Interventional Status Awareness Based Manipulating Strategy for Robotic Soft Endoscopy

Traditional soft endoscopy is operated with naked eyes and use of hands. Robotic soft endoscopy frees the hands of endoscopists, which reduces the labor-intensity and complexity of operation and improves the operational accuracy of endoscope, but it’s hardly to be reliably performed because the operator lacks of situational awareness of endoscopic interventional status when the hands are detached from the endoscope. This paper first presents a method to perceive the interventional status of endoscope based on image processing, the interventional status includes insertion length and velocity. A manipulating strategy was designed according to the perceived endoscope interventional status and construction parameters of dual robotic arms in order to achieve reliable interventional endoscopy. Human phantom experiments are carried out to verify the effectiveness and feasibility of the proposed interventional status awareness method and manipulating strategy. The results show that the robotic soft endoscopy can be well performed with the ability of interventional status awareness and coordinated manipulation of dual arms. The perceived insertion length indicates the position of the tip of endoscope in human body and the designed manipulating strategy is effective in endoscopic shape retention and torque transmission.

Optimising endotracheal length in adult cats: a retrospective CT study

Objectives The aim of this study was to determine the maximal endotracheal insertion length by measuring the larynx to carina (L–C) distance by means of CT. An additional objective was to establish certain anatomical landmarks to optimise the process of endotracheal intubation (ETI). Methods Head, neck and thoracic CT images from adult cats at a single referral hospital between 2013 and 2020 were retrospectively evaluated. After standardising and identifying key markers (larynx, carina and first rib) the L–C, larynx to first rib (L–1R) and first rib to carina (1R–C) distances were measured. Results Forty-five adult cats were enrolled in the study, from which a total of nine different breeds were identified. The L–C distance was 14.3 ± 1.1 cm. This was longer in male (14.7 ± 1.1 cm) than in female cats (13.5 ± 0.7 cm). The first rib (1R) was 8.8 ± 0.7 cm from the larynx and the mean 1R–C distance was 5.4 ± 0.7 cm. The carina was found within the fifth intercostal space in 93.3% (n = 42) of the cats. Conclusions and relevance The process of ETI in adult cats may be guided by using the L–C and L–1R distance for a maximal and optimal endotracheal tube introduction, respectively. In addition, the maximal insertion length may be guided by estimating the position of the carina parallel to the fifth intercostal space.

Landmark-based estimation vs. linear regression model: a retrospective comparison for prediction of optimal length of right subclavian vein catheterization in infants

Background: The optimal insertion length for right subclavian vein catheterization in infants has not been determined. This study retrospectively compared landmark-based and linear regression model-based estimation of optimal insertion length for right subclavian vein catheterization in pediatric patients of corrected age < 1 year. Methods: Fifty catheterizations of the right subclavian vein were analyzed. The landmark related distances were: from the needle insertion point (I) to the tip of the sternal head of the right clavicle (A) and from A to the midpoint (B) of the perpendicular line drawn from the sternal head of the right clavicle to the line connecting the nipples. The optimal length of insertion was retrospectively determined by reviewing post-procedural chest radiographs. Estimates using a landmark-based equation (IA + AB – intercept) and a linear regression model were compared with the optimal length of insertion. Results: A landmark-based equation was determined as IA + AB – 5. The mean difference between the landmark-based estimate and the optimal insertion length was 1.0 mm (95% limits of agreement –18.2 to 20.3 mm). The mean difference between the linear regression model (26.681 – 4.014 × weight + 0.576 × IA + 0.537 × AB – 0.482 × postmenstrual age) and the optimal insertion length was 0 mm (95% limits of agreement –16.7 to 16.7 mm). The difference between the estimates using these two methods was not significant. Conclusion: A simple landmark-based equation may be useful for estimating optimal insertion length in pediatric patients of corrected age < 1 year undergoing right subclavian vein catheterization.

Analysis of the Pipelines Functional Safety on the Mining Areas

Buried pipeline systems, which transports water, sewage, oil or gas, perform the substantial role in urban areas. Sometimes their safe functioning is hampered because of damages caused in mining areas. In this article a characterization of the influence of mining activities on underground pipelines was presented. A description and classification of damages to pipelines with reference to mining influences were given of the various different pipelines systems and pipes materials. An illustrative example of damages to the stoneware sewage pipeline located on the mining area was presented. The effort of such pipe was carried out with using numerical methods (FEM). Model 2D represented stoneware pipe - soil system influenced by traffic load (SLW60) and the mining ground deformations (horizontal strains increasing from 0 to 9 mm/m). Model was built in ZSoil.PC program. The numerical analysis was performed as incremental and iterative. On the basis of the obtained results of numerical analysis (internal forces) the safety factors for various pipes classes with different bending strength were determined. Moreover, functional safety of the spigot-and-socked joints subjected mining impact was also assessed. During increasing of mining impact the insertion length at joints should provide free movement of spigots inside the socket, without losing the join tightness. It has been shown that the insertion length at analyzed stoneware pipes joints wasn’t appropriate which may result in damage of the spigot-and-socked joints during increasing the mining ground deformations.