A Self-Aligning Upper-Limb Exoskeleton Preserving Natural Shoulder Movements: Kinematic Compatibility Analysis.

NESM- γ is an upper-limb exoskeleton to train motor functions of post-stroke patients. Based on the kinesiology of the upper limb, the NESM- γ includes a four degrees-of-freedom (DOF) active kinematic chain for the shoulder and elbow, along with a passive chain for self-aligning robotic joint axes with the glenohumeral (GH) joint's center of rotation. The passive chain accounts for scapulohumeral rhythm and trunk rotations. To assess self-aligning performance, we analyzed the kinematic and electromyographic data of the shoulder in eight healthy subjects performing reaching tasks under three experimental conditions: moving without the exoskeleton (baseline), moving while wearing the exoskeleton with the passive DOFs properly functioning, i.e., unlocked (human-in-the-loop(HIL)-unlocked), and with the passive DOFs locked (HIL-locked). Comparison of baseline and HIL-unlocked conditions showed nearly unchanged anatomical movement patterns, with a root-mean-square error of shoulder angle lower than 5 deg and median deviations of the GH center of rotation below 20 mm. Peak muscle activations showed no significant differences. In contrast, the HIL-locked condition deviated significantly from the baseline, as observed by the trunk and GH trajectory deviations up to 50 mm, accompanied by increased peak muscle activations in the Deltoid and Upper Trapezius muscles. These findings highlight the need for kinematic solutions in shoulder exoskeletons that can accommodate the movements of the entire shoulder complex and trunk to achieve kinematic compatibility.

MITEx: A Portable Hand Exoskeleton for Assessment and Treatment in Neurological Rehabilitation.

This work describes the design and preliminary characterization of a novel portable hand exoskeleton for poststroke rehabilitation. The platform actively mobilizes the index-metacarpophalangeal (I-MCP) joint, and it additionally offers individual rigid support to distal degrees of freedom (DoFs) of the index and thumb. The test-bench characterization proves the capability of the device to render torques at the I-MCP level with high fidelity within frequencies of interest for the application (up to 3 Hz). The introduction of a feed-forward friction compensation at the actuator level lowers the output mechanical stiffness by 32%, contributing to a highly transparent behavior; moreover, the functionality of the platform in rendering different interaction strategies (patient/robot-in-charge) is tested with three healthy subjects, showing the potential of the device to provide assistance as needed.

Self-Aligning Finger Exoskeleton for the Mobilization of the Metacarpophalangeal Joint.

In the context of hand and finger rehabilitation, kinematic compatibility is key for the acceptability and clinical exploitation of robotic devices. Different kinematic chain solutions have been proposed in the state of the art, with different trade-offs between characteristics of kinematic compatibility, adaptability to different anthropometries, and the ability to compute relevant clinical information. This study presents the design of a novel kinematic chain for the mobilization of the metacarpophalangeal (MCP) joint of the long fingers and a mathematical model for the real-time computation of the joint angle and transferred torque. The proposed mechanism can self-align with the human joint without hindering force transfer or inducing parasitic torque. The chain has been designed for integration into an exoskeletal device aimed at rehabilitating traumatic-hand patients. The exoskeleton actuation unit has a series-elastic architecture for compliant human-robot interaction and has been assembled and preliminarily tested in experiments with eight human subjects. Performance has been investigated in terms of (i) accuracy of the MCP joint angle estimation through comparison with a video-based motion tracking system, (ii) residual MCP torque when the exoskeleton is controlled to provide null output impedance and (iii) torque-tracking performance. Results showed a root-mean-square error (RMSE) below 5 degrees in the estimated MCP angle. The estimated residual MCP torque resulted below 7 mNm. Torque tracking performance shows an RMSE lower than 8 mNm in following sinusoidal reference profiles. The results encourage further investigations of the device in a clinical scenario.

A low-power ankle-foot prosthesis for push-off enhancement.

Passive ankle-foot prostheses are light-weighted and reliable, but they cannot generate net positive power, which is essential in restoring the natural gait pattern of amputees. Recent robotic prostheses addressed the problem by actively controlling the storage and release of energy generated during the stance phase through the mechanical deformation of elastic elements housed in the device. This study proposes an innovative low-power active prosthetic module that fits on off-the-shelf passive ankle-foot energy-storage-and-release (ESAR) prostheses. The module is placed parallel to the ESAR foot, actively augmenting the energy stored in the foot and controlling the energy return for an enhanced push-off. The parallel elastic actuation takes advantage of the amputee's natural loading action on the foot's elastic structure, retaining its deformation. The actuation unit is designed to additionally deform the foot and command the return of the total stored energy. The control strategy of the prosthesis adapts to changes in the user's cadence and loading conditions to return the energy at a desired stride phase. An early verification on two transtibial amputees during treadmill walking showed that the proposed mechanism could increase the subjects' dorsiflexion peak of 15.2% and 41.6% for subjects 1 and 2, respectively, and the cadence of about 2%. Moreover, an increase of 26% and 45% was observed in the energy return for subjects 1 and 2, respectively.

