scholarly journals Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 245
Author(s):  
Takehito Kikuchi ◽  
Tetsumasa Takano ◽  
Akinori Yamaguchi ◽  
Asaka Ikeda ◽  
Isao Abe
Keyword(s):  
Endoscopic Surgery ◽  
Subjective Assessment ◽  
Assessment Method ◽  
Haptic Interface ◽  
Success Rates ◽  
Robot System ◽  
Mr Fluid ◽  
Actuation System ◽  
Haptic Control ◽  
Ferromagnetic Particles

Magnetorheological fluids (MRFs) are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed an actuation system for the fine haptic control of leader-follower robots. In this study, we developed a haptic interface with two link-type twin-driven MR fluid actuators and two MR fluid brakes for a teleoperation endoscopic surgery system and conducted evaluation tests for a remote operational task with a leader-follower robot system. For evaluations, we adopted the NASA-TLX questionnaire as a subjective assessment method. According to the experimental results, the total success rates were 0.462, 0.333, and 0.591, for the first haptic, middle no-haptic, and second haptic phases, respectively. The force information of the haptic forceps helped users to perceive grasping sensation on their fingers. Statistical analyses on the answers to the questionnaire indicate no significant differences. However, a decreasing tendency in the mental stress in the complicated manipulation tasks for fragile objects is observed.

Reactive robot system using a haptic interface: an active interaction to transfer skills from the robot to unskilled persons

2007 ◽  
Vol 21 (3-4) ◽  
pp. 267-291 ◽  
Author(s):  
Jorge Solis ◽  
Simone Marcheschi ◽  
Antonio Frisoli ◽  
Carlo Alberto Avizzano ◽  
Massimo Bergamasco
Keyword(s):  
Haptic Interface ◽  
Robot System ◽  
Active Interaction

scholarly journals Exposure to Indoor Ferromagnetic Particulate Matter Monitored by Strawberry Plants and the Occurrence of Acute Respiratory Events in Adults

2019 ◽  
Vol 16 (23) ◽  
pp. 4823
Author(s):  
Lieve Van Dyck ◽  
Hayat Bentouhami ◽  
Kyra Koch ◽  
Roeland Samson ◽  
Joost Weyler
Keyword(s):  
Air Pollution ◽  
Logistic Regression ◽  
Particulate Matter ◽  
Exposure Assessment ◽  
Indoor Air Pollution ◽  
Smoking Status ◽  
Assessment Method ◽  
Epidemiologic Research ◽  
Waking Up ◽  
Ferromagnetic Particles

Exposure assessment of air pollution in epidemiologic research remains a challenge. Previous studies showed that magnetic monitoring of strawberry leaves, based on Saturation Isothermal Remnant Magnetization (SIRM), is a valid tool for estimating the concentration of ambient particulate matter (PM). This study uses this assessment method for the first time in epidemiologic research to quantify indoor exposure to PM. In a nested case control study, we evaluated the association between ‘waking up by cough’ and indoor air pollution measured by SIRM of dust deposition on leaves of strawberry plants located in the bedroom in the general adult population. A multiple logistic regression was used to estimate the association between ‘waking up by cough’ and exposure to ferromagnetic particles of PM controlling for age, gender and smoking status. A cut-off of 10 µA was decided to define exposure status (high versus low). Using logistic regression, a crude odds ratio (OR) of 1.80 (95% CI: 0.90–3.60) for ‘waking up by cough’ was found. This association remained approximately the same after controlling for age, gender and smoking status (adjusted OR: 1.76; 95% CI: 0.60–5.30). We found an association between exposure to ferromagnetic particles and ‘waking up by cough’ in adults; however, it was not statistically significant. This environmental exposure assessment method could be a valuable alternative for expensive personal exposure measurement devices.

scholarly journals A retrospective study analysis of success rate following endonasal dacryocystorhinostomy with stents

2019 ◽  
Vol 5 (3) ◽  
pp. 568
Author(s):  
Ritesh Mahajan ◽  
T. M. Nagaraj
Keyword(s):  
Success Rate ◽  
Revision Surgery ◽  
Objective Evaluation ◽  
Subjective Assessment ◽  
Nasolacrimal Duct ◽  
Success Rates ◽  
Endoscopic Endonasal ◽  
Persistent Symptoms ◽  
Primary Surgery ◽  
Single Centre Study

