Functional Outcome in Obese Patients Undergoing Image-Based Cruciate Retaining Robotic-Assisted Total Knee Arthroplasty Using the Subvastus Approach: A Short-Term Study.

Introduction Knee osteoarthritis (OA) is a prevalent degenerative joint disease that significantly affects quality of life, especially among obese and morbidly obese individuals. Total knee arthroplasty (TKA) is an effective treatment for end-stage OA, but it presents unique challenges in obese patients. The mini-subvastus approach (SA) and robotic-assisted TKA (RA-TKA) are emerging techniques that may address these challenges. This study evaluates the clinical and radiological outcomes of cruciate-retaining (CR) RA-TKA using the mini-subvastus approach in obese and morbidly obese patients. Methods This study included 114 obese patients (215 knees) with primary OA who underwent CR RA-TKA (Maxx Meril CR knee, USA) using the Cuvis Joint® robotic system. Patients had a BMI of ≥30 kg/m² (n=101) and morbid obesity with a BMI ≥40 kg/m² (n=13). Preoperative planning involved CT scans and the J-planner for optimal implant size and positioning. Surgery was performed without tourniquets, and patients were mobilized postoperatively. Clinical outcomes were assessed using visual analog scale (VAS) scores and the American Knee Society Score (AKSS) at three and six months. Results The study included 85 females and 29 males with an average age of 61.8 years. Satisfactory knee exposure was achieved in all cases using SA, with no major complications such as wound infections, deep vein thrombosis, or component misalignment. Intraoperative challenges were managed effectively, including two cases of medial collateral ligament avulsion and one partial patellar tendon avulsion. Postoperative VAS scores showed significant pain reduction from pre-op (6.54) to post-op day 3 (1.3). AKSS improved from a pre-op average of 33.9 to 70.7 at three months and 80.9 at six months. Most patients (80%) achieved exceptional range of motion (ROM) ≥120° at six months. Discussion The mini-subvastus approach in RA-TKA offers several advantages, including reduced postoperative pain, faster recovery, and improved quadriceps strength, even in obese patients. The use of robotic assistance ensures accurate component positioning and alignment, mitigating the challenges typically associated with obese patients undergoing TKA. Conclusion The study demonstrates the feasibility and effectiveness of CR RA-TKA using the mini-subvastus approach in obese and morbidly obese patients. This technique provides adequate exposure, reduces pain, and promotes early mobilization and recovery with satisfactory clinical and radiological outcomes. The findings support the potential for wider adoption of this approach in managing knee OA in obese populations, though further studies with longer follow-up are warranted.

Robotic arm-assisted versus conventional total knee arthroplasty: comparing complications, costs, and postoperative opioid use in propensity-matched cohorts.

PURPOSE: Limited literature exists substantiating benefits of robotic arm-assisted total knee arthroplasty (raTKA) over conventional total knee arthroplasty (cTKA). This study compared postoperative pain, complications, and costs between patients undergoing raTKA and cTKA using large, propensity score-matched cohorts. We hypothesize that the raTKA cohort will be associated with lower pain, lower anemia, and similar cost and other complications. METHODS: A commercially available patient database was used for this study. Patients with raTKA and cTKA were identified with current procedural terminology and international classification of diseases (ICD-9/ICD-10) codes. Exclusions and propensity score matching were applied to mitigate confounding bias. Complication rates, costs, and postoperative opioid uses were then compared between groups. RESULTS: Compared with patients with cTKAs (n = 31,105), patients with raTKAs (n = 6,221) had less postoperative opioid use (p < 0.01), lower rates of postoperative acute renal failure (OR 0.71; p < 0.01), anemia (OR 0.75; p < 0.01), and periprosthetic joint infection (OR 0.59; p = 0.04), and lower index costs ($875 vs. $1,169, p < 0.01). CONCLUSION: RaTKA was associated with less postoperative pain and complications compared with cTKA.

In Situ Fabrication of TiC/Ti-Matrix Composites by Laser Directed Energy Deposition.

