Permanent Magnet-Assisted Omnidirectional Ball Drive

We present an omnidirectional ball wheel drive design that utilizes a permanent magnet as the drive roller to generate the contact force. Particularly interesting for novel human-mobile robot interaction scenarios where the users are expected to physically interact with many palm-sized robots, our design combines simplicity, low cost and compactness. We first detail our design and explain its key parameters. Then, we present our implementation and compare it with an omniwheel drive built with identical conditions and similar cost. Finally, we elaborate on the main advantages and drawbacks of our design

Haptic-Enabled Handheld Mobile Robots: Design and Analysis

The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonomous motion and act as tangible interfaces, but are also usable as haptic devices in order to exploit, for instance, kinesthetic learning. In this article, we present the design and analysis of the haptic interaction module of the Cellulo robots. We first detail our hardware and controller design that is low-cost and versatile. Then, we describe the task-based experimental procedure to evaluate the robot's haptic abilities. We show that our robot is usable in most of the tested tasks and extract perceptive and manipulative guidelines for the design of haptic elements to be integrated in future learning activities. We conclude with limitations of the system and future work

Preoperative Radiological Assessment of The Total Knee Arthroplasty

Total knee arthroplasty (TKA) is a surgery method that can reduce symptoms and restore joint functions. Long-term success of this operation depends on the correct anatomical and mechanical planning before the prosthetic material implantation. Accurate implant alignment together with anatomical balance provides more successful clinical outcomes and longer duration of the prosthetic material. Improper preoperative planning may cause implant loosening and increased load on the knee joint. Conventional radiographs are the most frequently used imaging methods for this purpose. Computed tomography and magnetic resonance imaging may be used in required cases. In addition, computer-aided systems have come into use and successful results have been reported. Early radiographic evaluation is unnecessary after an uncomplicated TKA. Preoperative imaging has several aims such as to assess the severity of the disease, to analyze the reserve bone tissue, to review the relevant anatomy, and to decide which implant and surgical approach will be applied. In this article, we aimed to present the necessary and also auxiliary radiological evaluations made before TKA in order to achieve better clinical results

Natural User Interface for Roombots

Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes or offices. To ease the control of RB modules in these environments, we propose a novel and more natural way of interaction with the RB modules on a RB grid, called the Natural Roombots User Interface. In our method, the user commands the RB modules using pointing gestures. The user's body is tracked using multiple Kinects. The user is also given real-time visual feedback of their physical actions and the state of the system via LED illumination electronics installed on both RB modules and the grid. We demonstrate how our interface can be used to efficiently control RB modules on simple point-to-point grid locomotion and conclude by discussing future extensions

Real-Time High-Accuracy 2D Localization with Structured Patterns

Building over algorithms previously developed for digital pens, this article introduces a novel 2D localization technique for mobile robots, based on simple printed patterns. This method combines high absolute accuracy (below 0.3mm), unlimited scalability, low computational requirements (the presented open-source implementation runs at above 45Hz on a low-cost microcontroller) and low cost (below 30 Euros per device at prototype stage). The article first presents the underlying algorithms and localization pipeline. It then describes our reference hardware and software implementations, and finally evaluates the performance of this technique for mobile robots

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries

Febrile neutropenia due to H1N1 infection: Rare entity

Background: Febrile neutropenia is one of the most feared complications in actively treated patients in oncology clinics. The impact of H1N1 infection on the management of the febrile neutropenia in endemic areas, especially if the patient is presented with pulmonary symptoms, is not clear. Case report: A Forty seven year old male patient diagnosed with mantle cell lymphoma, admitted to our center with neutropenic fever 8 days after chemotherapy. The patient revealed classical symptoms of influenza like headache and myalgia and also had rhonchus and cough supporting lower respiratory tract infection. He was finally diagnosed as influenza A (H1N1) infection. Conclusion: Influenza infection is an important etiological agent in immunocompromised hosts, namely neutropenic patients, which cause significant morbidity and mortality. Viral etiology and antiviral treatment should also be considered in suspected patients especially during epidemics and pandemics

Lack of Prognostic Significance of C-erbB-2 Expression in Low- and High- grade Astrocytomas

Background: Astrocytic tumors, the most common primary glial tumors of the central nervous system, are classified from low to high grade according to the degree of anaplasia and presence of necrosis. Despite advances in therapeutic management of high grade astrocytic tumors, prognosis remains poor. In the present study, the frequency and prognostic significance of c-erb-B2 in astrocytic tumors was investigated. Materials and Methods: Records of 72 patients with low-and high-grade astrocytic tumors were evaluated. The expression of C-erbB-2 was determined immunohistochemically and intensity was recorded as 0 to 3+. Tumors with weak staining (1+) or no staining (0) were considered Her-2 negative, while tumors with moderate (2+) and strong (3+) staining were considered Her-2 positive. Results: Of the 72 patients, 41 (56.9%) had glioblastoma (GBM), 10 (13.9%) had diffuse astrocytoma, 15 (20.8%) had anaplastic astrocytoma, 6 (8.3%) had pilocytic astrocytoma. C-erbB-2 overexpression was detected in the tumor specimens of 17 patients (23.6%). Six (8.3%) tumors, all GBMs, exhibited strong staining, 2 (2.7%) specimens, both GBMs, exhibited moderate staining, and 9 specimens, 5 of them GBMs (12.5%), exhibited weak staining. No staining was observed in diffuse astrocytoma and pilocytic astrocytoma specimens. Median overall survival of patients with C-erbB-2 negative and C-erbB-2 positive tumors were 30 months (95% CI: 22.5-37.4 months) and 16.9 months (95% CI: 4.3-29.5 months), respectively (p=0.244). Conclusions: Although there was no difference in survival, C-erbB-2 overexpression was observed only in the GBM subtype

The cribriform morphology impairs Gleason 7 prostate cancer lesion detection on multiparametric magnetic resonance imaging

© 2022 Wiley Periodicals LLC.Background: Prostate multiparametric magnetic resonance imaging (mpMRI) is a useful tool for the detection of tumor lesions however, some clinically significant lesions are still missed. We determined whether the cribriform pattern has an effect on lesion detection in mpMRI. Methods: We reviewed the single-institution database of the patients who underwent mpMRI before radical prostatectomy. We included the patients only with the Gleason 7 final pathology of open radical prostatectomy with curative intent between 2016 and 2021. Prostatectomy mappings according to the 16-sector map and cribriform patterns were re-evaluated by two genitourinary pathologists. Prostate mpMRIs were read by two genitourinary radiologists. If the index and nonindex lesions in pathology mapping were matched with mpMRI as Prostate Imaging Reporting and Data System-3 or higher, it was defined as detectable. We compared the detection rates of lesions with and without cribriform morphology. In regression analysis, we also assessed the factors affecting the detectability of prostate cancer lesions. Results: A total of 120 patients and 157 lesions were included in our study. While 52 of 83 cribriform pattern positive lesions could be detected in mpMRI, 59 of 74 cribriform pattern negative lesions could be detected (62.7% vs. 79.7%, respectively, p = 0.019). The lesions were also distributed homogeneously according to diameters and analyzed separately. All lesions between 21 and 30 mm with the negative cribriform pattern were detected on mpMRI. However, only 77.8% of cribriform pattern positive lesions between 21 and 30 mm could be detected (p = 0.034). The Higher D'Amico risk group and the absence of cribriform morphology were independent predictors for the lesion detection on mpMRI. Conclusion: The presence of cribriform pattern in Gleason 7 prostate cancer lesions decreases the lesion detection rate of mpMRI