How to substitute the human operator with a robot in various assembly tasks has to be taken into full con-sideration in intelligent manufacturing.Autonomous robotic assembly not only brings with high working effi-cien...How to substitute the human operator with a robot in various assembly tasks has to be taken into full con-sideration in intelligent manufacturing.Autonomous robotic assembly not only brings with high working effi-ciency,better product quality and low labor cost,but also helps relieve the increasingly severe problem of population aging.However,numerous existing challenges still prevent its wide applications when a robot is assigned to finish general tasks in unstructured environment.In order to provide a fundamental understanding of the various problems involved in robotic assembly,this paper carries out a review on its recent progress and challenges with 5 key technologies focused on:perception,end-effectors,control methods,learning methods and performance evaluation.Main works in these fields are reviewed and their characteristics are analyzed while typical assembly scenarios are covered.The challenges and future directions in robotic assembly are also dis-cussed on precise perception,robotic hand,error recovery and collaborative robot.In addition to providing a systematic summarization of the required key technologies,this work is aimed at motivating more potential researches in the community of robotics,artificial intelligence,and automation engineering.展开更多
Based on the Bismuth-Corlette classification of hilar cholangiocarcinoma,the patients with types I,II,and III can undergo radical resection in the absence of extensive intrahepatic metastasis and vascular invasion[1]....Based on the Bismuth-Corlette classification of hilar cholangiocarcinoma,the patients with types I,II,and III can undergo radical resection in the absence of extensive intrahepatic metastasis and vascular invasion[1].Depending on the scope of tumor invasion in bile duct,a combined resection of parts of the liver,hepatic ducts,common bile ducts,regional lymph nodes,and even parts of the duodenum and pancreas is necessary,along with biliary and gastrointestinal reconstructions[2].The surgical plan is complex,involving a large resection area and significant trauma.In recent years,laparoscopic or robot assisted radical resection of hilar cholangiocarcinoma has been applied clinically[3,4].With the advanced laparoscopic equipment,many patients undergo hepatopancreatoduodenectomy successfully[5].The limitations of traditional laparoscopic techniques restrict their wide application in clinical practice.However,the Da Vinci robot has been widely applied due to its clear field of vision and flexible manipulation.However,its utilization in hepato-pancreatoduodenectomy for hilar cholangiocarcinoma is still relatively rare.Here,we report a case with hilar cholangiocarcinoma at clinical stage IIIb who underwent robot-assisted hepato-pancreatoduodenectomy.展开更多
Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are o...Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.展开更多
In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we devel...In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.展开更多
Background:The Da Vinci Single-Port Robotic System(Da Vinci-SP),introduced by Intuitive(CA,USA)in 2018 in the USA and in 2024 in Europe,integrates advanced features like a flexible camera and articulating instruments....Background:The Da Vinci Single-Port Robotic System(Da Vinci-SP),introduced by Intuitive(CA,USA)in 2018 in the USA and in 2024 in Europe,integrates advanced features like a flexible camera and articulating instruments.It has garnered significant interest in urology.Our report presents the first described European series of Radical Prostatectomies using the Da Vinci SP at the leading Italian center,Istituto Nazionale Tumori di Napoli,IRCCS“G.Pascale”Foundation,detailing the technical differences and challenges faced by experienced multiport robotic surgeons.Methods:Sixteen patients have been enrolled and underwent Single-Port(SP)Robot-Assisted Radical Prostatectomy(SP-RARP).Baseline characteristics of the patients were collected.We provided a step-by-step description of the surgical technique.Oncological outcomes have been evaluated and compared with magnetic resonance imaging(MRI)and biopsy results.Intraoperative,perioperative,and postoperative complications,surgical outcomes,functional outcomes,and technical issues of the new system were also documented.Results:All surgeries were successfully performed without the need for conversion.An extraperitoneal approach was used for all patients.Median Console time was 110 min.No complications were reported.The estimated median blood loss was 175 cc.Discharge from the hospital was on the first post-operative day for all patients.Bladder catheter removal was on day 7 without the need for cystography.Conclusions:We presented the first European case series of SP-RARP,reporting our experience and confirming the procedure’s feasibility for a highly experienced robotic surgeon.Experience with an extraperitoneal approach using the multiport(MP)platform,combined with well-conducted training for the SP system,may facilitate the transition to SP surgery.Further procedures and studies are needed to evaluate the oncological and functional outcomes.展开更多
Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function....Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
BACKGROUND Median sternotomy has been considered the gold standard approach for anterior mediastinal tumor resection.However,recent advances in video-assisted thoracoscopic surgery and robotic-assisted thoracoscopic s...BACKGROUND Median sternotomy has been considered the gold standard approach for anterior mediastinal tumor resection.However,recent advances in video-assisted thoracoscopic surgery and robotic-assisted thoracoscopic surgery with carbon dioxide insufflation have allowed minimally invasive approaches even for large and locally invasive tumors of the upper-anterior mediastinum.The subxiphoid robotic optical approach is a recently developed technique for accessing the mediastinum.The trans-subxiphoid technique offers excellent exposure of the surgical field,reduces postoperative pain,facilitates specimen retrieval even for large tumors,and potentially improves early surgical outcomes.AIM To evaluate the safety,feasibility,and outcomes of a robotic subxiphoid approach for the resecting of large/invasive mediastinal tumors.METHODS Between July 2024 and September 2025,12 patients underwent subxiphoid robotic mediastinal resection.The diameter of the operated lesions ranged from 30 mm to 70 mm.A 3 cm subxiphoid incision was made at the subxiphoid level for GelPort placement,allowing for optical port access.Two operating ports were placed at the sixth intercostal space bilaterally.Carbon dioxide insufflations(8-10 mmHg)enlarged the surgical field,improving visualization of critical anatomical landmarks,such as the internal mammary arteries and phrenic nerves.This approach allowed complete resection of large or invasive tumors,preserving thoracic stability and reducing the risk of postoperative myasthenic crisis.RESULTS The mean operating time was 170.2 minutes,and the median hospital stay was 3.5 days.No major postoperative complications occurred.Two conversions were necessary:One with a lateral robotic approach due to previous abdominal surgery,and one with a sternotomy for tumor invasion of the aortic arch.Histopathological analysis identified nine thymomas and one solitary fibrous tumor.CONCLUSION Subxiphoid robotic approach is a safe,effective technique for extended thymectomy,fulfilling both oncological and myasthenia gravis surgical objectives.展开更多
Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road saf...Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road safety:police robots capable of moving autonomously and interacting with passengers.Deployed on a trial basis on 2 February,these robots quickly demonstrated their usefulness in various urban settings.展开更多
Laparoscopic rectal surgery has demonstrated its superiority over the open approach,however it still has some technical limitations that lead to the development of robotic platforms.Nevertheless the literature on this...Laparoscopic rectal surgery has demonstrated its superiority over the open approach,however it still has some technical limitations that lead to the development of robotic platforms.Nevertheless the literature on this topic is rapidly expanding there is still no consensus about benefits of robotic rectal cancer surgery over the laparoscopic one.For this reason a review of all the literature examining robotic surgery for rectal cancer was performed.Two reviewers independently conducted a search of electronic databases(Pub Med and EMBASE)using the key words"rectum","rectal","cancer","laparoscopy","robot".After the initial screen of 266 articles,43 papers were selected for review.A total of 3013 patients were included in the review.The most commonly performed intervention was low anterior resection(1450 patients,48.1%),followed by anterior resections(997 patients,33%),ultra-low anterior resections(393 patients,13%)and abdominoperineal resections(173 patients,5.7%).Robotic rectal surgery seems to offer potential advantages especially in low anterior resections with lower conversions rates and better preservation of the autonomic function.Quality of mesorectum and status of and circumferential resection margins are similar to those obtained with conventional laparoscopy even if robotic rectal surgery is undoubtedly associated with longer operative times.This review demonstrated that robotic rectal surgery is both safe and feasible but there is no evidence of its superiority over laparoscopy in terms of postoperative,clinical outcomes and incidence of complications.In conclusion robotic rectal surgery seems to overcome some of technical limitations of conventional laparoscopic surgery especially for tumors requiring low and ultralow anterior resections but this technical improvement seems not to provide,until now,any significant clinical advantages to the patients.展开更多
