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"Robotics Textbooks."
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The mechanics of robot grasping
\"In this comprehensive textbook about robot grasping, you will find an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a common analytical framework. With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a full introduction to robot grasping principles that are needed to model and analyze multi-finger robot grasps, and serves as a valuable reference for robotics students, researchers, and practicing robot engineers. Each chapter contains many worked-out examples, exercises with full solutions, and figures that highlight new concepts and help the reader master the use of the theories and equations presented\"-- Provided by publisher.
Book
ChatGPT-generated help produces learning gains equivalent to human tutor-authored help on mathematics skills
Authoring of help content within educational technologies is labor intensive, requiring many iterations of content creation, refining, and proofreading. In this paper, we conduct an efficacy evaluation of ChatGPT-generated help using a 3 x 4 study design (N = 274) to compare the learning gains of ChatGPT to human tutor-authored help across four mathematics problem subject areas. Participants are randomly assigned to one of three hint conditions (control, human tutor, or ChatGPT) paired with one of four randomly assigned subject areas (Elementary Algebra, Intermediate Algebra, College Algebra, or Statistics). We find that only the ChatGPT condition produces statistically significant learning gains compared to a no-help control, with no statistically significant differences in gains or time-on-task observed between learners receiving ChatGPT vs human tutor help. Notably, ChatGPT-generated help failed quality checks on 32% of problems. This was, however, reducible to nearly 0% for algebra problems and 13% for statistics problems after applying self-consistency, a “hallucination” mitigation technique for Large Language Models.
Journal Article
Perioperative outcomes of robotic and laparoscopic surgery for colorectal cancer: a propensity score-matched analysis
Background
Robotic colorectal surgery is becoming the preferred surgical approach for colorectal cancer (CRC). It offers several technical advantages over conventional laparoscopy that could improve patient outcomes. In this retrospective cohort study, we compared robotic and laparoscopic surgery for CRC using a national cohort of patients.
Methods
Using the colectomy-targeted ACS-NSQIP database (2015–2020), colorectal procedures for malignant etiologies were identified by CPT codes for right colectomy (RC), left colectomy (LC), and low anterior resection (LAR). Optimal pair matching was performed. “Textbook outcome” was defined as the absence of 30-day complications, readmission, or mortality and a length of stay < 5 days.
Results
We included 53,209 out of 139,759 patients screened for eligibility. Laparoscopic-to-robotic matching of 2:1 was performed for RC and LC, and 1:1 for LAR. The largest standardized mean difference was 0.048 after matching. Robotic surgery was associated with an increased rate of textbook outcomes compared to laparoscopy in RC and LC, but not in LAR (71% vs. 64% in RC, 75% vs. 68% in LC;
p
< 0.001). Robotic LAR was associated with increased major morbidity (7.1% vs. 5.8%;
p
= 0.012). For all three procedures, the mean conversion rate of robotic surgery was lower than laparoscopy (4.3% vs. 9.2%;
p
< 0.001), while the mean operative time was higher for robotic (225 min vs. 177 min;
p
< 0.001).
Conclusions
Robotic surgery for CRC offers an advantage over conventional laparoscopy by improving textbook outcomes in RC and LC. This advantage was not found in robotic LAR, which also showed an increased risk of serious complications. The associations highlighted in our study should be considered in the discussion of the surgical management of patients with colorectal cancer.
Journal Article
Shakey: From Conception to History
Shakey the Robot, conceived 50 years ago, was a seminal contribution to AI. Shakey perceived its world, planned how to achieve a goal, and acted to carry out that plan. This was revolutionary. At the 29th AAAI Conference on Artificial Intelligence, attendees gathered to celebrate Shakey and to gain insights into how the AI revolution moves ahead. The celebration included a panel that was chaired by Benjamin Kuipers and featured AI pioneers Ed Feigenbaum, Peter Hart, and Nils Nilsson. This article includes written versions of the contributions of those panelists. —ed.
Journal Article
The robotic-surgery propositional bank
Robot-assisted minimally invasive surgery is the gold standard for the surgical treatment of many pathological conditions since it guarantees to the patient shorter hospital stay and quicker recovery. Several manuals and academic papers describe how to perform these interventions and thus contain important domain-specific knowledge. This information, if automatically extracted and processed, can be used to extract or summarize surgical practices or develop decision making systems that can help the surgeon or nurses to optimize the patient’s management before, during, and after the surgery by providing theoretical-based suggestions. However, general English natural language understanding algorithms have lower efficacy and coverage issues when applied to domain others than those they are typically trained on, and a domain specific textual annotated corpus is missing. To overcome this problem, we annotated the first robotic-surgery procedural corpus, with PropBank-style semantic labels. Starting from the original PropBank framebank, we enriched it by adding new lemmas, frames and semantic arguments required to cover missing information in general English but needed in procedural surgical language, releasing the Robotic-Surgery Procedural Framebank (RSPF). We then collected from robotic-surgery textbooks as-is sentences for a total of 32,448 tokens, and we annotated them with RSPF labels. We so obtained and publicly released the first annotated corpus of the robotic-surgical domain that can be used to foster further research on language understanding and procedural entities and relations extraction from clinical and surgical scientific literature.