In this study, crack-free TiC/Ti composites with TiC content ranging from 0 to 15 wt.% were successfully fabricated using Direct Energy Deposition with a dual-feeder system that concomitantly delivered different amounts of both constituents into a high-power laser beam. The samples were investigated to evaluate the morphologies and distribution behavior of TiC. The microhardness values of the samples obtained under optimal processing conditions increased from 192 ± 5.3 HV0.2 (pure Ti) to 300 ± 14.2 HV0.2 (Ti + wt.% 15 TiC). Also, TiC has a significant impact on the Ti matrix, increasing the strength of TMCs up to 725 ± 5.4 MPa, while the elongation drastically decreased to 0.62 ± 0.04%. The wear rate is not proportionally affected by the rise content of TiC reinforcement; the hypoeutectic region of TMCs exhibited a wear rate of 2.45 mm3/N·m (Ti + wt.% 3 TiC) and a friction coefficient of 0.48 compared to the ones from the hypereutectic region, which measured a wear rate of 3.02 mm3/N·m (Ti + wt.% 15 TiC) and a friction coefficient of 0.63. The improved values of mechanical properties in the case of TMCs as compared to pure Ti are provided due to the solid solution strengthening of carbon and the fine grain strengthening. This work outlines a method for changing TiC morphologies to improve the hardness and tensile strength of TMCs fabricated starting from micro-scale powder.

Hybrid-3D robotic suite in spine and trauma surgery - experiences in 210 patients.

BACKGROUND: In modern Hybrid ORs, the synergies of navigation and robotics are assumed to contribute to the optimisation of the treatment in trauma, orthopaedic and spine surgery. Despite promising evidence in the area of navigation and robotics, previous publications have not definitively proven the potential benefits. Therefore, the aim of this retrospective study was to evaluate the potential benefit and clinical outcome of patients treated in a fully equipped 3D-Navigation Hybrid OR. METHODS: Prospective data was collected (March 2022- March 2024) after implementation of a fully equipped 3D-Navigation Hybrid OR ("Robotic Suite") in the authors level 1 trauma centre. The OR includes a navigation unit, a cone beam CT (CBCT), a robotic arm and mixed reality glasses. Surgeries with different indications of the spine, the pelvis (pelvic ring and acetabulum) and the extremities were performed. Spinal and non-spinal screws were inserted. The collected data was analysed retrospectively. Pedicle screw accuracy was graded according to the Gertzbein and Robbins (GR) classification. RESULTS: A total of n = 210 patients (118 m:92f) were treated in our 3D-Navigation Hybrid OR, with 1171 screws inserted. Among these patients, 23 patients (11.0%) arrived at the hospital via the trauma room with an average Injury Severity Score (ISS) of 25.7. There were 1035 (88.4%) spinal screws inserted at an accuracy rate of 98.7% (CI95%: 98.1-99.4%; 911 GR-A & 111 GR-B screws). The number of non-spinal screws were 136 (11.6%) with an accuracy rate of 99.3% (CI95%: 97.8-100.0%; 135 correctly placed screws). This resulted in an overall accuracy rate of 98.8% (CI95%: 98.2-99.4%). The robotic arm was used in 152 cases (72.4%), minimally invasive surgery (MIS) was performed in 139 cases (66.2%) and wound infection occurred in 4 cases (1,9%). Overall, no revisions were needed. CONCLUSION: By extending the scope of application, this study showed that interventions in a fully equipped 3D-Navigation Hybrid OR can be successfully performed not only on the spine, but also on the pelvis and extremities. In trauma, orthopaedics and spinal surgery, navigation and robotics can be used to perform operations with a high degree of precision, increased safety, reduced radiation exposure for the OR-team and a very low complication rate.

Collaborative robot acting as scrub nurse for cataract surgery (CRASCS).