In recent years,robotic arm grasping has become a pivotal task in the field of robotics,with applications spanning from industrial automation to healthcare.The optimization of grasping strategies plays a crucial role ...In recent years,robotic arm grasping has become a pivotal task in the field of robotics,with applications spanning from industrial automation to healthcare.The optimization of grasping strategies plays a crucial role in enhancing the effectiveness,efficiency,and reliability of robotic systems.This paper presents a novel approach to optimizing robotic arm grasping strategies based on deep reinforcement learning(DRL).Through the utilization of advanced DRL algorithms,such as Q-Learning,Deep Q-Networks(DQN),Policy Gradient Methods,and Proximal Policy Optimization(PPO),the study aims to improve the performance of robotic arms in grasping objects with varying shapes,sizes,and environmental conditions.The paper provides a detailed analysis of the various deep reinforcement learning methods used for grasping strategy optimization,emphasizing the strengths and weaknesses of each algorithm.It also presents a comprehensive framework for training the DRL models,including simulation environment setup,the optimization process,and the evaluation metrics for grasping success.The results demonstrate that the proposed approach significantly enhances the accuracy and stability of the robotic arm in performing grasping tasks.The study further explores the challenges in training deep reinforcement learning models for real-time robotic applications and offers solutions for improving the efficiency and reliability of grasping strategies.展开更多
The integration of artificial intelligence(AI)into the realm of robotic urologic surgery represents a remarkable paradigm shift in the field of urology and surgical healthcare.AI,with its advanced data analysis and ma...The integration of artificial intelligence(AI)into the realm of robotic urologic surgery represents a remarkable paradigm shift in the field of urology and surgical healthcare.AI,with its advanced data analysis and machine learning capabilities,has not only expedited the evolution of robotic surgical procedures but also significantly improved diagnostic accuracy and surgical outcomes.展开更多
Dear Editor,Robotic-assisted laparoscopic varicocelectomy(RALV)has been recently described in the pediatric field[1].Although the learning curve of surgical procedures is flattened by a robotic approach[2],complicatio...Dear Editor,Robotic-assisted laparoscopic varicocelectomy(RALV)has been recently described in the pediatric field[1].Although the learning curve of surgical procedures is flattened by a robotic approach[2],complications may occur especially at the beginning of experience.We herein describe an unexpected severe case of parietal blood dripping in a boy who underwent RALV.The study was approved by the institutional review board of Federico Il University Hospital in Naples,Italy(approval number:Fll/2024-PL149).All procedures performed were in accordance with the ethical standards of the institution and/or national research committee.The written informed consent was obtained by his parents to agree the treatment and publish this paper.展开更多
Robotic surgery has emerged as a new frontier in liver transplantation.Given the novelty of its application to recipient procedures,a comprehensive overview is crucial.This narrative review synthesizes the fragmented,...Robotic surgery has emerged as a new frontier in liver transplantation.Given the novelty of its application to recipient procedures,a comprehensive overview is crucial.This narrative review synthesizes the fragmented,foundational data on fully robotic recipient adult living donor liver transplantation(LDLT)on the basis of an appraisal of initial case reports and preliminary comparative studies.The literature was identifiedvia PubMed.The literature demonstrates the technical feasibility and favorable safety profileof the robotic approach.A significantreduction in morbidity was observed,as evidenced by a lower comprehensive complication index,reduced blood loss and transfusion need,and a lower incidence of postoperative infections.These benefitswere reflected in significantlyshorter intensive care unit and hospital stays.While the robotic approach was associated with prolonged operative and ischemia times,the studies revealed that these approaches did not compromise outcomes,with higher 6-month recipient survival noted in the robotic group.Fully robotic recipient LDLT is a groundbreaking technique,although the current evidence consists of initial case reports and non-randomized comparative data from a single center.The available literature suggests a promising safety profileand significantshort-term benefits,but these preliminary findingsrequire validation through multicenter,high-level research.展开更多
As robotic surgery provides clinical benefits and increases on a global scale,it also signifies the transition from direct manual control of surgical instruments to digital connectivity and teleoperation.The digital c...As robotic surgery provides clinical benefits and increases on a global scale,it also signifies the transition from direct manual control of surgical instruments to digital connectivity and teleoperation.The digital coupling between human control inputs and surgical motion replaces the previous physical link.Robotic surgery is therefore in effect‘surgery-by-wire’,the term capturing the engineering phenomenon that has also occurred in the‘fly-by-wire’of aviation and‘drive-by-wire’of cars.This paper reviews the fundamental commonality across domains.Intrinsic to‘by-wire’control is digital processing,which generates the control signal to the effector.This processing enables a progressive spectrum