Design of a miniaturized work-cell for micro-manipulation

The paper describes the design and development of a miniaturised workcell devoted to the robotized micro manipulation and assembly of extremely small components, jointly carried out by the University of Brescia, University of Bergamo, University of Ancona and the Institute of Industrial Technologies and Automation of the Italian National Research Council in the framework of the project PRIN2009 MM&A, funded by MIUR. Besides analyzing theoretical and practical aspects related to the design of the work cell components (positioning and orienting devices, grippers, vision and control systems), an automated test bed for the assembly of micro pieces whose typical dimension belongs to the submillimeter scale range has been implemented. The perspective is to contribute to the realization of general automatic production systems at the moment absent for objects of these dimensions

Design of a miniaturized work-cell for micro-manipulation

The paper describes the design and development of a miniaturised workcell devoted to the robotized micro manipulation and assembly of extremely small components, jointly carried out by the University of Brescia, University of Bergamo, University of Ancona and the Institute of Industrial Technologies and Automation of the Italian National Research Council in the framework of the project PRIN2009 MM&A, funded by MIUR. Besides analyzing theoretical and practical aspects related to the design of the work cell components (positioning and orienting devices, grippers, vision and control systems), an automated test bed for the assembly of micro pieces whose typical dimension belongs to the submillimeter scale range has been implemented. The perspective is to contribute to the realization of general automatic production systems at the moment absent for objects of these dimensions

Identification of alcohol and cocaine derivatives consumption in pregnancy through meconium analysis

Mario Moraes Castro: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay.-- Gabriel González Rabelino: Cátedra de Neuropediatría, Facultad de Medicina, Universidad de la República, Uruguay.-- Claudio Sosa Fuertes: Cátedra de Ginetocología C, Facultad de Medicina, Universidad de la República, Uruguay.-- Eleuterio Umpiérrez Vázquez: Unidad de Medio Ambiente, Drogas y Doping, Polo Tecnológico de Pando, Facultad de Química, Universidad de la República, Uruguay.-- Andrea Ghione da Rosa: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay.-- Sandra Berta López: Cátedra de Neuropediatría, Facultad de Medicina, Universidad de la República, Uruguay.-- Cecilia Izubiajerez Fulco: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay.-- Pablo Voituret Báez: Unidad de Medio Ambiente, Drogas y Doping, Polo Tecnológico de Pando, Facultad de Química, Universidad de la República, Uruguay.-- José Barceló Cal: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay.-- Victoria Duarte Moraes: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay.-- Paula Baez Petrocelli: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay.-- Daniel Borbonet Legnani: Departamento de Neonatología, Facultad de Medicina, Universidad de la República; Centro Hospitalario Pereira Rossell, Uruguay. Contacto: Mario Moraes Castro. E-mail: [email protected] consumo de alcohol y cocaína puede afectar la salud de la embarazada, el feto y el desarrollo infantil, por lo cual es importante el reconocimiento de la exposición fetal a estas sustancias para planificar un adecuado seguimiento y una intervención oportuna. Los objetivos del estudio fueron conocer la frecuencia de consumo de alcohol, cocaína y/o derivados en la población del Hospital Pereira Rossell en Montevideo, Uruguay. Se realizó un estudio observacional analítico de corte transversal. Se incluyeron 240 puérperas y sus hijos nacidos en el Hospital Pereira Rossell entre noviembre 2010 y marzo 2011. Para el estudio se aplicó un método de identificación de esteres etílicos de ácidos grasos libres en meconio de recién nacido desarrollado en el Polo Tecnológico de Pando, Facultad de Química, Universidad de la República, para el presente estudio. La media de edad materna en la población fue de 25 años. Declararon consumir alcohol durante la gestación 81mujeres (33,75%) pero se confirmó la presencia de esteres etílicos de ácidos grasos libres en 113 muestras de meconio correspondientes al 49,78%; el 9,25% de las muestras dieron positivos para el consumo de clorhidrato de cocaína y pasta base de cocaína. El consumo de alcohol en el embarazo se constató en la mitad de las embarazadas. El consumo de derivados de cocaína en la población de estudio fue elevado. La utilización de muestras de meconio permite identificar a los fetos expuestos con mayor seguridad que basados en el reporte de la paciente.The consumption of alcohol and cocaine can affect pregnant’s health, fetus´s health and child development, so it is important to recognize fetal exposure to these substances in order to plan appropriate monitoring and timely interventions. The aim of the study was to determine the frequency of alcohol consumption and cocaine intake in the Hospital Pereira Rossell’s (Montevideo, Uruguay) population. The investigation consisted on an observational analytic cross-sectional study of 240 puerperal women and their children born at the Hospital Pereira Rossell from November 2010 to March 2011. The method used for the identification of free fatty acid ethyl esters in meconium of newborns was developed at the Polo Tecnológico de Pando, Facultad de Química, Universidad de la República for this investigation. The media of maternal age was 25; Alcohol consumption during pregnancy was admitted by 81 women, and the presence of free fatty acids ethyl esters was confirmed in 113 cases (49.78%); the consumption of cocaine hydrochloride and freebase cocaine was positive in 9.25% cases. Alcohol consumption was identified in half of pregnant women. The consumption of cocaine derivatives in the population studied was high. Exposed fetus can be identified with the analysis of meconium samples, with more certainty than by reports of patients

