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PubMed1995

Robotics in the hematology laboratory. An evaluation of the productivity of the Sysmex HS-330.

The productivity of a robotic hematology system (Sysmex HS-330) was compared with that of existing automated, semi-automated, and manual systems (Coulter Counter-Model STKS; Sysmex R-1000 reticulocyte counter. Geometric Data Miniprep slide maker, respectively) in the clinical hematology laboratory of a large hospital. On average, for a batch of 50 samples, the HS-330 performed a blood count with a 5-part differential, a reticulocyte count, and prepare a blood smear 23 minutes faster than could trained technologists using existing equipment. An estimated 1.8 medical technologists could be assigned to other tasks; however, because of the equipment's high cost, in a laboratory processing 1,000 samples per day, 4.6 years would be needed before any actual cost savings were experienced.

Efficiency↗

PubMed1995

An automated computer vision and robotics-based technique for 3-D flexible biomolecular docking and matching.

The generation of binding modes between two molecules, also known as molecular docking, is a key problem in rational drug design and biomolecular recognition. Docking a ligand, e.g., a drug molecule or a protein molecule, to a protein receptor, involves recognition of molecular surfaces as molecules interact at their surface. Recent studies report that the activity of many molecules induces conformational transitions by 'hinge-bending', which involves movements of relatively rigid parts with respect to each other. In ligand-receptor binding, relative rotational movements of molecular substructures about their common hinges have been observed. For automatically predicting flexible molecular interactions, we adapt a new technique developed in Computer Vision and Robotics for the efficient recognition of partially occluded articulated objects. These type of objects consist of rigid parts which are connected by rotary joints (hinges). Our approach is based on an extension and generalization of the Geometric Hashing and Generalized Hough Transform paradigm for rigid object recognition. Unlike other techniques which match each part individually, our approach exploits forcefully and efficiently enough the fact that the different rigid parts do belong to the same flexible molecule. We show experimental results obtained by an implementation of the algorithm for rigid and flexible docking. While the 'correct', crystal-bound complex is obtained with a small RMSD, additional, predictive 'high scoring' binding modes are generated as well. The diverse applications and implications of this general, powerful tool are discussed.

Algorithms↗

PubMedDate not supplied

Robotic method for the analysis of cocaine and benzoylecgonine in urine.

A totally automated procedure has been developed for the detection and quantitation of cocaine and benzoylecgonine (cocaine metabolite) in urine. A Zymate laboratory robotic system confirms positive samples from the Syva ETS by performing the extraction and derivatization of cocaine and benzoylecgonine. The cocaine and derivatized benzoylecgonine are detected by using gas chromatography/mass spectrometry (GC/MS). Automation of these procedures has proven to be accurate, reliable, and efficient.

Cocaine↗

PubMedDate not supplied

Semiautomated preparation of 3,5,6-trichloro-2-pyridinol in human urine using a Zymate XP laboratory robot with quantitative determination by gas chromatography-negative-ion chemical ionization mass spectrometry.

A rapid and sensitive semiautomated method was developed for quantitation of the chlorpyrifos metabolite 3,5,6-trichloro-2-pyridinol (TCP) in human urine. A Zymark Zymate XP laboratory robotics system was used to mix urine samples, transfer aliquots, add the stable-isotope-labeled TCP internal standard (13C2- or 13C2,15N-), and liberate conjugates of TCP from urine via acid hydrolysis. Samples were manually extracted into toluene, derivatized, and analyzed by gas chromatography-negative-ion chemical ionization mass spectrometry. Determination of the metabolic TCP was performed by selected ion monitoring of the dichloropyridinol fragment ions: m/z 161 for TCP and m/z 165 for 13C2-TCP or m/z 168 for 13C2,15N-TCP. Interday precision and accuracy were demonstrated over 3 years of analyses using the 13C2-TCP internal standard, with an average recovery from fortified urine samples of 93+/-12% (N = 54, concentration range 1-140 ng/mL). The method was found to be linear over the range of 0.5 to 200 ng/mL, and the limit of detection for TCP in urine was estimated to be 0.2 ng/mL with a limit of quantitation of 1 ng/mL. The effect of solids distribution on the concentration of TCP in the thawed urine samples was examined, and the results indicated that homogeneous distribution is critical for quantitation. The precision and accuracy of the automated method with respect to the transfer of homgeneous urine aliquots and delivery of internal standard yielded equivalent or improved results over the manual techniques. Overall, this method is more simple than existing methodologies, and it yields results with improved precision, accuracy, and sensitivity over previously developed methods.

