脑卒中患者上肢康复机器人及评价方法综述

利用机器人技术进行上肢康复训练是脑卒中患者进行康复治疗的重要手段之一。本文根据中枢神经系统具有高度的可塑性,分析了机器人辅助康复训练的理论依据。并且依据康复机器人的社会需求和研究意义,归纳总结了5种上肢康复机器人的研究进展和研究成果,其中包括上肢康复机器人、功能性电刺激辅助上肢康复机器人、基于虚拟现实技术的上肢康复机器人、基于sEMG的上肢康复训练机器人、基于BCI上肢康复训练机器人。为完善康复机器人的功能,实现对脑卒中患者上肢运动功能的量化评估,本文还分析了目前临床上常用的几种评价方法,即Brunnstrom等级评价法、Fugl?Meyer量表评价法、上田敏评价法和Bobath评价法。最后分析了上肢康复机器人在机械设计、控制策略和评价方法等方面的发展趋势。     

Attitudes to a robot bathtub in Danish elder care: A hermeneutic interview study

In Western countries, assistive technology is implemented on a large scale in elder care settings. Only a few studies have attempted to explore the different attitudes to assistive technology among various groups of users. In this study, we investigated and explained the different attitudes among the involved leaders, nursing staff, and older people to a newly‐implemented robot bathtub. Qualitative analyses of eight interviews with managers, nursing staff, and the older users revealed that the informants focused on different aspects (process, values, and functionality, respectively), used different implicit quality criteria, and ascribed different symbolic significance to the robot bathtub. Thus, the study demonstrated how attitudes toward the robot bathtub were connected to the informants’ institutional role. The findings challenge the current paradigm, where technology is expected to operate as a passive tool, simply facilitating desired human acts and interactions. Further studies drawing on the epistemological and ontological perceptions of science technology studies are needed in order to understand human rationalities in the assistive technology context and to offer new insights into how technology “works” in organizations.     

鲤鱼机器人无线遥控系统设计与应用

为解决有线控制时导线对水生动物机器人缠绕和运动束缚问题,设计一种鲤鱼机器人脑电刺激无线遥控系统。其中,系统硬件包括无线通信模块、电刺激信号生成模块、电源模块,系统软件包括串口通信设置、运动模式选择。将脑电极植入后在颅腔表面进行防水封固,将无线电刺激器放入防水包内搭载于鲤鱼机器人上,利用上位机远程控制无线电刺激器,令电刺激器发射信号通过电极刺激脑运动区,控制鲤鱼机器人运动。将鲤鱼机器人(n=10)置于水迷宫进行水下实验,结果显示该系统可以控制鲤鱼机器人的前进、左转向和右转向运动,成功率分别为60%、70%、80%,表明所设计系统及应用方法对鲤鱼机器人水下无线控制均是有效且可行的。     

Share control of surgery robot master manipulator guiding tool along the standard path

Recently, minimally invasive surgery (MIS) robotics enters the phase of autonomous operation. However, because of the high variability of the environment, conducting a fully autonomous surgery is still extremely difficult. This paper presents a share control system, the objective of which is to suggest the optimum path of tool guidance through the use of force on the master manipulator (hereinafter as master), meaning the surgeon's hand. Owing to this type of control, the surgeon has full control over the position of the tool the entire time and is supported by the system to better and faster guide the tool during surgery. The force should be felt by the surgeon but, simultaneously, must not hinder or impact the surgical process. Furthermore, the share control system presented in the paper can be turned on or off at any moment during surgery.     

达芬奇机器人辅助肾肿瘤剜除术后患者的同伴支持教育

目的探究同伴支持教育对达芬奇机器人辅助肾肿瘤剜除术患者社会支持水平及自我管理效能的影响。方法选取2014年9月至2015年11月收治的82例行达芬奇机器人辅助肾肿瘤剜除术患者,随机分为研究组和对照组各41例。对照组开展常规护理干预,研究组引入同伴支持教育。比较两组干预前及干预第4周末社会支持、自我管理效能及健康促进生活方式评分。结果两组干预前各评价指标评分差异无统计学意义(均P0.05),干预后,研究组各项评分显著高于对照组,差异有统计学意义(均P0.01)。结论同伴支持教育应用于行达芬奇机器人辅助肾肿瘤剜除术患者,有助于改善其社会支持水平,且能提高其自我管理效能,进而可促进其健康行为的形成。     

Modifiable Factors to Decrease the Cost of Robotic-Assisted Procedures

In 2000, the US Food and Drug Administration approved the da Vinci Surgical System® for use in the United States. Since that time, the number of surgical robotic systems throughout the United States has continued to grow. The costs for using the system include the initial purchase ($1 million to $2.3 million) plus annual maintenance fees ($100,000 to $150,000) and the cost of limited-use or disposable instruments. Increasing the number of procedures that are performed using the robotic system can decrease the per-procedure costs. Two modifiable factors that contribute to increasing the annual caseload are increasing the number of surgeons capable of using the system and having a properly educated perioperative nursing team. An educated surgical team decreases turnover time, facilitates proper flow of each surgical procedure, and is able to actively and passively solve intraoperative problems.     

Full-driving soft robotic colonoscope in compliant colon tissue

Robotic colonoscopy is an efficient examination method for finding malignant tumour in its early stage. This research developed a novel robotic endoscope with 13?mm diameter, 105?mm length and 22.3?g weight. A contact biomechanical model is proposed to increase the locomotion safety and efficiency in the soft tissue. The model shows that the friction difference between the robot and the tissue is a key factor to locomotion capability. A soft, full bellow with excellent compatibility was designed to package the robot body. The bellow increased the static friction and decreased the kinetic friction given the change in the contact state. The bellow is divided into three segments. Each segment is composed of a linear locomotor with micromotor, turbine-worm and wire wrapping–sliding mechanism. The robot is tested in in vivo pig colon, which revealed an excellent locomotion capability and safety in soft tissues.