from 90-150 mg/m(3) in the animal chamber during welding. Temperature and humidity remained constant in the chamber during the welding operation. The welding particles were composed of (from highest to lowest concentration) iron, chromium, manganese, and nickel as measured by inductively coupled plasma atomic emission spectroscopy. Size distribution analysis indicated the mass median aerodynamic diameter of the generated particles to be approximately 0.24 microm with a geometric standard deviation (sigma(g)) of 1.39. As determined by transmission and scanning electron microscopy, the generated aerosols were mostly arranged as chain-like agglomerates of primary particles. Characterization of the laboratory-generated welding aerosol has indicated that particle morphology, size, and chemical composition are comparable to stainless steel welding fume generated in other studies. With the development of this novel system, it will be possible to establish an animal model using controlled welding exposures from automated gas metal arc and flux-cored arc welding processes to investigate how welding fumes affect health.

Aerosols↗

The dynamic neural field approach to cognitive robotics.

This tutorial presents an architecture for autonomous robots to generate behavior in joint action tasks. To efficiently interact with another agent in solving a mutual task, a robot should be endowed with cognitive skills such as memory, decision making, action understanding and prediction. The proposed architecture is strongly inspired by our current understanding of the processing principles and the neuronal circuitry underlying these functionalities in the primate brain. As a mathematical framework, we use a coupled system of dynamic neural fields, each representing the basic functionality of neuronal populations in different brain areas. It implements goal-directed behavior in joint action as a continuous process that builds on the interpretation of observed movements in terms of the partner's action goal. We validate the architecture in two experimental paradigms: (1) a joint search task; (2) a reproduction of an observed or inferred end state of a grasping-placing sequence. We also review some of the mathematical results about dynamic neural fields that are important for the implementation work.

Animals↗

Laparoscopic transperitoneal adrenalectomy using a remote-controlled robotic surgical system.

BACKGROUND AND PURPOSE: Laparoscopic adrenalectomy is considered the standard method for removal of benign adrenal tumors. Although laparoscopic surgery provides clear patient benefit, laparoscopic adrenalectomy using conventional instrumentation is complex. Our objective was to evaluate whether the da Vinci trade mark Surgical System, a comprehensive robotic endoscopic surgical device, could be used effectively to perform laparoscopic adrenalectomy. PATIENTS AND METHODS: Through a transperitoneal approach, three right and one left adrenal tumors were removed in four patients using this method. RESULTS: There were no complications, and the clinical results were excellent. CONCLUSION: We demonstrate the feasibility of performing laparoscopic adrenalectomy exclusively by using robotic telepresent technology from a remote workstation. The da Vinci System enables conventionally trained urologic surgeons to perform complex minimally invasive procedures with ease and precision. Therefore, we are convinced that the system helps the urologist to adapt the whole spectrum of laparoscopic procedure in this field.

Adrenal Gland Neoplasms↗

Using VR to improve the performance of low-earth orbit space robot operations.

The operations of current robotics systems in low-earth orbit could benefit from the use of virtual reality (VR) systems to improve their performance. This paper presents an example of the type of contribution such a system could provide to assist the space robot operators in their operations, by using the increased situational awareness and the ease of use associated with VR systems.

Computer Simulation↗

Robot-assisted laparoscopic partial nephrectomy: the NYU technique.

The introduction of the daVinci surgical system has changed the way both surgeon and patient view radical prostatectomy. We hypothesized that the same theoretical and tangible benefits may be realized when employing the system for partial nephrectomy. This paper reviews our technique of robot-assisted laparoscopic partial nephrectomy (RALPN) utilizing the daVinci surgical system. Intraoperative hilar clamping is utilized in all cases. With the daVinci system, the tumor is excised with cold scissors, biopsies are taken from the base for frozen-section study, sutures are placed at the base, Gelfoam/fibrin glue is activated in the defect, a Surgicel bolster is laid in the defect, and mattress sutures are placed prior to releasing the clamp. After performing 12 RALPNs, it appears this technique is safe, feasible, and reproducible both for small exophytic masses and for deeper lesions involving the collecting system. A RALPN requires two surgeons, both well versed in laparoscopic and robotic techniques.

Biopsy↗