Automation↗

PubMed1992

Integration of image analysis and robotics into a fully automated colony picking and plate handling system.

We describe here the integration of image analysis and robotics to produce a fully automated colony picking/plate handling system. Biological tests were performed to verify its performance in terms of sterilisation and accuracy of picking. The machine was then used by a single operative to pick a 36,000 clone cDNA library in approximately 42 hrs over 5 days.

Automation↗

PubMed2005

Robot-assisted laparoscopic and open live-donor nephrectomy: a comparison of donor morbidity and early renal allograft outcomes.

BACKGROUND: Robot-assisted laparoscopic donor (RALD) nephrectomy, a new procedure for the removal of a kidney from a living donor, was performed on 13 subjects at our centre. METHODS: The immediate post-operative courses for these donors, and their respective recipients, were compared with those of 13 previous open live-donor nephrectomies (OPEN), performed in our facility. RESULTS: We found no significant differences between these two donor groups with respect to age, gender, body mass index or renal vasculature. The average operative times and the warm ischaemia times were greater in the RALD group, 185.5'' vs 113.4'' (P = 0.0001) and 7'15'' vs 1'41'' (P = 0.0001), respectively. There was no conversion to the open procedure in the RALD group. The estimated blood loss was slight in both groups. Following nephrectomy, deep venous thrombosis occurred in one RALD patient and acute pyelonephritis in one OPEN patient. The average duration of hospitalization was shorter after the RALD procedure (5.84+/-1.8 days vs 9.69+/-2.2 days, P = 0.0001). The estimated creatinine clearance rate (eClcreat) was equivalent for all donors, at 5 days and 1 month after nephrectomy. All kidneys started functioning immediately after the transplantation. The mean recipient eClcreat (ml/min) was 58.16+/-26.7 for OPEN group kidneys and 62.23+/-17.59 for RALD group kidneys (P = 0.65), 5 days after transplantation. CONCLUSIONS: RALD nephrectomies were associated with very low morbidity among donors, in which both the operative and warm ischaemia times were of longer duration, but had no observable adverse effects upon short-term graft function.

Adult↗

PubMed2001

Robotic cardiac valve surgery: transcending the technologic crevasse!

"The man with a new idea is a crank until the idea succeeds."--Mark Twain. With the profound public stress for minimally invasive surgery that guided General Surgery, Cardiothoracic Surgery has progressed with warranted enthusiasm. The explosion of technological advancements in optics, instrumentation and cardiopulmonary bypass has permitted minimally invasive cardiac procedures to be performed with safety, efficiency, and efficacy. In this chapter, we review the evolution of minimally invasive cardiac valve surgery. The articles of leading minimally invasive valve surgeons, both European and American, are reviewed. The indications for minimally invasive surgery are explained. Furthermore, the present day state of "robotic" mitral valve surgery is described.

Heart Valve Diseases↗

PubMed2001

Robot-assisted microsurgery: a feasibility study in the rat.

OBJECTIVE: Telerobotic surgery is a novel technology that can improve a surgeon's manual dexterity as well as the results achieved with microsurgical procedures. METHODS: A prototype Robot-Assisted MicroSurgery (RAMS) microdexterity enhancement system developed by the Jet Propulsion Laboratory and MicroDexterity Systems, Inc., was tested in 10 rats. Carotid arteriotomies were created and closed using either the RAMS system or conventional microsurgical techniques. The time required, the technical quality (vessel patency and suture line integrity), the error rate, and subjective difficulty were compared. RESULTS: All procedures were successfully completed using the RAMS system to manipulate the vessel but not to hold the needle or place the sutures. The precision, technical quality, and error rate of telerobotic surgery were similar to those of conventional techniques. However, the use of the RAMS system was associated with a twofold increase in the length of the procedure. CONCLUSION: Surgery using a microdexterity enhancement system, or RAMS prototype, is feasible. With further development, such as a stereotelevisualization and haptic feedback system, this system could be used for telerobotic surgery in neurosurgical practice.

