Free wall rupture of the left ventricle (LV) is a rare but life-threatening complication of acute myocardial infaction. Very rarely such rupture may be contained by the adhering pericardium creating a pseudoaneurysm. This condition warrants for an emergency surgery. Left ventricular aneurysm is the discrete thinning of the ventricular wall (<5 mm) with akinetic or dyskinetic wall motion causing an out-pouching of the ventricle. Given the propensity for pseudoaneurysms to rupture leading to cardiac tamponade, shock, and death, compared with a more benign natural history for true aneurysms, accurate diagnosis of these conditions is important. True aneurysm, usually, calls for an elective surgery. Clinically differentiating the two conditions remains a challenge. We report the case of a patient with LV pseudoaneurysm, initially diagnosed as true aneurysm at our institution. We have attempted to review the existing literature and discussed the characteristic findings of each entity.

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The venous anomaly of a persistent left superior vena cava (PLSVC) affects 0.3%–0.5% of the general population. PLSVC with absent right superior vena cava, also termed as “isolated PLSVC,” is an extremely rare venous anomaly. Almost half of the patients with isolated PLSVC have cardiac anomalies in the form of atrial septal defect, endocardial cushion defects, or tetralogy of Fallot. Isolated PLSVC is usually innocuous. Its discovery, however, has important clinical implications. It can pose clinical difficulties with central venous access, cardiothoracic surgeries, and pacemaker implantation. When it drains to the left atrium, it may create a right to left shunt. In this case report, we present the incidental finding of isolated PLSVC in a patient who underwent aortic valve replacement. Awareness about this condition and its variations is important to avoid complications.

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SUMMARYOptimization is an important step in the design and development of a planar parallel manipulator. For optimization processes, workspace analysis is a crucial and preliminary objective. Generally, the workspace analysis for such manipulators is carried out using a non-dimensional approach. For planar parallel manipulators of two degrees of freedom (2-DOF), a non-dimensional workspace analysis is very advantageous. However, it becomes very difficult in the case of 3-DOF and higher DOF manipulators because of the complex shape of the workspace. In this study, the workspace shape is classified as a function of the geometric parameters, and the closed-form area expressions are derived for a constant orientation workspace of a three revolute–revolute–revolute (3-RRR) planar manipulator. The approach is also shown to be feasible for different orientations of a mobile platform. An optimization procedure for the design of planar 3-RRR manipulators is proposed for a prescribed workspace area. It is observed that the closed-form area expression for all the possible shapes of the workspace provides a larger solution space, which is further optimized considering singularity, mass of the manipulator, and a force transmission index.

Instantaneous kinematics and singularity analysis of a class of three-legged, 6-DOF parallel manipulators are addressed in this paper. A generic method of derivation of reciprocal screw and consequently, the instantaneous kinematics model is presented. The advantage of this formulation is that the instantaneous kinematics model possesses well-defined geometric meaning and algebraic structure. Singularity analysis is performed under three categories, namely forward, inverse and combined singularities. A new concept of Passive Joint Plane is introduced to correlate the physical structure of the manipulator and these geometric conditions. In the inverse kinematic analysis, a new approach is introduced. At each leg end point a characteristic parallel- epiped is defined whose sides are the linear velocity components from three main joints of the leg. An inverse singularity occurs when the volume of this parallelepiped becomes zero. Examples are demonstrated using RRRS and RPRS-type parallel manipulators.

SUMMARYThe workspace is often a critical parameter for optimum design of parallel manipulators. Workspace shape and area are two important considerations under this. In this paper, 5-R and 3-RRR planar parallel manipulators having symmetric link lengths are considered for workspace analysis. Here, symmetric means that the lengths of the first and second links of the legs are the same in all branches. Workspace analysis for such manipulators is normally done in a nondimensional way. The determination of the workspace area is one of the important parameters in the optimum design of a manipulator, and the determination of the area in terms of nondimensional parameters is extremely difficult in the case of 3-DOF and higher-DOF manipulators. In this paper, a geometric method is presented to determine different workspace shapes and areas. Based on this, all possible shapes of workspace are presented for both 5-R and 3-RRR planar parallel manipulators. For each case, a geometrical relationship between the link lengths is determined. The geometric approach gives a closed-form expression for the area calculation, which is not possible when adopting a nondimensional approach. In addition, this approach provides relationships between workspace shape and area and link lengths.