Management of anterior cruciate ligament rupture in patients aged 40 years and older

The aim of anterior cruciate ligament (ACL) reconstruction is essentially to restore functional stability of the knee and to allow patients to return to their desired work and activities. While in the young and active population, surgery is often the best therapeutic option after an ACL tear, ACL reconstruction in middle-aged people is rather more controversial due to concerns about a higher complication rate. The purpose of our article is to establish, through a systematic review of the literature, useful decision-making criteria for the management of anterior cruciate ligament rupture in patients aged 40 years and older, guiding surgeons to the most appropriate therapeutic approach. Various reports have shown excellent results of ACL reconstruction in patients over the age of 40 in terms of subjective satisfaction, return to previous activity level, and reduced complication and failure rates. Some even document excellent outcomes in subjects of 50 years and older. Although there are limited high-level studies, data reported in the literature suggest that ACL reconstruction can be successful in appropriately selected, motivated older patients with symptomatic knee instability who want to return to participating in highly demanding sport and recreational activities. Deciding factors are based on occupation, sex, activity level of the subject, amount of time spent performing such highly demanding activities, and presence of associated knee lesions. Physiological age and activity level are more important than chronological age as deciding factors when considering ACL reconstruction

Simulation Assessment of the Performance of a Redundant SCARA

The present paper analyses the potential dynamic performance of a novel redundant SCARA robot, currently at the stage of a functional design proposed by a renowned robot manufacturer. The static and dynamic manipulability of the new concept is compared with the conventional model of the same manufacturer by means of computer simulation in typical pick and place tasks arising from industry. The introduction of a further revolute joint in the SCARA robot kinematics leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. In this paper, the potential of a redundant SCARA architecture in cutting cycle-times is investigated for the first time in performing several tasks. It is shown that, in order to exploit the possible enhancements of the redundant structure, the whole manipulator, mechanics and control must be redesigned according to specific tasks aiming at the optimization of their cycle-time

Management of Medial Femorotibial Knee Osteoarthritis in Conjunction with Anterior Cruciate Ligament Deficiency: Technical Note and Literature Review