<p class="abstract"><strong>Background:</strong> Endoscopic endonasal dacryocystorhinostomy (EN DCR) has now become a procedure of choice for nasolacrimal duct obstruction or in chronic dacryocystitis. Lots of debate is still going on regarding stent placement following surgery. The purpose of this study is to analyse the subjective and objective success following EN DCR with stents.</p><p class="abstract"><strong>Methods:</strong> In this single centre study, 30 patients underwent EN DCR surgery from May 2011 to March 2013, out of those 20 eligible patients with 26 nasolacrimal duct obstructions underwent EN DCR with stents, and they were included in the study. Success rates were determined with subjective assessment of the patient symptoms and objective evaluation by lacrimal syringing.  </p><p class="abstract"><strong>Results:</strong> 80.7% patients underwent primary surgery and 19.2% patient’s revision surgery, overall success rates was 88.4% out of which 95.2% success rate for primary surgery and 60% success rates of revision surgery. 11.5% of patients complained of persistent symptoms and success rate of ENDCR with stents was observed in 95.2% of patients after primary surgery and in 60% of patient’s after revision surgery. Stent removal was done on 4-6 weeks (mean duration- 5 weeks) and patients follow up time was 6 months.</p><p class="abstract"><strong>Conclusions:</strong> Whether to stent or to not still remain a topic of debate in EN DCR surgery, however ENDCR with stents represents the procedure of choice for treating nasolacrimal duct obstructions.</p>

scholarly journals The Impact of COVID-19 on Sleep in Autistic Adults: Longitudinal Comparisons pre and During Lockdown

2021 ◽  
Vol 12 ◽  
Author(s):  
Elizabeth J. Halstead ◽  
Emma C. Sullivan ◽  
Dagmara Dimitriou
Keyword(s):  
Mental Health ◽  
Sleep Problems ◽  
Subjective Assessment ◽  
Assessment Method ◽  
Cognitive Arousal ◽  
Societal Changes ◽  
Autistic Adults ◽  
Waking Up ◽  
And Coping ◽  
The Impact

Background: The longer-term impact of the pandemic on autistic adults' sleep are yet to be revealed, with studies concentrating on sleep in autistic children or mental health outcomes and coping strategies of autistic adults. Given the prevalence of sleep problems experienced by autistic adults and the changes in routine that have occurred as a result of COVID-19 societal restrictions, this study assessed the impact of the COVID-19 pandemic on sleep problems via a longitudinal subjective assessment method.Methods: Sleep data were gathered at three time points from 95 autistic adults, namely prior to the pandemic, at the start of COVID-19 and several months into COVID-19 to obtain a rich longitudinal dataset ascertaining how/if sleep patterns have changed in autistic adults over these several months.Results: In comparison to pre-lockdown, several sleep components were shown to improve during the lockdown. These improvements included reduced sleep latency (time taken to fall asleep), longer sleep duration, improved sleep efficiency, improved sleep quality, as well as improved daytime functioning. Pre-sleep cognitive arousal scores were found to decrease compared to pre-lockdown, meaning cognitive arousal improved. Approximately 65% of participants reported that they felt their sleep had been impacted since COVID-19 since Time 1, with the most common reasons reported as waking up exhausted (36.92%), not being able to get to sleep (33.85%), waking up in the night (29.23%), having a disrupted sleep pattern (27.69%), and nightmares (18.46%).Conclusions: Improvements in sleep may be related to societal changes (e.g., working from home) during the pandemic. Some of these changes are arguably beneficial for autistic adults in creating a more autism-inclusive society, for example telehealth opportunities for care. Further exploration of the associations between mental health and sleep are warranted.

Twin-driven actuator with multi-layered disc magnetorheological fluid clutches for haptics

2020 ◽  
pp. 1045389X2094395 ◽  
Author(s):  
Takehito Kikuchi ◽  
Isao Abe ◽  
Tomoya Nagata ◽  
Akinori Yamaguchi ◽  
Tetsumasa Takano
Keyword(s):  
Force Control ◽  
Large Range ◽  
Magnetorheological Fluid ◽  
Basic Structure ◽  
Magnetorheological Fluids ◽  
Torque Control ◽  
Link Type ◽  
Actuation Systems ◽  
Haptic Control ◽  
Ferromagnetic Particles

Magnetorheological fluids are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed actuation systems for the fine haptic control of master–slave robots. In this study, we proposed a new structure of a magnetorheological fluid–based actuator suitable for haptic devices. For the basic structure of the actuator, we proposed a twin-driven magnetorheological fluid actuator using two multi-layered disc-type magnetorheological fluid clutches for haptics. We conducted performance measures for the magnetorheological fluid clutches for haptics with three commercially available magnetorheological fluids (i.e. 122EG, 132DG, and 140CG from Lord Corp.). The experimental results show that 132DG is a better material for force control. Then, we proposed two types of twin-driven magnetorheological fluid actuators (i.e. link type and belt type) and compared their performance. The results show that the averages of the time constant are 19.1 and 16.1 ms for the link type and belt type, respectively. Furthermore, the averages of torque error are 0.033 and 0.068 N m for the link type and belt type, respectively. However, the belt-type twin-driven magnetorheological fluid actuator is better if a large range of motion is required, while the link-type twin-driven magnetorheological fluid actuator is better if accurate torque control is required.

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