An advanced endoscopic surgery robotic platform for removal of early-stage gastrointestinal cancer using endoscopic submucosal dissection

Two gastrointestinal (GI) cancers, stomach and colorectal cancer, have the fifth and third highest incident rates and the fourth and second highest mortality rates among all cancers, respectively. Combined, they had 2.8 million new cases and 1.6 million deaths annually. Fortunately, early-stage GI cancer has a high five-year survival rate if the tumour can be removed completely. Endoscopic Submucosal Dissection (ESD) is the gold standard for the removal of early-stage GI cancer as it has a high rate of en-bloc resection and a low rate of recurrence. However, ESD is a very technically challenging surgical operation. It has a relatively high rate of failure, including perforation of the stomach or colon. Therefore, a surgical robotic platform with high dexterity and better ergonomics is in high demand, which can ease the technical problems induced by conventional ESD procedures. In our previous study, a prototype of an endoscopic surgery robotic platform was built and the preliminary experimental results showed that the dual flexible arm robotic platform with wire-driven continuum structure was capable of increasing the efficiency and safety in performing ESD under the master-slave controlling scheme. An advanced robotic platform was built based on this prototype to achieve higher flexibility and production requirements. The design of these two platforms and experimental results will be presented in detail.

Integrated Mobile Robotic Platform Model

Introduction. The “Smart Agroˮ committee of Research and Education Center “Engineering of the Future” has identified a number of tasks relevant for improving the efficiency of precision, soil-protecting and conservation agriculture. One of these tasks is the development of a digital multi-agent system, which provides a number of services for agricultural enterprises, developers and manufacturers of agricultural machinery. The purpose of the present study is to model an autonomous mobile robotic platform, including the development of software and hardware for trajectory control. Materials and Methods. To solve the problem, there are used modern CAx systems and their applications, the methods of 3D and full-body modeling, and the method of numerical solution of problems in solid mechanics. To expand and improve the standard functionality of CAx-systems (SolidWorks) in the software implementation of trajectory control algorithms, the methods and technologies of programming using API SolidWorks, VisualStudio C++ (MFC, ATL, COM) are used, and to build physical full-scale models ‒ Arduino and fischertechnik platforms. Results. The result of the study is a software and hardware module of trajectory control for an integrated (physical and virtual) model of a mobile robotic platform, which can be provided to the consumer as a service for technology autonomation. For the developed integrated model, control algorithms for various types of trajectories were tested. Discussion and Conclusion. The developed integrated software and hardware model of trajectory control can be used by developers and manufacturers of agricultural machinery, and directly by agro-enterprises for implementing typical technological processes. A feature of the implementation is an open hardware and software interface that provides the integration of mobile robotic platforms based on a digital multi-agent system.

Universal Robotic Platform for Diagnosis and Spot Spraying of Trees and Shrubs

The number of threats to the plants is constantly increasing. The harmful impact of pests and plant diseases costs billions of dollars to the global economics each year. Chemical protection of plants from diseases and insects became an urgent problem in crop production, forestry and parks. The study aimed to develop an effective mobile robot for treating trees and shrubs from insects and diseases by spraying with chemicals. The work used monographic and general scientific research methods. A review of existing designs and technologies, as well as an analysis of publications in leading scientific journals, led to the conclusion that there is no one generally accepted technology for remote diagnosis and spot spraying of single trees and shrubs. Most of the technical means used have significant technical and environmental limitations. Currently, there is no unambiguous decision about which machine and technology to choose for solving the problems of remote diagnostics and spot spraying of single plant objects with a height of 2 to 4 meters. Taking into account the identified requirements, a robotic platform was developed for diagnosing and spot spraying of ornamental and fruit trees and tall shrubs. The developed robot is equipped with the necessary set of equipment for moving around the territory and spraying objects, has an increased cross-country ability, works according to a given program, has a minimal environmental impact, and can record data for diagnosing problems on plants. The proposed universal robot can work in agricultural, forest and urban areas, in warehouses and production facilities.

V-OG03 Robotic Epiphrenic Diverticulectomy, Myotomy And Hiatus Hernia Repair

Background Oesophageal epiphrenic diverticulum’s are rare; reported in less than 0.5 per cent of the population. They are noted however in 1–3 per cent of patients complaining of dysphagia. They are almost always associated with a motility disorder of the oesophagus. Surgery is generally the only solution to help with the symptoms of dysphagia and reflux. Methods This video highlights a case of a moderate sized diverticulum causing dysphagia and significant reflux. The procedure was performed on the DaVinci X system; to my knowledge, this is the first time this technique has been performed on the DaVinci X in the UK. A 4 arm technique was used, utilising two right arms and one left. Instruments used were cadiere forceps, hook and sureform stapler. The 12 mm port was docked with arm 3 and sited on the patients left. A stapled diverticulectomy was performed with the Sureform blue cartridge. An endoflex was used to retract the liver. Results The procedure was successfully performed in 150 minutes and involved resection of the diverticulum, hiatal repair and short myotomy up to the neck of the diverticulum. Conclusion The robotic platform allows for better visualisation of the hiatal structures and vagal nerves and the enhanced magnification make for a safer myotomy. The articulating instruments permit safer dissection of the diverticulum. A 4 arm technique makes the myotomy easier and safer to perform.

The basic architecture of mobile robotic platform with intelligent motion control system and data transmission protection

The requirements for a mobile robotic platform (MRP) with an intelligent traffic control system and data transmission protection are determined. Main requirements are the reduction of dimensions, energy consumption, and cost; remote and intelligent autonomous traffic control; real-time cryptographic data protection; preservation of working capacity in the conditions of action of external factors; adaptation to customer requirements; ability to perform tasks independently in conditions of uncertainty of the external environment. It is proposed to develop a mobile robotic platform based on an integrated approach including: navigation methods, methods of pre-processing and image recognition; modern methods and algorithms of intelligent control, artificial neural networks, and fuzzy logic; neuro-like methods of cryptographic data transmission protection; modern components and modern element base; methods of intellectual processing and evaluation of data from sensors in the conditions of interference and incomplete information; methods and means of automated design of MRP hardware and software. The following principles were chosen for the development of a mobile robotic platform with an intelligent control system and cryptographic protection of data transmission: hierarchical construction of an intelligent control system; systematicity; variable composition of equipment; modularity; software openness; compatibility; specialization and adaptation of hardware and software to the structure of algorithms for data processing and protection; use of a set of basic design solutions. The basic architecture of a mobile robotic platform with an intelligent traffic control system and data transmission protection has been developed, which is the basis for the construction of mobile robotic platforms with specified technical and operational parameters. To implement neuro-like tools, the method of tabular-algorithmic calculation of the scalar product was improved, which due to the simultaneous formation of k macroparticle products provides k times reduction of the time of the scalar product calculation. Keywords: mobile robotic platform; intelligent processing; architecture; neural network; autonomous control; sensors; data protection.