Worldwide, healthcare systems are struggling to tackle a nursing shortage. As per the data released by the American Hospital Association, the healthcare workforce could face a loss of around 5 lakh nurses by the end of the year. Consequently, it could result in those deficiencies, which will be 1.1 million instead of 0.6 million. The current nursing scenario in India as per the Indian Nursing Council (INC), which is a board under the ministry and is responsible for legally confirming and maintaining universal standardized training for nursing, is that the 1.96 nurses out of every 1000 Indians that are there are much behind the World Health Organization's (WHO) recommended figure of 3 nurses per 1000. To mitigate the nurse shortage, a collaborative robotic system was designed that can assist with surgical procedures with a collaborative robot acting as a scrub nurse for cataract surgery (CRASCS) represented in Fig. 1. Accordingly, the model has been built to empower a customized 3d printed 5-Degree of freedom robotic arm by tracking the phase of surgery in real-time and automatically supplying the clinician with the ideal equipment that is needed for the particular phase of surgery. The system is supported with one more model which can identify where the surgical equipment is located within the arm range. The system is also supported with voice commands which help in picking up the right surgical equipment in the middle of any phase of the surgery. In this way, the system could be able to potentially handle the shortage of surgical nurses around the world and benefit humanity.

Effect of tibia-first, restricted functional alignment technique on gap width changes, and component positioning in robotic arm-assisted total knee arthroplasty.

PURPOSE: This study aims to quantitatively assess the predictability of post-resection gap dimensions and the attainment of balanced gaps using robotic arm-assisted total knee arthroplasty (TKA). METHODS: This retrospective cohort study included 100 consecutive patients who underwent robotic arm-assisted TKA for knee osteoarthritis using a restricted functional alignment (FA) technique. Tibial cuts were performed based on preoperative tibial anatomy within predefined boundaries, followed by femoral component adjustments according to tensioned soft tissues to optimise gap balance. The primary outcome was the proportion of balanced gaps, defined as differential laxities of ≤2 mm, across extension, flexion, lateral, and medial gap measurements. Ligament balancing in lateral and medial compartments was assessed using a robotic system at 10° and 90° flexion to evaluate if restricted FA facilitated a balanced knee. Secondary outcomes included implant alignment, resection depth, and patient-reported outcome measures (PROMs). RESULTS: Significant increases in both lateral and medial gaps at 10° and 90° flexion were observed following tibial and femoral bone resections (p < 0.001). At extension, average gap changes were 0.9 mm (lateral) and 1.6 mm (medial) after tibial cuts, and 0.5 mm (lateral) and 1.2 mm (medial) after femoral cuts. At 90° flexion, changes were 0.3 mm (lateral) and 1.7 mm (medial) following tibial cuts, and 1.0 mm (lateral) and 1.4 mm (medial) after femoral cuts. Despite these variations, the tibia-first, gap-balancing technique achieved overall balance in 98% of gap measurements. The tibial component was placed at an average of 2.1° varus, while the femoral component was positioned at 0.3° varus and 1.3° external rotation relative to the surgical transepicondylar axis. Significant improvements in PROMs were noted between preoperative and one-year postoperative evaluations (all p < 0.05). CONCLUSIONS: The tibia-first, restricted FA technique achieved a well-balanced knee in 98% of cases, despite inconsistent gap increments observed between initial assessments and post-resection. LEVEL OF EVIDENCE: Therapeutic Level IV.

Simultaneous robotic-assisted laser thermal ablation of multiple cortical tubers for drug-resistant epilepsy in a 17-year-old patient with Tuberous Sclerosis Complex.

Magnetic resonance guided laser interstitial thermal therapy (MRgLITT) is a new minimally invasive treatment for Tuberous Sclerosis Complex (TSC) associated epilepsy in children. This video describes a case of a 17-year-old girl with TSC-associated drug resistant epilepsy treated with robotic-assisted MRgLITT. In our case, MRgLITT was safe and effective in simultaneous targeting multiple epileptic tubers in one single procedure, leading to a marked decrease in seizure frequency. MRgLITT could be a promising and more appealing treatment option for children who may need multiple surgeries over their lifetime due to the progressive nature of TSC.