Animals↗

PubMed2004

Biomechanical role of lumbar spine ligaments in flexion and extension: determination using a parallel linkage robot and a porcine model.

STUDY DESIGN: Porcine lumbar spine specimens were cyclically loaded in flexion and extension with a pure moment. The resistance to flexion and extension of the individual spinal elements was quantified using a sequential resection procedure. OBJECTIVE: To determine the biomechanical contribution of the individual posterior spinal ligaments, including the interconnections between the supraspinous and interspinous ligaments, to resisting flexion-extension moments applied to the lumbar spine. SUMMARY OF BACKGROUND DATA: Numerous experimental studies have performed repeated tests with sequential resection to determine the role of spinal ligaments. Most studies have not maintained the kinematics across trials, and therefore these studies have assessed the kinematics and kinetics of injured spines rather than delineating the mechanics of individual ligaments. METHODS: The L4-L5 motion pathway for pure moment loading (between in 16 Nm of flexion and 12 Nm of extension) of porcine spinal specimens was learned and replayed using a parallel-linkage robot. Each specimen was tested 6 times, with sequential resections performed as follows: intact, cut interconnections between the supraspinous and interspinous ligaments, supraspinous ligament removed, interspinous ligament removed, ligamentum flavum cut, and facet joints removed. The kinematic pathway was repeated for each of these tests, and, accordingly, the changes in loads between trials reflected the mechanics of the cut/removed structures. RESULTS: The interaction between the supraspinous and interspinous ligaments is a significant contributor to the flexion resistance of the porcine lumbar spine, resisting 10.5% of the peak flexion moment. This contribution is similar to the interspinous ligament (11.3%) and almost as large as the supraspinous ligament (14%) and facet joints (14.2%). The supraspinous/interspinous ligament complex was the largest contributor to the resistance of flexion motion (35.9%), followed by the intervertebral disc (25.2%) and the ligamentum flavum (24.7%). The only structures involved in resisting extension were the facet joint complexes, intervertebral disc, and possibly the spinous processes. CONCLUSIONS: The supraspinous/interspinous ligament complex is the largest contributor to resisting applied flexion moments in the porcine lumbar spine.

Animals↗

PubMed2002

The pitfalls of laparoscopic surgery: challenges for robotics and telerobotic surgery.

After its debut in 1988, laparoscopic cholecystectomy rapidly became the standard of care for cholelithiasis, yet very few surgeons use minimally invasive techniques for other abdominal operations. Why do most surgeons continue to perform traditional open gastrointestinal operations? We believe that the answer to this question lies in the fact that advanced laparoscopic operations are difficult to learn, perform, and master. A number of inherent pitfalls of laparoscopy hinder the performance of these operations even after the surgeon has accumulated years of experience. These pitfalls include an unstable video camera platform, limited motion (degrees of freedom) of straight laparoscopic instruments, two-dimensional imaging, and poor ergonomics for the surgeon. Inexperienced or bored laparoscopic camera-holders move the camera frequently and rotate it away from the horizon. The long, straight laparoscopic instruments are limited in their motion by the fixation enforced by the abdominal wall trocars. Similarly, the standard two-dimensional video imaging used in most laparoscopic operations impedes the surgeon's depth perception, compounding the limitations of laparoscopic instruments. In addition, surgeons are forced to assume ergonomically awkward stances in performing many laparoscopic operations. These four factors hinder a surgeon's efforts to learn and to perform advanced laparoscopic operations, significantly lengthening the learning curve. The articles presented in this issue suggest that robotics and telerobotics offer solutions to these nagging pitfalls of laparoscopic surgery.

Cholecystectomy, Laparoscopic↗

PubMed2002

Robotic-assisted adrenalectomy for adrenal incidentaloma: case and review of the technique.

An incidental left adrenal mass was found in a patient during an evaluation for mediastinal widening. The patient had no symptoms attributable to adrenal excess. Preoperative biochemical screening was negative for a functioning medullary or cortical adrenal tumor. Surgical resection was successfully completed with the assistance of the da Vinci robotic system. Pathology demonstrated a rare adrenal oncocytoma.

Adenoma, Oxyphilic↗

PubMedDate not supplied

Minimally invasive treatment of esophageal cancer: laparoscopic staging to robotic esophagectomy.