A Multimodal Sensory Apparatus for Robotic Prosthetic Feet Combining Optoelectronic Pressure Transducers and IMU.

Timely and reliable identification of control phases is functional to the control of a powered robotic lower-limb prosthesis. This study presents a commercial energy-store-and-release foot prosthesis instrumented with a multimodal sensory system comprising optoelectronic pressure sensors (PS) and IMU. The performance was verified with eight healthy participants, comparing signals processed by two different algorithms, based on PS and IMU, respectively, for real-time detection of heel strike (HS) and toe-off (TO) events and an estimate of relevant biomechanical variables such as vertical ground reaction force (vGRF) and center of pressure along the sagittal axis (CoPy). The performance of both algorithms was benchmarked against a force platform and a marker-based stereophotogrammetric motion capture system. HS and TO were estimated with a time error lower than 0.100 s for both the algorithms, sufficient for the control of a lower-limb robotic prosthesis. Finally, the CoPy computed from the PS showed a Pearson correlation coefficient of 0.97 (0.02) with the same variable computed through the force platform.

Survey of transfemoral amputee experience and priorities for the user-centered design of powered robotic transfemoral prostheses.

BACKGROUND: Transfemoral amputees experience a complex host of physical, psychological, and social challenges, compounded by the functional limitations of current transfemoral prostheses. However, the specific relationships between human factors and prosthesis design and performance characteristics have not yet been adequately investigated. The present study aims to address this knowledge gap. METHODS: A comprehensive single-cohort survey of 114 unilateral transfemoral amputees addressed a broad range of demographic and clinical characteristics, functional autonomy, satisfaction and attitudes towards their current prostheses, and design priorities for an ideal transfemoral prosthesis, including the possibility of active assistance from a robotic knee unit. The survey was custom-developed based on several standard questionnaires used to assess motor abilities and autonomy in activities of daily living, prosthesis satisfaction, and quality of life in lower-limb amputees. Survey data were analyzed to compare the experience (including autonomy and satisfaction) and design priorities of users of transfemoral prostheses with versus without microprocessor-controlled knee units (MPKs and NMPKs, respectively), with a subsequent analyses of cross-category correlation, principal component analysis (PCA), cost-sensitivity segmentation, and unsupervised K-means clustering applied within the most cost-sensitive participants, to identify functional groupings of users with respect to their design priorities. RESULTS: The cohort featured predominantly younger (< 50 years) traumatic male amputees with respect to the general transfemoral amputee population, with pronounced differences in age distribution and amputation etiology (traumatic vs. non-traumatic) between MPK and NMPK groups. These differences were further reflected in user experience, with MPK users reporting significantly greater overall functional autonomy, satisfaction, and sense of prosthesis ownership than those with NMPKs, in conjunction with a decreased incidence of instability and falls. Across all participants, the leading functional priorities for an ideal transfemoral prosthesis were overall stability, adaptability to variable walking velocity, and lifestyle-related functionality, while the highest-prioritized general characteristics were reliability, comfort, and weight, with highly variable prioritization of cost according to reimbursement status. PCA and user clustering analyses revealed the possibility for functionally relevant groupings of prosthesis features and users, based on their differential prioritization of these features-with implications towards prosthesis design tradeoffs. CONCLUSIONS: This study's findings support the understanding that when appropriately prescribed according to patient characteristics and needs in the context of a proactive rehabilitation program, advanced transfemoral prostheses promote patient mobility, autonomy, and overall health. Survey data indicate overall stability, modularity, and versatility as key design priorities for the continued development of transfemoral prosthesis technology. Finally, observed associations between prosthesis type, user experience, and attitudes concerning prosthesis ownership suggest both that prosthesis characteristics influence device acceptance and functional outcomes, and that psychosocial factors should be specifically and proactively addressed during the rehabilitation process.

Feasibility and safety of shared EEG/EOG and vision-guided autonomous whole-arm exoskeleton control to perform activities of daily living.

Arm and finger paralysis, e.g. due to brain stem stroke, often results in the inability to perform activities of daily living (ADLs) such as eating and drinking. Recently, it was shown that a hybrid electroencephalography/electrooculography (EEG/EOG) brain/neural hand exoskeleton can restore hand function to quadriplegics, but it was unknown whether such control paradigm can be also used for fluent, reliable and safe operation of a semi-autonomous whole-arm exoskeleton restoring ADLs. To test this, seven abled-bodied participants (seven right-handed males, mean age 30 ± 8 years) were instructed to use an EEG/EOG-controlled whole-arm exoskeleton attached to their right arm to perform a drinking task comprising multiple sub-tasks (reaching, grasping, drinking, moving back and releasing a cup). Fluent and reliable control was defined as average 'time to initialize' (TTI) execution of each sub-task below 3 s with successful initializations of at least 75% of sub-tasks within 5 s. During use of the system, no undesired side effects were reported. All participants were able to fluently and reliably control the vision-guided autonomous whole-arm exoskeleton (average TTI 2.12 ± 0.78 s across modalities with 75% successful initializations reached at 1.9 s for EOG and 4.1 s for EEG control) paving the way for restoring ADLs in severe arm and hand paralysis.