Variability in Alignment and Bone Resections in Robotically Balanced Total Knee Arthroplasties.

Image-based robotic-assisted total knee arthroplasty (RA-TKA) allows three-dimensional surgical planning informed by osseous anatomy, with intraoperative adjustment based on a dynamic assessment of ligament laxity and gap balance. The aim of this study was to identify ranges of implant alignment and bone resections with RA-TKA. We retrospectively reviewed 484 primary RA-TKA cases, stratified by preoperative coronal alignment. Demographics and intraoperative data were collected and compared using Chi-square and ANOVA tests. Planned limb, femoral, and tibial alignment became increasingly varus in a progressive order from valgus to neutral to the highest in varus knees (p < 0.001). Planned external transverse rotation relative to the TEA was lowest in the valgus cohort; relative to the PCA, whereas the varus cohort was highest (p < 0.001, both). Planned resections of the lateral distal femur and of the medial posterior femur were greater in the varus group compared to neutral and valgus (p < 0.001). There were significant differences between cohorts in planned tibia resections, laterally and medially. Varus knees demonstrated higher variability, while valgus and neutral had more metrics with low variability. This study demonstrated trends in intraoperative planned alignment and resection metrics across various preoperative coronal knee alignments. These findings contribute to the understanding of RA-TKA and may inform surgical decision-making.

User expectations and experiences of an assistive robotic arm in amyotrophic lateral sclerosis: a multicenter observational study.

OBJECTIVE: Robotic arms are innovative assistive devices for ALS patients with progressive motor deficits of arms and hands. The objective was to explore the patients´ expectations towards a robotic arm system and to assess the actual experiences after the provision of the device. METHODS: A prospective observational study was conducted at 9 ALS centers in Germany. ALS-related functional deficits were assessed using the ALS-Functional Rating Scale-revised (ALSFRS-R). Motor deficit of the upper limbs was determined using a subscore of three arm-related items of the ALSFRS-R (items 4-6; range 0-12 points). User expectations before provision (expectation group, n = 85) and user experiences after provision (experience group, n = 14) with the device (JACO Assistive Robotic Device, Kinova, Boisbriand, QC, Canada) were assessed. RESULTS: In the total cohort, mean ALSFRS-R subscore for arm function was 1.7 (SD: 2.0, 0-9) demonstrating a severe functional deficit of the upper limbs. In the expectation group (n = 85), the following use cases of the robotic arm have been prioritized: handling objects (89%), close-body movements (88%), pressing buttons (87%), serving drinks (86%), and opening cabinets and doors (85%). In the experience group (n = 14), handling objects (79%), serving drinks (79%), near-body movements (71%), pushing buttons (71%), serving food (64%), and opening doors (64%) were the most frequent used cases. Most patients used the device daily (71.4%, n = 10), and 28.6% (n = 4) several times a week. All patients of the experience group found the device helpful, felt safe while using the device, and were satisfied with its reliability. NPS of the assistive robotic arm revealed 64% "promoters" (strong recommendation), 29% "indifferents" (uncertain recommendation) and 7% "detractors" (no recommendation). Total NPS was + 57 demonstrating strong patient satisfaction. CONCLUSIONS: Initiation of procurement with a robotic assistive arm was confined to patients with severe functional deficit of the upper limbs. User experience underlined the wide spectrum of use cases of assistive robotic arms in ALS. The positive user experience together with high satisfaction underscore that robotic arm systems serve as a valuable treatment option in ALS patients with severe motor deficits of the arms.

Early Radiographic and Clinical Outcomes of Robotic-arm-assisted versus Conventional Total Knee Arthroplasty: A Multicenter Randomized Controlled Trial.

