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| 1 | Robotic rectal cancer surgery:Results from a European multicentre case series of 240 resections and comparative analysis between cases performed with the da Vinci Si and Xi systems显示文摘Introduction:Robotic systems are designed to address the limitations of laparoscopic surgery,leading to a growing interest in robotic rectal surgery.However,certain technical limitations associated with the previous systems(da Vinci S&Si)have arguably slowed down its wholesale adoption.The latest robotic platform,the da Vinci Xi,addresses these limitations.This study aims to examine the short-term surgical outcomes of 240 single-docking fully-robotic rectal cancer resections and compare the outcomes of cases performed with the da Vinci Xi vs Si systems.Materials and methods:All consecutive patients receiving robotic rectal cancer resections from three centres between 2013 and 2018 were identified from prospectively collated databases.The baseline characteristics and short-term surgical outcomes are presented and the da Vinci Xi vs Si system outcomes are analysed.Results:A total of 240 patients were identified(124 Si,116 Xi).Median operation-time and length-of-stay were 260 minutes and 6 days respectively.Conversion and 30-day mortality rates were 0.The da Vinci Si vs Xi system analysis shows that operation-time was lower in the Si group(230 vs 300 min,p=0.000)but length-of-stay,lymph node yield and circumferential resection margin favoured the Xi group(7 vs 5 days,p=0.010;17 vs 21,p=0.000;92.7%vs 99.1%,p=0.020).Conclusion:Single-docking fully-robotic rectal cancer surgery is safe,feasible and can lead to good shortterm outcomes,making it a good alternative to laparoscopic rectal cancer surgery.The new systems technological advances may result in better short-term outcomes but further larger scale observational studies are required if we are to reach such a conclusion. | Sofoklis Panteleimonitis Oliver Pickering Mukhtar Ahmad Mick Harper Tahseen Qureshi Nuno Figueiredo Amjad Parvaiz | 2020 | Laparoscopic, Endoscopic and Robotic Surgery2020，3，1： | 5 |
| 2 | Survey of optimal motion planning显示文摘Optimal motion planning becomes more and more important these days and is critical for motion planning algorithms developed in the academia to be applicable to real-world applications.The objective of this article is to survey the current state-of-the-art on optimal motion planning algorithms in terms of their three main components:the decision variables and problem formulation,constraints,and objectives.A selection of proposed techniques is reviewed along with a discussion of their effectiveness and limitations.The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system-level design choices. | Yajue Yang Jia Pan Weiwei Wan | 2019 | IET Cyber-Systems and Robotics2019，1，1： | 4 |
| 3 | Landing route planning method for micro drones based on hybrid optimization algorithm显示文摘Aiming at the obstacle avoidance trajectory planning problem in the landing process of the micro drone,this paper proposes a swarm optimization algorithm that combines the dragonfly optimization method and the differential evolution method.The orthogonal learning mechanism is adopted to realize the adaptive switch between the two algorithms.In the process of landing route planning,the planning plane is first obtained by making the gliding plane tangent to the obstacle.In the planning plane,the projection of obstacle is transformed into multiple unreachable line segments.By designing an optimization model,the 3D landing route planning problem is transformed into a 2D obstacle avoidance route optimization problem.Taking the shortest route as the optimization objective,the penalty factor is introduced into the cost function to avoid the intersection of the landing route and obstacle.During the optimization process,through the orthogonal learning of the intermediate iterative results,the hybrid algorithm can adaptively select the next iterative algorithm,so it can give full play to the respective advantages of the two algorithms.The optimization results show that,compared with the single optimization algorithm,the hybrid optimization algorithm proposed in this paper can better solve the problem of landing route planning for micro-small UAVs. | Liang Shaoran Song Bifeng Xue Dong | 2021 | Biomimetic Intelligence & Robotics2021，1，1： | 3 |
| 4 | MIROSOT'97 - robotics competition corner显示文摘 | Murphy R | 1998 | Robotics and Autonomous Systems1998，23，： | 3 |
| 5 | Gesture recognition for transhumeral prosthesis control using EMG and NIR显示文摘A key challenge associated with myoelectric prosthesis limbs is the acquisition of a good quality gesture intent signal from the residual anatomy of an amputee.In this study,the authors aim to overcome this limitation by observing the classification accuracy of the fusion of wearable electromyography(EMG)and near-infrared(NIR)to classify eight hand gesture motions across 12 able-bodied participants.As part of the study,they investigate the classification accuracy across a multi-layer perceptron neural network,linear discriminant analysis and quadratic discriminant analysis for different sensing configurations,i.e.EMG-only,NIR-only and EMG-NIR.A separate offline ultrasound scan was conducted as part of the study and served as a ground truth and contrastive basis for the results picked up from the wearable sensors,and allowed for a closer study of the anatomy along the humerus during gesture motion.Results and findings from the work suggest that it could be possible to further develop transhumeral prosthesis using affordable,ergonomic and wearable EMG and NIR sensing,without the need for invasive neuromuscular sensors or further hardware complexity. | Ejay Nsugbe Carol Phillips Mike Fraser Jess McIntosh | 2020 | IET Cyber-Systems and Robotics2020，2，3： | 3 |
| 6 | Investigation of a shape memory alloy actuator for dextrous force-feedback masters显示文摘 | Gharaybeh M A Burdea G C | 1995 | Advanced Robotics1995，9，3： | 3 |