of motion modulation,from precision and stability of motion,through assistance and envelope protection,to automation.Precision now manifests in all three domains.In modern aircraft and cars,higher-order assistance is commonplace,such as flight envelope protection,with analogous support in driving,as well as significant automation.In robotic surgery,such assistance and automation have not yet entered wider clinical practice,with concepts such as envelope protection requiring further definition.The digital interface combined with telecommunication has also enabled teleoperation in all domains.Therefore,motion‘by-wire’has enhanced performance across industries.A cross-domain perspective will be increasingly useful to facilitate technology transfer and catalyse progress in robotic surgery.As the pan-industry digital transformation evolves,important principles can be derived for application in robotic surgery.展开更多
Robotic distal pancreatectomy(RDP)is being increasingly used in centres with access to the robot and offers technological improvements over conventional laparoscopy.Some studies have also shown superior outcomes compa...Robotic distal pancreatectomy(RDP)is being increasingly used in centres with access to the robot and offers technological improvements over conventional laparoscopy.Some studies have also shown superior outcomes compared with laparoscopic and open approaches.However,robotic technology is not widely available currently.This review aims to compare RDP with open and laparoscopic distal pancreatectomy,covering the basics of the RDP technique and highlighting the current nuances of the evidence pertaining to RDP with respect to clinical effectiveness and cost‒benefit analysis.展开更多
1.Introduction The continuous integration of advanced technologies into medicine has brought profound changes across nearly all specialties.In urology,a field traditionally characterized by its reliance on delicate,pr...1.Introduction The continuous integration of advanced technologies into medicine has brought profound changes across nearly all specialties.In urology,a field traditionally characterized by its reliance on delicate,precision-driven procedures,the impact of innovations such as robotics,artificial intelligence(AI),telepresence,and telesurgery has been transformative.展开更多
Large language models(LLMs)have undergone significant expansion and have been increasingly integrated across various domains.Notably,in the realm of robot task planning,LLMs harness their advanced reasoning and langua...Large language models(LLMs)have undergone significant expansion and have been increasingly integrated across various domains.Notably,in the realm of robot task planning,LLMs harness their advanced reasoning and language comprehension capabilities to formulate precise and efficient action plans based on natural language instructions.However,for embodied tasks,where robots interact with complex environments,textonly LLMs often face challenges due to a lack of compatibility with robotic visual perception.This study provides a comprehensive overview of the emerging integration of LLMs and multimodal LLMs into various robotic tasks.Additionally,we propose a framework that utilizes multimodal GPT-4V to enhance embodied task planning through the combination of natural language instructions and robot visual perceptions.Our results,based on diverse datasets,indicate that GPT-4V effectively enhances robot performance in embodied tasks.This extensive survey and evaluation of LLMs and multimodal LLMs across a variety of robotic tasks enriches the understanding of LLM-centric embodied intelligence and provides forward-looking insights towards bridging the gap in Human-Robot-Environment interaction.展开更多
Objective:This study aimed to assess the feasibility and safety of the SHURUI single-port robotic surgical system for a range of major urological surgeries.Methods:In this prospective,multicenter clinical trial,we exa...Objective:This study aimed to assess the feasibility and safety of the SHURUI single-port robotic surgical system for a range of major urological surgeries.Methods:In this prospective,multicenter clinical trial,we examined the effectiveness of the SHURUI single-port robotic surgical system in urological interventions.The first 50 patients from four centers in China underwent single-port surgeries including partial nephrectomy,radical prostatectomy,partial adrenalectomy,and pyeloureteroplasty,exclusively by the SHURUI single-port robotic surgical system.The study's primary endpoints focused on the success of surgeries,defined as no deviations from planned procedures,no need for more than one port,and no re-operations within 24 h after surgery.Secondary endpoints encompassed a range of surgical metrics,functional outcomes,and patient demographic data.Clinical assessments were conducted before surgery,before discharge,and 1 month after discharge.Results:The surgical procedures were executed successfully without requiring intraoperative conversions or transfusions.Both estimated blood loss and operation durations were maintained within satisfactory limits.For each type of surgery,the mean console times and estimated blood loss were 179.8(standard deviation[SD]39.4)min and 125.6(SD 126.0)mL for radical prostatectomy,126.7(SD 47.8)min and 39.2(SD 54.4)mL for partial nephrectomy,112.6(SD 37.4)min and 20.0(SD 13.2)mL for partial adrenalectomy,and 148.0(SD 18.2)min and 18.0(SD 17.9)mL for pyeloureteroplasty,respectively.Across the cohort,17 patients experienced a total of 25 adverse events,while 10 postoperative complications,all rated as Clavien-Dindo grade I,were encountered by eight patients.All patients had shown recovery or improvement from these events before the end of this trial.Conclusion:The SHURUI single-port robotic surgical system demonstrated feasibility and safety in the performance of major urological surgeries.These initial findings highlight the system's potential,though further research and longer follow-up are required to assess long-term outcomes.展开更多