Journal Article
Topology with applications
The principal aim of this book is to introduce topology and its many applications viewed within a framework that includes a consideration of compactness, completeness, continuity, filters, function spaces, grills, clusters and bunches, hyperspace topologies, initial and final structures, metric spaces, metrization, nets, proximal continuity, proximity spaces, separation axioms, and uniform spaces. This book provides a complete framework for the study of topology with a variety of applications in science and engineering that include camouflage filters, classification, digital image processing, forgery detection, Hausdorff raster spaces, image analysis, microscopy, paleontology, pattern recognition, population dynamics, stem cell biology, topological psychology, and visual merchandising.
eBook
Expanding the reach of science
Dozens of organizations around the world are delivering STEM education to people in developing countries, often at the behest of, and with financial support from, those countries' governments, which see training in science and engineering as a way to bolster the economy. International institutions such as the World Bank and the United Nations Educational, Scientific and Cultural Organization (UNESCO) extol both the economic and the human-rights benefits of teaching STEM subjects to more people. Addressing the problem is difficult because there are few data that show which interventions are effective, says Ana Maria MuñozBoudet, a social scientist at the World Bank's Poverty and Equity Global Practice. [...]providing girls with female role models is likely to encourage them into science careers.
Journal Article
Textbook Outcomes of Totally Robotic Versus Totally Laparoscopic Pancreaticoduodenectomy for Periampullary Neoplasm: A Propensity Score-Matched Cohort Study
Background/Objectives: Textbook outcome (TO) is a composite quality measure in surgery, but few studies have compared TO between robotic pancreaticoduodenectomy (RPD) and laparoscopic pancreaticoduodenectomy (LPD). This study aimed to evaluate and compare TO following RPD and LPD for periampullary neoplasms. Methods: We retrospectively analyzed 322 patients who underwent minimally invasive PD between 2010 and 2023 (RPD, n = 60; LPD, n = 262). LPD was first introduced in 2004, but only cases performed since 2010 were included, while RPD has been performed since 2019. Propensity score matching (1:2) yielded 48 RPD and 96 LPD patients. TO was defined as the absence of pancreatic fistula, bile leak, post-pancreatectomy hemorrhage, severe complications (Clavien-Dindo ≥ III), readmission, and in-hospital or 30-day mortality. Results: In the entire cohort, 240 of 322 patients (74.5%) achieved TO. After matching, TO rates were 64.6% in RPD and 76.9% in LPD (p = 0.656). Perioperative outcomes, including operative time, blood loss, transfusion, hospital stay, and major complications, were comparable, although RPD showed a higher incidence of hemorrhage (p = 0.032). Multivariate analysis identified body mass index < 25 kg/m2 as an independent predictor of achieving TO (OR 3.13, p = 0.008). Conclusions: RPD and LPD achieved comparable textbook outcomes in periampullary surgery. Both approaches are feasible when performed by experienced surgeons, but larger studies with long-term follow-up are needed to validate these findings.
Journal Article
Textbook Oncological Outcomes for Robotic Colorectal Cancer Resections: An Observational Study of Five Robotic Colorectal Units
Background: The quality of care of patients receiving colorectal resections has conventionally relied on individual metrics. When discussing with patients what these outcomes mean, they often find them confusing or overwhelming. Textbook oncological outcome (TOO) is a composite measure that summarises all the ‘desirable’ or ‘ideal’ postoperative clinical and oncological outcomes from both a patient’s and doctor’s point of view. This study aims to evaluate the incidence of TOO in patients receiving robotic colorectal cancer surgery in five robotic colorectal units and understand the risk factors associated with failure to achieve a TOO in these patients. Methods: We present a retrospective, multicentric study with data from a prospectively collected database. All consecutive patients receiving robotic colorectal cancer resections from five centres between 2013 and 2022 were included. Patient characteristics and short-term clinical and oncological data were collected. A TOO was achieved when all components were realized—no conversion to open, no complication with a Clavien–Dindo (CD) ≥ 3, length of hospital stay ≤ 14, no 30-day readmission, no 30-day mortality, and R0 resection. The main outcome measure was a composite measure of “ideal” practice called textbook oncological outcomes. Results: A total of 501 patients submitted to robotic colorectal cancer resection were included. Of the 501 patients included, 388 (77.4%) achieved a TOO. Four patients were converted to open (0.8%); 55 (11%) had LOS > 14 days; 46 (9.2%) had a CD ≥ 3 complication; 30-day readmission rate was 6% (30); 30-day mortality was 0.2% (1); and 480 (95.8%) had an R0 resection. Abdominoperineal resection was a risk factor for not achieving a TOO. Conclusions: Robotic colorectal cancer surgery in robotic centres achieves a high TOO rate. Abdominoperineal resection is a risk factor for failure to achieve a TOO. This measure may be used in future audits and to inform patients clearly on success of treatment.
Journal Article