Minimally invasive surgical (MIS) procedures have become commonplace in modern surgical practice. The term minimally invasive surgery has been and continues to be interchangeably applied to describe laparoscopic, laparoscopic-assisted, thoracoscopic, and telesurgical (robotic) procedures. Minimally invasive surgical procedures for the treatment of benign and malignant disorders of the esophagus are being developed, refined, and clinically applied in parallel with the exponential availability of novel technologies and instrumentation. Herein, we review the progression from laparoscopic/thoracoscopic esophagectomy to telesurgical esophagectomy, presently termed minimally invasive esophagectomy, and describe the telesurgical procedure as well as early the clinical outcome experience.

Esophageal Neoplasms↗

PubMed2005

Perioperative complications of robotic radical prostatectomy after the learning curve.

PURPOSE: We assessed the incidence of and analyzed factors that contributed to perioperative complications in patients undergoing robotic radical prostatectomy, that is Vattikuti Institute prostatectomy (VIP), at our institution. MATERIALS AND METHODS: We recorded operative and postoperative data on 300 consecutive patients who underwent VIP at our institution during a 1-year period. All operations were performed by 1 of 2 surgeons (MM or JOP). We reviewed the complications seen in these patients. RESULTS: There was no operative mortality and no case was converted to open surgery. A total of 269 (89.7%) patients were considered to have an ideal postoperative course, ie they were discharged home within 48 hours with no unscheduled office visits or complications. There were 14 unscheduled postoperative visits (4.7%) for transient urinary retention after early catheter removal (13) or hematuria (1). There were 17 complications, of which 16 (5.3%) were related to surgery and 1 was related to anesthesia. A total of 11 complications (3.7%) were minor (grade I) and 5 (1.7%) were major (grade II). Of them 3 (1%) patients required reoperation. There were no grade III or IV complications. CONCLUSIONS: In our hands VIP is a safe operation with an overall complication rate of 5.3%, a major complication rate of less than 2% and a surgical re-intervention rate of 1%.

Adult↗

PubMed2002

Use of robotic telepathology for frozen-section diagnosis: a retrospective trial of a telepathology system for intraoperative consultation.

Telepathology is the practice of digitizing histological or macroscopic images for transmission along telecommunication pathways for diagnosis, consultation, or continuing medical education. Previous studies have addressed static versus dynamic imaging in several specimen types with a wide variety of systems and communication pathways. The goal of this paper was to assess the validity of a Web-based telepathology system for frozen section consultation within the Army Medical Department. The system provides real-time, dynamic remote control of a robotic microscope over standard Internet connections. Oftentimes, a solo pathologist is called on to provide diagnostic services without the support of immediate second or expert consultation during an intraoperative consultation. The use of telepathology is attractive because it provides an opportunity for pathologists to obtain immediate consultation. For purposes of the study, 120 consecutive frozen section cases were diagnosed at a distance using the system. Intraobserver agreement between the telepathology diagnosis and glass slide diagnosis was observed. Diagnostic agreement was 100% for a wide variety of specimens. This study suggests that such a system will help support pathologists located at distant sites.

Cytodiagnosis↗

PubMed2004

Retinally-generated saccadic suppression of a locust looming-detector neuron: investigations using a robot locust.

A fundamental task performed by many visual systems is to distinguish apparent motion caused by eye movements from real motion occurring within the environment. During saccadic eye movements, this task is achieved by inhibitory signals of central and retinal origin that suppress the output of motion-detecting neurons. To investigate the retinally-generated component of this suppression, we used a computational model of a locust looming-detecting pathway that experiences saccadic suppression. This model received input from the camera of a mobile robot that performed simple saccade-like movements, allowing the model's response to simplified real stimuli to be tested. Retinally-generated saccadic suppression resulted from two inhibitory mechanisms within the looming-detector's input architecture. One mechanism fed inhibition forward through the network, inhibiting the looming-detector's initial response to movement. The second spread inhibition laterally within the network, suppressing the looming-detector's maintained response to movement. These mechanisms prevent a looming-detector model response to whole-field visual stimuli. In the locust, this mechanism of saccadic suppression may operate in addition to centrally-generated suppression. Because lateral inhibition is a common feature of early visual processing in many organisms, we discuss whether the mechanism of retinally-generated saccadic suppression found in the locust looming-detector model may also operate in these species.