Robotic computing systems play an important role in enabling intelligent robotic tasks through intelligent algo-rithms and supporting hardware.In recent years,the evolution of robotic algorithms indicates a roadmap fr...Robotic computing systems play an important role in enabling intelligent robotic tasks through intelligent algo-rithms and supporting hardware.In recent years,the evolution of robotic algorithms indicates a roadmap from traditional robotics to hierarchical and end-to-end models.This algorithmic advancement poses a critical challenge in achieving balanced system-wide performance.Therefore,algorithm-hardware co-design has emerged as the primary methodology,which ana-lyzes algorithm behaviors on hardware to identify common computational properties.These properties can motivate algo-rithm optimization to reduce computational complexity and hardware innovation from architecture to circuit for high performance and high energy efficiency.We then reviewed recent works on robotic and embodied AI algorithms and computing hard-ware to demonstrate this algorithm-hardware co-design methodology.In the end,we discuss future research opportunities by answering two questions:(1)how to adapt the computing platforms to the rapid evolution of embodied AI algorithms,and(2)how to transform the potential of emerging hardware innovations into end-to-end inference improvements.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.52205009)Open Foundation of State Key Laboratory of Mechanical Transmission for Advanced Equipment of Chongqing University of China(Grant No.SKLMT-MSKFKT-202307)Taihu Lake Innovation Fund for the School of Future Technology of Southeast University of China.
文摘How to substitute the human operator with a robot in various assembly tasks has to be taken into full con-sideration in intelligent manufacturing.Autonomous robotic assembly not only brings with high working effi-ciency,better product quality and low labor cost,but also helps relieve the increasingly severe problem of population aging.However,numerous existing challenges still prevent its wide applications when a robot is assigned to finish general tasks in unstructured environment.In order to provide a fundamental understanding of the various problems involved in robotic assembly,this paper carries out a review on its recent progress and challenges with 5 key technologies focused on:perception,end-effectors,control methods,learning methods and performance evaluation.Main works in these fields are reviewed and their characteristics are analyzed while typical assembly scenarios are covered.The challenges and future directions in robotic assembly are also dis-cussed on precise perception,robotic hand,error recovery and collaborative robot.In addition to providing a systematic summarization of the required key technologies,this work is aimed at motivating more potential researches in the community of robotics,artificial intelligence,and automation engineering.
文摘Based on the Bismuth-Corlette classification of hilar cholangiocarcinoma,the patients with types I,II,and III can undergo radical resection in the absence of extensive intrahepatic metastasis and vascular invasion[1].Depending on the scope of tumor invasion in bile duct,a combined resection of parts of the liver,hepatic ducts,common bile ducts,regional lymph nodes,and even parts of the duodenum and pancreas is necessary,along with biliary and gastrointestinal reconstructions[2].The surgical plan is complex,involving a large resection area and significant trauma.In recent years,laparoscopic or robot assisted radical resection of hilar cholangiocarcinoma has been applied clinically[3,4].With the advanced laparoscopic equipment,many patients undergo hepatopancreatoduodenectomy successfully[5].The limitations of traditional laparoscopic techniques restrict their wide application in clinical practice.However,the Da Vinci robot has been widely applied due to its clear field of vision and flexible manipulation.However,its utilization in hepato-pancreatoduodenectomy for hilar cholangiocarcinoma is still relatively rare.Here,we report a case with hilar cholangiocarcinoma at clinical stage IIIb who underwent robot-assisted hepato-pancreatoduodenectomy.
基金supported in part by the National Science and Technology Council under Grant NSTC 114-2221-E-027-104.
文摘Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.
基金The authors extend their appreciation to Prince Sattam bin Abdulaziz University for funding this research work through the project number(PSAU/2024/01/32082).
文摘In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.