Extent of Surgery and Implications of Transection Margin Status after Resection of IPMNs.

Appropriate surgical strategies for management of intraductal papillary mucinous neoplasms (IPMNs) of the pancreas are a matter of debate. Preoperative and intraoperative evaluation of malignant potential of IPMN and of patient's comorbidities is of paramount importance to balance potential complications of surgery with tumors' risk of being or becoming malignant; the decision about the extent of pancreatic resection and the eventual total pancreatectomy needs to be determined on individual basis. The analysis of frozen-section margin of pancreas during operation is mandatory. The goal should be the complete resection of IPMN reaching negative margin, although there is still no agreed definition of "negative margin." Of note, the presence of deepithelization is often wrongly interpreted as absence of neoplasia. Management of resection margin status and stratification of surveillance of the remnant pancreas, based on characteristics of primary tumour, are of crucial importance in the management of IPMNs in order to decrease the risk of tumor recurrence after resection. Although risk of local and distant recurrence for invasive IPMNs is increased even in case of total pancreatectomy, also local recurrence after complete resection of noninvasive IPMNs is not negligible. Therefore, a long-term/life-time follow-up monitoring is of paramount importance to detect eventual recurrences.

Molecular pathology of intraductal papillary mucinous neoplasms of the pancreas.

Since the first description of intraductal papillary mucinous neoplasms (IPMNs) of the pancreas in the eighties, their identification has dramatically increased in the last decades, hand to hand with the improvements in diagnostic imaging and sampling techniques for the study of pancreatic diseases. However, the heterogeneity of IPMNs and their malignant potential make difficult the management of these lesions. The objective of this review is to identify the molecular characteristics of IPMNs in order to recognize potential markers for the discrimination of more aggressive IPMNs requiring surgical resection from benign IPMNs that could be observed. We briefly summarize recent research findings on the genetics and epigenetics of intraductal papillary mucinous neoplasms, identifying some genes, molecular mechanisms and cellular signaling pathways correlated to the pathogenesis of IPMNs and their progression to malignancy. The knowledge of molecular biology of IPMNs has impressively developed over the last few years. A great amount of genes functioning as oncogenes or tumor suppressor genes have been identified, in pancreatic juice or in blood or in the samples from the pancreatic resections, but further researches are required to use these informations for clinical intent, in order to better define the natural history of these diseases and to improve their management.

GEP-NETS update: a review on surgery of gastro-entero-pancreatic neuroendocrine tumors.

The incidence of neuroendocrine tumors (NETs) has increased in the last decades. Surgical treatment encompasses a panel of approaches ranging from conservative procedures to extended surgical resection. Tumor size and localization usually represent the main drivers in the choice of the most appropriate surgical resection. In the presence of small (<2 cm) and asymptomatic nonfunctioning NETs, a conservative treatment is usually recommended. For localized NETs measuring above 2 cm, surgical resection represents the cornerstone in the management of these tumors. As they are relatively biologically indolent, an extended resection is often justified also in the presence of advanced NETs. Surgical options for NET liver metastases range from limited resection up to liver transplantation. Surgical choices for metastatic NETs need to consider the extent of disease, the grade of tumor, and the presence of extra-abdominal disease. Any surgical procedures should always be balanced with the benefit of survival or relieving symptoms and patients' comorbidities.

The pedagogic evolution in Surgery: the University at the centre of a training which becomes territorialized The model of the region Marche.

AIM: We want to show a new organisational model of General Surgery training, in act in Università Politecnica delle Marche, which sees its strength in the territorial formative network. MATERIAL OF STUDY: In our Athenaeum, this organization is not a recent realization, but the firsts to have benefited completely of this system are the four residents who have completed the General Surgery formation in March 2014, for this reason we report their experience. RESULTS: The four residents benefited of the two years in the peripheral structures, two also performed a period in a foreign country, two chose to spend other 6 months in the peripheral structure to prepare the thesis of specialization; surgical activity has been, for each resident, of 400 interventions on average as first operator (237-476) distributed in great surgery 44 (13-80), middle 172 (129-268) and small 209 (70-378). DISCUSSION: The Formative NETWORK becomes an essential strength at the service of the academic world, the network foresees a continuous update, it can be easily standardized for every resident and it doesn't raise barriers to the foreign countries experiences. CONCLUSIONS: With the purpose to conform the model of specialistic formation in General Surgery, we propose a new tailored italian organizational model, tested the lasts 6 years, which seems to give good results and conform to the european standard of surgical training. KEY WORDS: Formative network, General Surgery, Resident, Training.