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Robotic4all project:Results of a hands-on robotic surgery training program

Laparoscopic, Endoscopic and Robotic Surgery 2023年第1期6卷 1-8页

作者： Mario Rui Gonçalves Jose Novo de Matos Antonio Oliveira Ricardo Marinho Irene Cadime palmira carlos alves Salvador Morales-Conde Miguel Castelo-Branco Faculty of Health Sciences University of Beira InteriorCovilha 6200-506Portugal Centro Hospitalar Universitario Lisboa Central Hospital de Sao JoseLisboa 1150-199Portugal Centro Hospitalar de Tras-os-Montes e Alto Douro Vila Real 5000-508Portugal Centro Hospitalar de Leiria Hospital de Santo AndreLeiria 2410-197Portugal Centro de Investigaçao em Psicologia Escola de Psicologia-Universidade do MinhoBraga 4710-057Portugal Departamento de Estudos Curriculares e Tecnologia Educativa Instituto de Educaçao-Universidade do MinhoCampus de GualtarBraga 4710-093Portugal Unit of Innovation in Minimally Invasive Surgery University Hospital Virgen del RocioUniversity of SevillaSeville 41013Spain

Objective Although robotic surgery adoption and its indications are growing worldwide,for multiple factors,including costs,there is a lack of training and *** aim was to study the impact of a robotic introduction training program on gesture performance,such as suturing,in robot-naive *** Using the DaVinci robot,a 2-hour program was based on virtual reality and anatomical model *** participants performed 3 repetitions of virtual reality exercises on the virtual simulator,and then performed and were assessed on 2 tests,ie robot and laparoscopic training *** the course,the participants were surveyed for this training *** Twenty-seven residents and surgeons were enrolled in the training *** only 2 hours of training,all of the participants were able to complete the training program,thus learning generic and specific skills in robotic *** virtual reality exercise,the scores of the 3 exercises increased significantly with every repetition(p<0.001)and the size of the increase was *** completion time on the robot platform was 2.6 times faster(169.33±28.28 s vs.447.96±156.55 s,p<0.001)than that in the laparoscopic box,and the difference between both types of tests was large(pη2=0.797).The centralization and passage of the needle were significantly better on the robot platform(5 vs.3,p<0.001,r=0.47;5 vs.4,p<0.001,r=0.59)than in the laparoscopic *** the intracorporeal stitch+knot test,every participant was able to perform the exercise on the robot but only 85.2%(23/27)in the laparoscopic ***-one participants answered the survey,and 13(61.9%)of them considered robotic performance independent of laparoscopic *** Surgeons are interested and seek training in robotic *** implemented the first hands-on robotic surgery training program in Portugal and participants considered it was important and adequate for its *** participants,even without robotic experience,lear

关键词： Simulation Education Laparoscopic suture Laparoscopy Robotic surgery

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Synchronization of Robot Manipulators Actuated By Induction Motors with Velocity Estimator

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Computer Modeling in Engineering & Sciences 2019年第11期121卷 609-630页

作者： Felipe J.Torres Gerardo V.Guerrero carlos D.García Ricardo Zavala-Yoe Mario A.García Adolfo R.López University of Guanajuato Division of Engineering Campus Irapuato-SalamancaCarretera Salamanca-Valle de Santiago km 3.5+1.8GuanajuatoSalamanca36885México National Technological of Mexico/National Center of Research and Technological Development Av.Palmira S/N colonia PalmiraMorelosCuernavaca62490México School of Engineering and Sciences Monterrey TechnologicalPuente 222 Ejidos de HuipulcoCiudad de México14380México Superior Technological Institute of Irapuato Carretera Irapuato-Silao km 12.5GuanajuatoIrapuato36821México

A complete modeling(including the actuator dynamics)of a robot manipulator that uses three-phase induction motors is presented in this paper.A control scheme is designed to synchronize robot manipulators actuated by induction motors under a masterslave scheme in the case where the joint velocity of the slave robots is *** of the research on the synchronization of robot manipulators assumes the use of ideal actuators to drive the joints;for that reason,in this work,a three-phase induction motor is considered to be a direct-drive actuator for each *** entire model of the mated system is obtained by a combination of the dynamics of the induction motor and robot ***,the synchronization control algorithm for a master-slave scheme in both the joint space and workspace of robot manipulators driven by induction motors is *** observer based on the entire model is proposed to estimate the joint velocity of the slave robot *** the Lyapunov criterion,a stability analysis of the synchronization control with a velocity estimator is *** analytical results show the synchronization and estimation errors are globally,uniformly,and ultimately *** with multiple robots demonstrate the performance of the proposed control algorithm.

关键词： Synchronization robot manipulator induction motor Lyapunov stability observer based on the model

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Morpho-Molecular Characterization of Ditylenchus dipsaci and Alternatives for Its Management in Green Onion Allium fistulosum Crops from Colombia

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Agricultural Sciences 2023年第11期14卷 1516-1534页

作者： Donald Riascos-Ortiz Jean Caicedo-Castro carlos Arboleda-Riascos Francisco Sánchez Ana T. Mosquera-Espinosa Francia Varón De Agudelo Colombian Corporation for Agricultural Research-AGROSAVIA Pasto Colombia Programa de Agronomía Universidad del Pacífico Buenaventura Colombia Department of Natural Sciences and Mathematics Pontificia Universidad Javeriana Cali Colombia Facultad de Ciencias Agropecuarias Universidad Nacional de Colombia Palmira Colombia

Green onion is one of the most consumed vegetables in Colombia. However, its production is negatively affected by the nematode Ditylenchus. To determine the species of the nematode, as well as to propose management strategies for its control, in the present study the morphological, morphometric, and molecular characterization of the phytonematode was carried out and was used to evaluate the effect of immersion of the propagation material in water hot, application of a commercial strain of Purpureocillium lilacinum and the application of an agrochemical with insecticidal-nematicidal action to control the phytosanitary problem under field conditions. The morphological and morphometric characteristics of the nematode were similar to those reported for the type and reference populations of D. dipsaci. Based on sequences of the D2-D3 segment and Internal Transcribed Spacer-ITS of the rRNA, the presence of D. dipsaci in green onion crops in Colombia was confirmed. The application of P. lilacinum statistically showed an efficient control of D. dipsaci, at the same time that presented the highest yield, in relation to the other evaluated treatments (P ≤ 0.05).

关键词： Onion Rot Stem and Bulb Nematode D2-D3 ITS Purpureocillium lilacinum

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