文摘Background:The Da Vinci Single-Port Robotic System(Da Vinci-SP),introduced by Intuitive(CA,USA)in 2018 in the USA and in 2024 in Europe,integrates advanced features like a flexible camera and articulating instruments.It has garnered significant interest in urology.Our report presents the first described European series of Radical Prostatectomies using the Da Vinci SP at the leading Italian center,Istituto Nazionale Tumori di Napoli,IRCCS“G.Pascale”Foundation,detailing the technical differences and challenges faced by experienced multiport robotic surgeons.Methods:Sixteen patients have been enrolled and underwent Single-Port(SP)Robot-Assisted Radical Prostatectomy(SP-RARP).Baseline characteristics of the patients were collected.We provided a step-by-step description of the surgical technique.Oncological outcomes have been evaluated and compared with magnetic resonance imaging(MRI)and biopsy results.Intraoperative,perioperative,and postoperative complications,surgical outcomes,functional outcomes,and technical issues of the new system were also documented.Results:All surgeries were successfully performed without the need for conversion.An extraperitoneal approach was used for all patients.Median Console time was 110 min.No complications were reported.The estimated median blood loss was 175 cc.Discharge from the hospital was on the first post-operative day for all patients.Bladder catheter removal was on day 7 without the need for cystography.Conclusions:We presented the first European case series of SP-RARP,reporting our experience and confirming the procedure’s feasibility for a highly experienced robotic surgeon.Experience with an extraperitoneal approach using the multiport(MP)platform,combined with well-conducted training for the SP system,may facilitate the transition to SP surgery.Further procedures and studies are needed to evaluate the oncological and functional outcomes.
基金the National Natural Science Foundation of China[62525301,62127811,62433019]the New Cornerstone Science Foundation through the XPLORER PRIZEthe financial support by the China Postdoctoral Science Foundation[GZB20240797].
文摘Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
文摘BACKGROUND Median sternotomy has been considered the gold standard approach for anterior mediastinal tumor resection.However,recent advances in video-assisted thoracoscopic surgery and robotic-assisted thoracoscopic surgery with carbon dioxide insufflation have allowed minimally invasive approaches even for large and locally invasive tumors of the upper-anterior mediastinum.The subxiphoid robotic optical approach is a recently developed technique for accessing the mediastinum.The trans-subxiphoid technique offers excellent exposure of the surgical field,reduces postoperative pain,facilitates specimen retrieval even for large tumors,and potentially improves early surgical outcomes.AIM To evaluate the safety,feasibility,and outcomes of a robotic subxiphoid approach for the resecting of large/invasive mediastinal tumors.METHODS Between July 2024 and September 2025,12 patients underwent subxiphoid robotic mediastinal resection.The diameter of the operated lesions ranged from 30 mm to 70 mm.A 3 cm subxiphoid incision was made at the subxiphoid level for GelPort placement,allowing for optical port access.Two operating ports were placed at the sixth intercostal space bilaterally.Carbon dioxide insufflations(8-10 mmHg)enlarged the surgical field,improving visualization of critical anatomical landmarks,such as the internal mammary arteries and phrenic nerves.This approach allowed complete resection of large or invasive tumors,preserving thoracic stability and reducing the risk of postoperative myasthenic crisis.RESULTS The mean operating time was 170.2 minutes,and the median hospital stay was 3.5 days.No major postoperative complications occurred.Two conversions were necessary:One with a lateral robotic approach due to previous abdominal surgery,and one with a sternotomy for tumor invasion of the aortic arch.Histopathological analysis identified nine thymomas and one solitary fibrous tumor.CONCLUSION Subxiphoid robotic approach is a safe,effective technique for extended thymectomy,fulfilling both oncological and myasthenia gravis surgical objectives.
文摘Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road safety:police robots capable of moving autonomously and interacting with passengers.Deployed on a trial basis on 2 February,these robots quickly demonstrated their usefulness in various urban settings.
文摘Laparoscopic rectal surgery has demonstrated its superiority over the open approach,however it still has some technical limitations that lead to the development of robotic platforms.Nevertheless the literature on this topic is rapidly expanding there is still no consensus about benefits of robotic rectal cancer surgery over the laparoscopic one.For this reason a review of all the literature examining robotic surgery for rectal cancer was performed.Two reviewers independently conducted a search of electronic databases(Pub Med and EMBASE)using the key words"rectum","rectal","cancer","laparoscopy","robot".After the initial screen of 266 articles,43 papers were selected for review.A total of 3013 patients were included in the review.The most commonly performed intervention was low anterior resection(1450 patients,48.1%),followed by anterior resections(997 patients,33%),ultra-low anterior resections(393 patients,13%)and abdominoperineal resections(173 patients,5.7%).Robotic rectal surgery seems to offer potential advantages especially in low anterior resections with lower conversions rates and better preservation of the autonomic function.Quality of mesorectum and status of and circumferential resection margins are similar to those obtained with conventional laparoscopy even if robotic rectal surgery is undoubtedly associated with longer operative times.This review demonstrated that robotic rectal surgery is both safe and feasible but there is no evidence of its superiority over laparoscopy in terms of postoperative,clinical outcomes and incidence of complications.In conclusion robotic rectal surgery seems to overcome some of technical limitations of conventional laparoscopic surgery especially for tumors requiring low and ultralow anterior resections but this technical improvement seems not to provide,until now,any significant clinical advantages to the patients.