OBJECTIVE: A robotic system was recently introduced to improve prosthetic alignment during total knee arthroplasty (TKA). The purpose of this multicenter, prospective, randomized controlled trial (RCT) was to determine whether robotic-arm-assisted TKA improves clinical and radiological outcomes when compared to conventional TKA. METHODS: One hundred and thirty patients who underwent primary TKA were enrolled in this prospective, randomized controlled trial, which was conducted at three hospitals. Five patients were lost to follow-up 6 weeks after surgery. Therefore, 125 participants (63 in the intervention group and 62 in the control group) remained in the final analysis. The primary outcome was the rate at which the mechanical axis of the femur deviated by less than 3° from the mechanical axis of the tibia. This was evaluated by full-length weight-bearing X-rays of the lower limb 6 weeks postoperatively. Secondary outcomes included operation times, 6-week postoperative functional outcomes evaluated by the American Knee Society score (KSS) and the Western Ontario and McMaster Universities osteoarthritis index (WOMAC), short form-36 (SF-36) health survey results, and the occurrence of adverse events (AEs) and serious adverse events (SAEs). RESULTS: At 6 weeks postoperatively, we found that the rate of radiographic inliers was significantly higher in the intervention group (78.7% vs 51.6%; p = 0.00; 95% confidence interval, 10.9% to 43.2%). The operation was significantly longer in the intervention group than in the control group (119.5 vs 85.0 min; p = 0.00). There were no significant differences in the 6-week postoperative functional outcomes, SF-36, AEs, and SAEs between the two groups. There were no AEs or SAEs that were determined to be "positively related" to the robotic system. CONCLUSION: Robotic-arm-assisted TKA is safe and effective, as demonstrated in this trial.

Robot-Assisted Ocular Tumour Radiotherapy Positioning and Tracking System.

BACKGROUND: Precise dose position distribution is crucial for ocular proton therapy. METHODS: A non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face. RESULTS: After all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01° (SD 0.02°). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability. CONCLUSION: The system is expected to improve the safety and efficiency of ocular proton therapy.

Smart ArM: a customizable and versatile robotic arm prosthesis platform for Cybathlon and research.

BACKGROUND: In the last decade, notable progress in mechatronics paved the way for a new generation of arm prostheses, expanding motor capabilities thanks to their multiple active joints. Yet, the design of control schemes for these advanced devices still poses a challenge, especially with the limited availability of command signals for higher levels of arm impairment. When addressing this challenge, current commercial devices lack versatility and customizing options to be employed as test-beds for developing novel control schemes. As a consequence, researchers resort to using lab-specific experimental apparatuses on which to deploy their innovations, such as virtual reality setups or mock prosthetic devices worn by unimpaired participants. METHODS: To meet this need for a test-bed, we developed the Smart Arm platform, a human-like, multi-articulated robotic arm that can be worn as a trans-humeral arm prosthesis. The design process followed three principles: provide a reprogrammable embedded system allowing in-depth customization of control schemes, favor easy-to-buy parts rather than custom-made components, and guarantee compatibility with industrial standards in prosthetics. RESULTS: The Smart ArM platform includes motorized elbow and wrist joints while being compatible with commercial prosthetic hands. Its software and electronic architecture can be easily adapted to build devices with a wide variety of sensors and actuators. This platform was employed in several experiments studying arm prosthesis control and sensory feedback. We also report our participation in Cybathlon, where our pilot with forearm agenesia successfully drives the Smart Arm prosthesis to perform activities of daily living requiring both strength and dexterity. CONCLUSION: These application scenarios illustrate the versatility and adaptability of the proposed platform, for research purposes as well as outside the lab. The Smart Arm platform offers a test-bed for experimenting with prosthetic control laws and command signals, suitable for running tests in lifelike settings where impaired participants wear it as a prosthetic device. In this way, we aim at bridging a critical gap in the field of upper limb prosthetics: the need for realistic, ecological test conditions to assess the actual benefit of a technological innovation for the end-users.

Robotic Arm-Assisted System Improved Accuracy of Cup Position and Orientation in Cementless Total Hip Arthroplasty for Dysplastic Hips: A Comparison Among Groups With Manual Placement, Computed Tomography-Based Navigation, and Robotic Surgery.

