Shared control represents a middle ground between supervisory control and traditional bilateral control in which the remote system can exert control over some aspects of the task while the human operator maintains access to low-level forces and motions. In the case of dexterous telemanipulation, a natural approach is to share control of the object handling forces while giving the human operator direct access to remote tactile and force information at the slave fingertips. We describe a set of experiments designed to determine whether shared control can improve the ability of an operator to handle objects delicately and to determine what combinations of force, visual, and audio feedback provide the best level of performance and operator sense of presence. The results demonstrate the benefits of shared control and the need to carefully choose the types and methods of direct and indirect feedback.
The ability to measure mutations in plasma cell-free DNA (cfDNA) has the potential to revolutionize cancer surveillance and treatment by enabling longitudinal monitoring not possible with solid tumor biopsies. However, obtaining sufficient quantities of cfDNA remains a challenge for assay development and clinical translation; consequently, large volumes of venous blood are typically required. Here, we test proof-of-concept for using smaller volumes via fingerstick collection. Matched venous and fingerstick blood were obtained from seven patients with metastatic breast cancer. Fingerstick blood was separated at point-of-care using a novel paper-based concept to isolate plasma centrifuge-free. Patient cfDNA was then analyzed with or without a new method for whole genome amplification via rolling-circle amplification (WG-RCA). We identified somatic mutations by targeted sequencing and compared the concordance of mutation detection from venous and amplified capillary samples by droplet-digital PCR. Patient mutations were detected with 100% concordance after WG-RCA, although in some samples, allele frequencies showed greater variation likely due to differential amplification or primer inaccessibility. These pilot findings provide physiological evidence that circulating tumor DNA is accessible by fingerstick and sustains presence/absence of mutation detection after whole-genome amplification. Further refinement may enable simpler and less-invasive methods for longitudinal or theranostic surveillance of metastatic cancer.
This paper presents a calibration scheme and kinematic mapping to support dexterous telemanipulation. The calibration scheme is intended for use with an instrumented glove and permits an accurate determination of the intended motions of a virtual object grasped between a human operator’s thumb and index finger. The motions of the virtual object are then mapped to analogous motions of a scaled virtual object held in a two-fingered robot hand. A non-linear mapping scheme allows better utilization of the human and robot hand workspaces.
We developed a unique robotic manipulation system that accurately singulates surgical instruments in a cluttered environment. A novel single-view computer vision algorithm identifies the next instrument to grip from a cluttered pile and a compliant electromagnetic gripper picks up the identified instrument. System is validated through extensive experiments.Note to Practitioners-This research was motivated by the challenges of perioperative process in hospitals today. Current process of instrument counting, sorting, and sterilization is highly labor intensive. Improperly sterilized instruments have resulted in many cases of infections. To address these challenges, an inte-
grated robotic system for sorting instruments in a cluttered tray is designed and implemented. A digital camera is used to capture an image of a cluttered tray. A novel single-view vision algorithm is used to detect the instruments and determine the top instrument. Position and orientation of the top instrument is transferred to a robot. A compliant electromagnetic gripper is developed to complete the gripping. Experiments have demonstrated high success rate of both instrument recognition and manipulation. In the future, error handling needs to be further reinforced under various exceptions for better robustness.Index Terms-Bin picking, end-effector, image analysis, robot vision systems.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.