文摘In recent years,robotic arm grasping has become a pivotal task in the field of robotics,with applications spanning from industrial automation to healthcare.The optimization of grasping strategies plays a crucial role in enhancing the effectiveness,efficiency,and reliability of robotic systems.This paper presents a novel approach to optimizing robotic arm grasping strategies based on deep reinforcement learning(DRL).Through the utilization of advanced DRL algorithms,such as Q-Learning,Deep Q-Networks(DQN),Policy Gradient Methods,and Proximal Policy Optimization(PPO),the study aims to improve the performance of robotic arms in grasping objects with varying shapes,sizes,and environmental conditions.The paper provides a detailed analysis of the various deep reinforcement learning methods used for grasping strategy optimization,emphasizing the strengths and weaknesses of each algorithm.It also presents a comprehensive framework for training the DRL models,including simulation environment setup,the optimization process,and the evaluation metrics for grasping success.The results demonstrate that the proposed approach significantly enhances the accuracy and stability of the robotic arm in performing grasping tasks.The study further explores the challenges in training deep reinforcement learning models for real-time robotic applications and offers solutions for improving the efficiency and reliability of grasping strategies.
文摘The integration of artificial intelligence(AI)into the realm of robotic urologic surgery represents a remarkable paradigm shift in the field of urology and surgical healthcare.AI,with its advanced data analysis and machine learning capabilities,has not only expedited the evolution of robotic surgical procedures but also significantly improved diagnostic accuracy and surgical outcomes.
文摘Dear Editor,Robotic-assisted laparoscopic varicocelectomy(RALV)has been recently described in the pediatric field[1].Although the learning curve of surgical procedures is flattened by a robotic approach[2],complications may occur especially at the beginning of experience.We herein describe an unexpected severe case of parietal blood dripping in a boy who underwent RALV.The study was approved by the institutional review board of Federico Il University Hospital in Naples,Italy(approval number:Fll/2024-PL149).All procedures performed were in accordance with the ethical standards of the institution and/or national research committee.The written informed consent was obtained by his parents to agree the treatment and publish this paper.
文摘Robotic surgery has emerged as a new frontier in liver transplantation.Given the novelty of its application to recipient procedures,a comprehensive overview is crucial.This narrative review synthesizes the fragmented,foundational data on fully robotic recipient adult living donor liver transplantation(LDLT)on the basis of an appraisal of initial case reports and preliminary comparative studies.The literature was identifiedvia PubMed.The literature demonstrates the technical feasibility and favorable safety profileof the robotic approach.A significantreduction in morbidity was observed,as evidenced by a lower comprehensive complication index,reduced blood loss and transfusion need,and a lower incidence of postoperative infections.These benefitswere reflected in significantlyshorter intensive care unit and hospital stays.While the robotic approach was associated with prolonged operative and ischemia times,the studies revealed that these approaches did not compromise outcomes,with higher 6-month recipient survival noted in the robotic group.Fully robotic recipient LDLT is a groundbreaking technique,although the current evidence consists of initial case reports and non-randomized comparative data from a single center.The available literature suggests a promising safety profileand significantshort-term benefits,but these preliminary findingsrequire validation through multicenter,high-level research.
文摘As robotic surgery provides clinical benefits and increases on a global scale,it also signifies the transition from direct manual control of surgical instruments to digital connectivity and teleoperation.The digital coupling between human control inputs and surgical motion replaces the previous physical link.Robotic surgery is therefore in effect‘surgery-by-wire’,the term capturing the engineering phenomenon that has also occurred in the‘fly-by-wire’of aviation and‘drive-by-wire’of cars.This paper reviews the fundamental commonality across domains.Intrinsic to‘by-wire’control is digital processing,which generates the control signal to the effector.This processing enables a progressive spectrum of motion modulation,from precision and stability of motion,through assistance and envelope protection,to automation.Precision now manifests in all three domains.In modern aircraft and cars,higher-order assistance is commonplace,such as flight envelope protection,with analogous support in driving,as well as significant automation.In robotic surgery,such assistance and automation have not yet entered wider clinical practice,with concepts such as envelope protection requiring further definition.The digital interface combined with telecommunication has also enabled teleoperation in all domains.Therefore,motion‘by-wire’has enhanced performance across industries.A cross-domain perspective will be increasingly useful to facilitate technology transfer and catalyse progress in robotic surgery.As the pan-industry digital transformation evolves,important principles can be derived for application in robotic surgery.