Background: Accurate cup placement in total hip arthroplasty (THA) for patients with dysplasia is challenging due to the distinctive bone deformities. This study aimed to compare the accuracy of cup placement position and orientation across robotic arm-assisted systems (R-THA), computed tomography-based navigation (N-THA), and manual procedure (M-THA) in THA for osteoarthritis secondary to dysplasia. Methods: A total of 167 patients (197 hips), including 88 R-THAs, 45 N-THAs, and 46 M-THAs, were analyzed. Propensity score matching was performed to align the patient backgrounds. Horizontal and vertical centers of rotation were measured for cup position, whereas radiographic inclination and anteversion were measured for cup orientation. The proportion of cases with cup placement within 3 mm and 5° from the target was compared. Results: R-THA had a significantly higher percentage of cup placement within 3 mm of the target compared to N-THA (78% vs 49%; P = .0041) and M-THA (78% vs 53%; P = .013). Similarly, R-THA was significantly more successful in placing the cup within 5° of the target compared to N-THA (84% vs 58%; P = .0049) and M-THA (91% vs 20%; P < .0001). Moreover, N-THA was significantly better at placing the cup within 5° of the target compared to M-THA (62% vs 14%; P < .0001), whereas there was no significant difference in the percentage of cup placement within 3 mm of the target (51% vs 51%; P = 1.0). Conclusions: Robotic arm-assisted system and computed tomography-based navigation improved accuracy in cup orientation compared to the manual procedure. Additionally, the robotic arm-assisted system further improved cup position accuracy.

A new gap balancing technique with functional alignment in total knee arthroplasty using the MAKO robotic arm system: a preliminary study.

BACKGROUND: Gap tension is an important factor influencing the clinical outcomes of total knee arthroplasty (TKA). Traditional mechanical alignment (MA) places importance on neutral alignment and often requires additional soft tissue releases, which may be related to patient dissatisfaction. Conversely, the functional alignment requires less soft tissue release to achieve gap balance. Conventional gap tension instruments present several shortcomings in practice. The aim of this study is to introduce a new gap balancing technique with FA using the modified spacer-based gap tool and the MAKO robotic arm system. METHODS: A total of 22 consecutive patients underwent primary TKA using the MAKO robotic arm system. The gap tension was assessed and adjusted with the modified spacer-based gap tool during the operation. Patient satisfaction was evaluated post-operatively with a 5-point Likert scale. Clinical outcomes including lower limb alignment, Knee Society Score (KSS) and Western Ontario and McMaster Universities Arthritis Index (WOMAC) were recorded before surgery, 3 months and 1 year after surgery. RESULTS: The range of motion (ROM) was significantly increased (p < 0.001) and no patients presented flexion contracture after the surgery. KSS and WOMAC score were significantly improved at 3 months and 1 year follow-up (p < 0.001 for all). During the surgery, the adjusted tibial cut showed more varus than planned and the adjusted femoral cut presented more external rotation than planned (p < 0.05 for both). The final hip-knee-ankle angle (HKA) was also more varus than planned (p < 0.05). CONCLUSIONS: This kind of spacer-based gap balancing technique accompanied with the MAKO robotic arm system could promise controlled lower limb alignment and improved functional outcomes after TKA.

Soft Fibrous Syringe Architecture for Electricity-Free and Motorless Control of Flexible Robotic Systems.

