Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

This letter introduces a lightweight hexapod robot, Giacometti robot, made with long and narrow legs following the Alberto Giacometti's sculpture conception. The goal is achieved by, first, using multiple links with thin and soft McKibben actuators, and second, choosing a leg design which is narrow in comparison to its body's length and height, unlike conventional robot design. By such design characteristic, the leg will exhibit elastic deformations due to the low stiffness property of the thin link structure. Then, we model the leg structure and conduct the deflection analysis to confirm the capability of the leg to perform walking motion. The high force to weight ratio characteristics of the actuator provided the ability to drive the system, as shown by a static model and further validated experimentally. To compensate for the high elastic structural flexibility of the legs, two walking gaits namely customized Wave gait and Giacometti gait were introduced. The robot could walk successfully with both gaits at maximum speed of 0.005 and 0.05 m/s, respectively. It is envisaged that the lightweight Giacometti robot design can be very useful in legged robotic exploration

Heterotopic gastrointestinal cyst mimicking chronic cholecystitis: a case report

<p>Abstract</p> <p>Introduction</p> <p>Heterotopic gastric mucosa is described almost everywhere in the gastrointestinal tract, from the oral cavity to the rectum. The occurrence of heterotopic gastric tissue in the gallbladder is rare. A choristoma can be defined as a new growth developing from a displaced anlage not normally present in the anatomical site where it developed. We present an extremely uncommon case of a cyst (choristoma) attached to the gallbladder, which contained gastric and intestinal mucosa.</p> <p>Case presentation</p> <p>A 33-year-old woman was hospitalized with clinical symptoms of chronic cholecystitis. The laboratory findings were within the normal range. Abdominal ultrasonography revealed a thickened gallbladder wall and a stone in the cystic duct was suspected. In the course of laparoscopic cholecystectomy, a cyst was visualized in the vicinity of the duct and the gallbladder neck. Microscopic examination of the removed cyst revealed evidence of gastric, duodenal and small-intestinal mucosa. The immunohistochemical study revealed many endocrine cells, which were positive for several endocrine cell markers such as chromogranin, serotonin, gastrin and so on. It can be inferred that the observed cyst had arisen from the foregut early in the development of the gastrointestinal tract.</p> <p>Conclusion</p> <p>The presence of endocrine cells together with epithelial cells supports the hypothesis that these had developed simultaneously, and that the endocrine cells had probably supported the development of the epithelial cells by the release of hormones and growth factors. To the best of the authors' knowledge, this report is the first to report a gastrointestinal cyst choristoma with endocrine cells in the region of the cystic duct and gallbladder.</p