| 7 | Survey of unmanned subterranean exploration,navigation,and localisation显示文摘Subsurface networks include mining tunnels,caves,and the urban underground.Each of these environments presents a complex setting with significant challenges in exploration,exploitation,etc.Multiple hazards exist,including environmental and structural,and conditions degrade and change temporally.We present a survey of research in autonomy,networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments.The focus is on mining tunnels as a proxy subterranean environment;motivated by the proximity of the authors to the Bonita Peak Mining District;a Superfund site consisting of 48 historic mines which have contaminated soil,groundwater and surface water with heavy metals as a result of historic practices.The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation.Arguably,the environment in question is the most extreme and challenging subterranean environment.Unmanned assets must enter to explore and re-map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation.The survey is split into three categories--Locomotion,GPS-denied navigation and localization,and Communication.It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine. | Jeffrey Martz Wesam Al-Sabban Ryan N.Smith | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 3 |
| 8 | Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays显示文摘The performance of a formation control algorithm for a group of autonomous underwater vehicles(AUVs)may be degraded due to communication constraints between the leader and the follower AUVs.Moreover,as the distance between the AUVs change due to ocean waves,the delay in communication also varies.In this study,a modified constrained adaptive controller(CAC)is proposed to resolve the issue of variable-delay as well as actuator saturation.Due to the on-line reduction of the cost function,the gains of the CAC are updated at each sampling time taking into account the effects of communication delay.This improves the path-following accuracy of the leader AUV as well as follower AUVs.The effectiveness of the proposed control algorithm is demonstrated by implementing it on a prototype AUV(ODRA-I)model.The obtained simulation and experimental results show that the follower AUVs maintain a desired distance from the leader AUV to avoid a collision.For the proposed algorithm,the desired path-following performance of the follower AUV is maintained even when the delay is changed from 0 to 5 s.Moreover,the proposed control algorithm is efficient in avoiding actuator saturation. | Chhavi Suryendu Bidyadhar Subudhi | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 3 |
| 9 | Robotic single-incision left hemihepatectomy for intrahepatic bile duct stones by Da Vinci single-site surgical system: A case report with video显示文摘Minimally invasive surgery is a trend in hepatobiliary surgery.A 56-year-old female patient was admitted to our institution for intrahepatic lithiasis.The CT scan showed multiple calculi in the left liver,dilation of the left intrahepatic bile duct and liver atrophy of the left lobe.Robotic single-incision left hemihepatectomy by the single-site systemwas successfully applied.With the idea of enhanced recovery after surgery,the patient was discharged on the third day after the operation without any morbidity.Robotic single-incision surgery is more frequent in gynecologic and urological surgery.As far as we know,this is the first robotic single-incision left hemihepatectomy report in the world. | Xiao Liang Junhao Zheng Jiaqi Gao Yubin Sheng Tianyu Lin Xiujun Cai | 2021 | Laparoscopic, Endoscopic and Robotic Surgery2021，4，3： | 3 |
| 10 | A novel navigation method for autonomous mobile vehicles显示文摘 | Ye C Wang D W | 2001 | J Intell Robot Syst2001，32，4： | 2 |
| 11 | Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems显示文摘This study considers the problem of robust interconnection and damping assignment passivity-based control approach(IDA-PBC)for underactuated mechanical systems from two points of view.First,the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system.Second,the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC,such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled.Finally,the proposed robust controller is evaluated through simulations of two practical examples,i.e.an inertia wheel pendulum and a single-link elastic joint robot.The simulation outcomes clearly reveal the effectiveness of the presented robust controller. | Tahereh Binazadeh Mahsa Karimi Ali Reza Tavakolpour-Saleh | 2019 | IET Cyber-Systems and Robotics2019，1，3： | 2 |
| 12 | Iterative inverse kinematics with manipulator configuration control显示文摘 | GRUDIC G Z | 1993 | IEEE Transctions on Robotics and Automation1993，9，4： | 2 |
| 13 | Basic constitution of a robot for agricultural use 显示文摘 | Naoshi Kondo Mitsuji Monta Tateshi Fujiura | 1996 | Advanced Robotics1996，10，4： | 2 |
| 14 | Viewpoint Independent Representation and Recognition of Polygonal Faces in 3-D Space显示文摘 | Bunke H Glauser T | 1993 | IEEE Journal Robotics and Automation1993，9，2： | 2 |
| 15 | Variable structure tracking control of a single-link flexible arm using time-varying sliding surface 显示文摘 | Eric H K F Cedric K M L | 1999 | J of Robotic Systems1999，16，12： | 2 |
| 16 | A general moment-invariants/attributed-graph method for three-object recognition from a single image显示文摘 | Bamieh B Figueiredo RJ | 1986 | IEEE Journal Robotics and Automation1986，2，5： | 2 |
| 17 | Some new parallel meehanisms containing the planar four-bar parallelogram 显示文摘 | Liu X-J and Wang J | 2003 | International Journal of Robotics Research2003，22，9： | 2 |
| 18 | Towards 3D Point cloud based object maps for household environments显示文摘 | Radu Bogdan Rusu Zoltan Csaba Marton Nico Blodow Mihai Dolha Michael Beetz | 2008 | Robotics and Autonomous Systems2008，，11： | 2 |
| 19 | Inverse trajectory control and zero-dynamics sensitivity of an elastic manipulator显示文摘 | Madhavan S K Singh S N | 1991 | Int J of Robotic Automation1991，6，4： | 2 |
| 20 | Dual redundant arm configuration optimization with task-orientated dual arm manipulability 显示文摘 | Lee S | 1989 | IEEE Transaction on Robotics and Automation1989，5，1： | 2 |
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