Flexible robotic systems (FRSs) and wearable user interfaces (WUIs) have been widely used in medical fields, offering lower infection risk and shorter recovery, and supporting amiable human-machine interactions (HMIs). Recently, soft electric, thermal, magnetic, and fluidic actuators with enhanced safety and compliance have innovatively boosted the use of FRSs and WUIs across many sectors. Among them, soft hydraulic actuators offer great speed, low noise, and high force density. However, they currently require bulky electric motors/pumps, pistons, valves, rigid accessories, and complex controllers, which inherently result in high cost, low adaptation, and complex setups. This paper introduces a novel soft fibrous syringe architecture (SFSA) consisting of two or more hydraulically connected soft artificial muscles that enable electricity-free actuation, motorless control, and built-in sensing ability for use in FRSs and WUIs. Its capabilities are experimentally demonstrated with various robotic applications including teleoperated flexible catheters, cable-driven continuum robotic arms, and WUIs. In addition, its sensing abilities to detect passive and active touch, surface texture, and object stiffness are also proven. These excellent results demonstrate a high feasibility of using a current-free and motor-less control approach for the FRSs and WUIs, enabling new methods of sensing and actuation across the robotic field.

Gesture-Controlled Robotic Arm for Agricultural Harvesting Using a Data Glove with Bending Sensor and OptiTrack Systems.

This paper presents a gesture-controlled robotic arm system designed for agricultural harvesting, utilizing a data glove equipped with bending sensors and OptiTrack systems. The system aims to address the challenges of labor-intensive fruit harvesting by providing a user-friendly and efficient solution. The data glove captures hand gestures and movements using bending sensors and reflective markers, while the OptiTrack system ensures high-precision spatial tracking. Machine learning algorithms, specifically a CNN+BiLSTM model, are employed to accurately recognize hand gestures and control the robotic arm. Experimental results demonstrate the system's high precision in replicating hand movements, with a Euclidean Distance of 0.0131 m and a Root Mean Square Error (RMSE) of 0.0095 m, in addition to robust gesture recognition accuracy, with an overall accuracy of 96.43%. This hybrid approach combines the adaptability and speed of semi-automated systems with the precision and usability of fully automated systems, offering a promising solution for sustainable and labor-efficient agricultural practices.

Robotic-arm-assisted conversion of unicompartmental knee arthroplasty to total knee arthroplasty.

Introduction: The purpose of this study was to describe a novel robotic-arm-assisted UKA to TKA conversion technique and evaluate the patient reported and clinical outcomes in these patients. Methods: A retrospective review between 2017 and 2022 was conducted of patients that underwent robotic-arm-assisted UKA to TKA conversion. Charts were reviewed for patient demographics, indications for conversion from UKA to TKA, operative technique, implants used, postoperative complications, and patient-reported outcome measures (PROMs). The surgical technique resembles that of primary TKA, with the major exception of registering the robotic arm with retained UKA implants and removing the implants only when verification is complete. There were 44 robotic-arm-assisted UKAs in 41 patients were included in the study. Indications for UKA conversion to TKA included: 33 patients who had osteoarthritis progression (75%), 7 aseptic loosening (16%), 2 unspecified pain (4.5%), 1 polyethylene wear (2.3%), and 1 prosthetic joint infection (2.3%). Uncemented cruciate-retaining (CR) implants were used in 38 of the 44 robotic-arm-assisted TKAs (86.5%). The other six utilized cemented implants: four CR femurs (9.1%), six tibial baseplates (13.6%), four tibial stems (9.1%), and four medial tibial augments (9.1%). Results: The PROMs significantly improved at 1-year follow-up, with the average KOOS JR score increasing from 48.1 to 68.7 (P < 0.001), and the r-WOMAC score decreasing from 25.7 to 10.6 (P = 0.003). Two patients developed prosthetic joint infections (4.5%), one developed aseptic loosening of the femoral component (2.3%), and one developed a superficial surgical site infection requiring superficial irrigation and debridement (2.3%). Overall survivorship was 93.18% at 1.8 years, and aseptic survivorship was 97.73%. Conclusion: Robotic-arm-assisted UKA to TKA conversion exhibited improved patient-reported outcomes and low revision and complication rates. Improved implant placement achieved with robotic-arm-assistance may improve the functional and clinical outcomes following these surgeries.

Intentional binding for noninvasive BCI control.

