Caveats on the first-generation da Vinci Research Kit: latent technical constraints and essential calibrations

Telesurgical robotic systems provide a well established form of assistance in the operating theater, with evidence of growing uptake in recent years. Until now, the da Vinci surgical system (Intuitive Surgical Inc, Sunnyvale, California) has been the most widely adopted robot of this kind, with more than 6,700 systems in current clinical use worldwide [1]. To accelerate research on robotic-assisted surgery, the retired first-generation da Vinci robots have been redeployed for research use as "da Vinci Research Kits" (dVRKs), which have been distributed to research institutions around the world to support both training and research in the sector. In the past ten years, a great amount of research on the dVRK has been carried out across a vast range of research topics. During this extensive and distributed process, common technical issues have been identified that are buried deep within the dVRK research and development architecture, and were found to be common among dVRK user feedback, regardless of the breadth and disparity of research directions identified. This paper gathers and analyzes the most significant of these, with a focus on the technical constraints of the first-generation dVRK, which both existing and prospective users should be aware of before embarking onto dVRK-related research. The hope is that this review will aid users in identifying and addressing common limitations of the systems promptly, thus helping to accelerate progress in the field.Comment: 15 pages, 7 figure

Quantitative Detection of Extra Virgin Olive Oil Adulteration, as Opposed to Peanut and Soybean Oil, Employing LED-Induced Fluorescence Spectroscopy

As it is high in value, extra virgin olive oil (EVOO) is frequently blended with inferior vegetable oils. This study presents an optical method for determining the adulteration level of EVOO with soybean oil as well as peanut oil using LED-induced fluorescence spectroscopy. Eight LEDs with central wavelengths from ultra-violet (UV) to blue are tested to induce the fluorescence spectra of EVOO, peanut oil, and soybean oil, and the UV LED of 372 nm is selected for further detection. Samples are prepared by mixing olive oil with different volume fractions of peanut or soybean oil, and their fluorescence spectra are collected. Different pre-processing and regression methods are utilized to build the prediction model, and good linearity is obtained between the predicted and actual adulteration concentration. This result, accompanied by the non-destruction and no pre-treatment characteristics, proves that it is feasible to use LED-induced fluorescence spectroscopy as a way to investigate the EVOO adulteration level, and paves the way for building a hand-hold device that can be applied to real market conditions in the future