Animals↗

PubMed2005

Stride lengths, speed and energy costs in walking of Australopithecus afarensis: using evolutionary robotics to predict locomotion of early human ancestors.

This paper uses techniques from evolutionary robotics to predict the most energy-efficient upright walking gait for the early human relative Australopithecus afarensis, based on the proportions of the 3.2 million year old AL 288-1 'Lucy' skeleton, and matches predictions against the nearly contemporaneous (3.5-3.6 million year old) Laetoli fossil footprint trails. The technique creates gaits de novo and uses genetic algorithm optimization to search for the most efficient patterns of simulated muscular contraction at a variety of speeds. The model was first verified by predicting gaits for living human subjects, and comparing costs, stride lengths and speeds to experimentally determined values for the same subjects. Subsequent simulations for A. afarensis yield estimates of the range of walking speeds from 0.6 to 1.3 m s-1 at a cost of 7.0 J kg-1 m-1 for the lowest speeds, falling to 5.8 J kg-1 m-1 at 1.0 m s-1, and rising to 6.2 J kg-1 m-1 at the maximum speed achieved. Speeds previously estimated for the makers of the Laetoli footprint trails (0.56 or 0.64 m s-1 for Trail 1, 0.72 or 0.75 m s-1 for Trail 2/3) may have been underestimated, substantially so for Trail 2/3, with true values in excess of 0.7 and 1.0 m s-1, respectively. The predictions conflict with suggestions that A. afarensis used a 'shuffling' gait, indicating rather that the species was a fully competent biped.

Animals↗

PubMed2003

From biological models to the evolution of robot control systems.

Attempts to formulate realistic models of the development of the human oculomotor control system have led to the conclusion that evolutionary factors play a crucial role. Moreover, even rather coarse simulations of the biological evolutionary processes result in adaptable control systems that are considerably more efficient than those designed by human researchers. In this paper I shall describe some of the aspects of these biological models that are likely to be useful for building robot control systems. In particular, I shall consider the evolution of appropriate innate starting points for learning/adaptation, patterns of learning rates that vary across different system components, learning rates that vary during the system's lifetime, and the relevance of individual differences across the evolved populations.

Adaptation, Physiological↗

PubMed2004

A Robot-based platform to measure multiple enzyme activities in Arabidopsis using a set of cycling assays: comparison of changes of enzyme activities and transcript levels during diurnal cycles and in prolonged darkness.

A platform has been developed to measure the activity of 23 enzymes that are involved in central carbon and nitrogen metabolism in Arabidopsis thaliana. Activities are assayed in optimized stopped assays and the product then determined using a suite of enzyme cycling assays. The platform requires inexpensive equipment, is organized in a modular manner to optimize logistics, calculates results automatically, combines high sensitivity with throughput, can be robotized, and has a throughput of three to four activities in 100 samples per person/day. Several of the assays, including those for sucrose phosphate synthase, ADP glucose pyrophosphorylase (AGPase), ferredoxin-dependent glutamate synthase, glycerokinase, and shikimate dehydrogenase, provide large advantages over previous approaches. This platform was used to analyze the diurnal changes of enzyme activities in wild-type Columbia-0 (Col-0) and the starchless plastid phosphoglucomutase (pgm) mutant, and in Col-0 during a prolongation of the night. The changes of enzyme activities were compared with the changes of transcript levels determined with the Affymetrix ATH1 array. Changes of transcript levels typically led to strongly damped changes of enzyme activity. There was no relation between the amplitudes of the diurnal changes of transcript and enzyme activity. The largest diurnal changes in activity were found for AGPase and nitrate reductase. Examination of the data and comparison with the literature indicated that these are mainly because of posttranslational regulation. The changes of enzyme activity are also strongly delayed, with the delay varying from enzyme to enzyme. It is proposed that enzyme activities provide a quasi-stable integration of regulation at several levels and provide useful data for the characterization and diagnosis of different physiological states. As an illustration, a decision tree constructed using data from Col-0 during diurnal changes and a prolonged dark treatment was used to show that, irrespective of the time of harvest during the diurnal cycle, the pgm mutant resembles a wild-type plant that has been exposed to a 3 d prolongation of the night.

Arabidopsis↗