Objective. Noninvasive brain-computer interfaces (BCIs) allow to interact with the external environment by naturally bypassing the musculoskeletal system. Making BCIs efficient and accurate is paramount to improve the reliability of real-life and clinical applications, from open-loop device control to closed-loop neurorehabilitation.Approach. By promoting sense of agency and embodiment, realistic setups including multimodal channels of communication, such as eye-gaze, and robotic prostheses aim to improve BCI performance. However, how the mental imagery command should be integrated in those hybrid systems so as to ensure the best interaction is still poorly understood. To address this question, we performed a hybrid EEG-based BCI training involving healthy volunteers enrolled in a reach-and-grasp action operated by a robotic arm.Main results. Showed that the hand grasping motor imagery timing significantly affects the BCI accuracy evolution as well as the spatiotemporal brain dynamics. Larger accuracy improvement was obtained when motor imagery is performed just after the robot reaching, as compared to before or during the movement. The proximity with the subsequent robot grasping favored intentional binding, led to stronger motor-related brain activity, and primed the ability of sensorimotor areas to integrate information from regions implicated in higher-order cognitive functions.Significance. Taken together, these findings provided fresh evidence about the effects of intentional binding on human behavior and cortical network dynamics that can be exploited to design a new generation of efficient brain-machine interfaces.

Robot-assisted system for non-invasive wide-range flexible eye positioning and tracking in particle radiotherapy.

Particle (proton, carbon ion, or others) radiotherapy for ocular tumors is highly dependent on precise dose distribution, and any misalignment can result in severe complications. The proposed eye positioning and tracking system (EPTS) was designed to non-invasively position eyeballs and is reproducible enough to ensure accurate dose distribution by guiding gaze direction and tracking eye motion. Eye positioning was performed by guiding the gaze direction with separately controlled light sources. Eye tracking was performed by a robotic arm with cameras and a mirror. The cameras attached to its end received images through mirror reflection. To maintain a light weight, certain materials, such as carbon fiber, were utilized where possible. The robotic arm was controlled by a robot operating system. The robotic arm, turntables, and light source were actively and remotely controlled in real time. The videos captured by the cameras could be annotated, saved, and loaded into software. The available range of gaze guidance is 360° (azimuth). Weighing a total of 18.55 kg, the EPTS could be installed or uninstalled in 10 s. The structure, motion, and electromagnetic compatibility were verified via experiments. The EPTS shows some potential due to its non-invasive wide-range flexible eye positioning and tracking, light weight, non-collision with other equipment, and compatibility with CT imaging and dose delivery. The EPTS can also be remotely controlled in real time and offers sufficient reproducibility. This system is expected to have a positive impact on ocular particle radiotherapy.

Stem anteversion is not affected by proximal femur geometry in robotic-assisted total hip arthroplasty.

BACKGROUND: In the present study, the surgeon aimed to align the stem at 5° to 25° in anteversion. The robotic technology was used to measure stem anteversion with respect to proximal femur anteversion at different levels down the femur. METHODS: A total of 102 consecutive patients underwent robotic-arm-assisted total hip arthroplasty (RTHA). 3D CT-based preoperative planning was performed to determine femoral neck version (FNV), posterior cortex anteversion (PCA), anterior cortex anteversion (ACA), and femoral metaphyseal axis anteversion (MAA) at 3 different levels: D (10 mm above lesser trochanter), E (the midpoint of the planned neck resection line) and F (head-neck junction). The robotic system was used to define and measure stem anteversion during surgery. RESULTS: Mean FNV was 6.6° (SD: 8.8°) and the mean MAA was consistently significantly higher than FNV, growing progressively from proximal to distal. Mean SV was 16.4° (SD: 4.7°). There was no statistically significant difference (P = 0.16) between SV and MAA at the most distal measured level. In 96.1% cases, the stem was positioned inside the 5°-25° anteversion range. CONCLUSIONS: Femoral anteversion progressively increased from neck to proximal metaphysis. Aligning the stem close to femoral anteversion 10 mm above the lesser trochanter often led to the desired component anteversion.