In recent years, there has been increased interest in the management of medial femorotibial knee osteoarthritis (OA) in conjunction with anterior cruciate ligament (ACL) deficiency. Traditional treatment modalities included conservative therapy, high tibial osteotomy with or without ACL reconstruction, and total knee replacement. Since younger patients with higher physical demands are more likely to suffer from this pathological condition, reduced invasiveness, faster recovery time, and improved knee kinematics are preferred to allow for satisfying clinical and functional outcomes. Thus, a new surgical strategy combining medial unicompartmental knee replacement (UKR) and ACL reconstruction has been proposed to allow bone stock preservation, to reduce surgical morbidity and recovery time, and ultimately to improve joint kinematics and clinical outcomes. Based on the data present in the literature, in the setting of unicompartmental OA in association with ACL deficiency, UKR combined with ACL reconstruction provided encouraging early results. Studies evaluating the outcomes of combined ACL reconstruction and UKR demonstrate promising results in select patient populations. Improved knee stability, pain relief, functional recovery, and patient satisfaction improved after surgery. Moreover, the combined approach offered advantages such as reduced surgical trauma, faster rehabilitation, and preservation of native knee anatomy compared with traditional treatment strategies. However, still, high-level studies on this topic are lacking; therefore, more comparative studies reporting long-term outcomes are needed to support the potential of this combined procedure to become mainstream. In this paper, we discuss the relevant features and rationale behind the indications and technique of this combined surgical procedure, to help surgeons choose the correct therapeutic approach for a patient with concomitant medial OA and ACL insufficiency. Continued advancements in surgical techniques, patient selection criteria, and rehabilitation strategies will further enhance the success of this combined approach, offering hope to individuals with concomitant ACL injuries and unicompartmental knee OA

Relationships between Jumping Performance and Psychological Readiness to Return to Sport 6 Months Following Anterior Cruciate Ligament Reconstruction: A Cross-Sectional Study

Background: Investigating the relationship between functional capacity and psychological readiness is of paramount importance when planning sport resumption following knee surgery. The aim of this study was to prospectively assess clinical and functional outcomes in athletes 6 months after primary anterior cruciate ligament (ACL) reconstruction and to evaluate whether jumping ability is related to psychological readiness to return to sport following ACL surgery. Methods: Patients who underwent ACL reconstruction were prospectively enrolled and evaluated pre-operatively and 6 months after surgery. Assessment included Lysholm score, International Knee Documentation Committee (IKDC) Subjective Knee Form, Tegner activity level, and the ACL–Return to Sport after Injury (ACL-RSI) scale. Jumping ability was instrumentally assessed by an infrared optical acquisition system using a test battery including mono- and bipodalic vertical jump and a side hop test. Patients were dichotomized by ACL-RSI into two groups: group A (ACL-RSI > 60), and group B (ACL-RSI p p = 0.161). Similarly, improvement in most variables regarding jumping ability were observed at follow-up (p 60), while 11 were allocated in group B (ACL-RSI p p = 0.065). Conclusions: Patients with higher values of ACL-RSI scores showed better functional and clinical outcomes as well as improved performance 6 months after ACL reconstructio

Safety of blood reinfusion drains after local infiltration analgesia in total joint replacement

Abstract Background Local infiltration analgesia (LIA) is frequently administered to patient undergoing joint replacement surgical procedures. The aim of the present research was to verify the safety of collected shed blood to be reinfused postoperatively, by measuring levobupivacaine levels in drainage blood in patients undergoing LIA during knee replacement surgery. Patients and Methods 24 patients who underwent total knee arthroplasty (TKA) and 12 scheduled for total hip arthroplasty (THA) who received intraoperative LIA were considered. Blood samples were collected from shed blood which was present in drainage 2 and 5 hours after surgery and serum was analysed by liquid chromatography-tandem mass spectrometry. Results At 2 hours postoperatively, the median levobupivacaine serum concentration in the collected shed blood was 1.2 mg/L (SD: 4.2) for TKA and 17.13 mg/L (SD: 24.4) for THA. At 5 hours, levobupivacaine concentration was 1.84 mg/L (SD: 2.2) for TKA and 17.5 mg/L (SD: 25.2) for THA. Higher values of average serum levobupivacaine concentration were reported in drains collected from patients who had undergone THA compared to TKA (p<0.001). BMI significantly influenced levels of serum drug, that resulted to be higher in patients with BMI<25 (p= 0.01). Conclusion Levobupivacaine from collected shed blood that would have been returned to the patient, was below toxicity level at 2 and 5 hours after LIA during total joint replacement. The average serum levobupivacaine concentration was found to be higher in drains taken from THA patients than TKA patients. Patients with lower BMI demonstrated the highest levels of levobupivacaine in shed blood and a lower blood volume needed for central nervous system toxicity. Therefore, in patients with a lower BMI undergoing THA, anaesthetic dosage should be reduced or autotransfusion should be avoided to prevent potential risks of toxicity