文摘Robotic distal pancreatectomy(RDP)is being increasingly used in centres with access to the robot and offers technological improvements over conventional laparoscopy.Some studies have also shown superior outcomes compared with laparoscopic and open approaches.However,robotic technology is not widely available currently.This review aims to compare RDP with open and laparoscopic distal pancreatectomy,covering the basics of the RDP technique and highlighting the current nuances of the evidence pertaining to RDP with respect to clinical effectiveness and cost‒benefit analysis.
文摘1.Introduction The continuous integration of advanced technologies into medicine has brought profound changes across nearly all specialties.In urology,a field traditionally characterized by its reliance on delicate,precision-driven procedures,the impact of innovations such as robotics,artificial intelligence(AI),telepresence,and telesurgery has been transformative.
基金supported by National Natural Science Foundation of China(62376219 and 62006194)Foundational Research Project in Specialized Discipline(Grant No.G2024WD0146)Faculty Construction Project(Grant No.24GH0201148).
文摘Large language models(LLMs)have undergone significant expansion and have been increasingly integrated across various domains.Notably,in the realm of robot task planning,LLMs harness their advanced reasoning and language comprehension capabilities to formulate precise and efficient action plans based on natural language instructions.However,for embodied tasks,where robots interact with complex environments,textonly LLMs often face challenges due to a lack of compatibility with robotic visual perception.This study provides a comprehensive overview of the emerging integration of LLMs and multimodal LLMs into various robotic tasks.Additionally,we propose a framework that utilizes multimodal GPT-4V to enhance embodied task planning through the combination of natural language instructions and robot visual perceptions.Our results,based on diverse datasets,indicate that GPT-4V effectively enhances robot performance in embodied tasks.This extensive survey and evaluation of LLMs and multimodal LLMs across a variety of robotic tasks enriches the understanding of LLM-centric embodied intelligence and provides forward-looking insights towards bridging the gap in Human-Robot-Environment interaction.
基金funded by the National Key Research and Development Program of China(Grant No.2022YFB4700904 to Wang L)the Shanghai Shenkang Hospital Development Center's project for the Promotion of Clinical Skills and Clinical Innovation Three-Year Action Plan(Project No.SHDC2022CRT006 to Wang L and SHDC2022CRS010B to Tang S).
文摘Objective:This study aimed to assess the feasibility and safety of the SHURUI single-port robotic surgical system for a range of major urological surgeries.Methods:In this prospective,multicenter clinical trial,we examined the effectiveness of the SHURUI single-port robotic surgical system in urological interventions.The first 50 patients from four centers in China underwent single-port surgeries including partial nephrectomy,radical prostatectomy,partial adrenalectomy,and pyeloureteroplasty,exclusively by the SHURUI single-port robotic surgical system.The study's primary endpoints focused on the success of surgeries,defined as no deviations from planned procedures,no need for more than one port,and no re-operations within 24 h after surgery.Secondary endpoints encompassed a range of surgical metrics,functional outcomes,and patient demographic data.Clinical assessments were conducted before surgery,before discharge,and 1 month after discharge.Results:The surgical procedures were executed successfully without requiring intraoperative conversions or transfusions.Both estimated blood loss and operation durations were maintained within satisfactory limits.For each type of surgery,the mean console times and estimated blood loss were 179.8(standard deviation[SD]39.4)min and 125.6(SD 126.0)mL for radical prostatectomy,126.7(SD 47.8)min and 39.2(SD 54.4)mL for partial nephrectomy,112.6(SD 37.4)min and 20.0(SD 13.2)mL for partial adrenalectomy,and 148.0(SD 18.2)min and 18.0(SD 17.9)mL for pyeloureteroplasty,respectively.Across the cohort,17 patients experienced a total of 25 adverse events,while 10 postoperative complications,all rated as Clavien-Dindo grade I,were encountered by eight patients.All patients had shown recovery or improvement from these events before the end of this trial.Conclusion:The SHURUI single-port robotic surgical system demonstrated feasibility and safety in the performance of major urological surgeries.These initial findings highlight the system's potential,though further research and longer follow-up are required to assess long-term outcomes.
基金supported in part by NSFC under Grant 62422407in part by RGC under Grant 26204424in part by ACCESS–AI Chip Center for Emerging Smart Systems, sponsored by the Inno HK initiative of the Innovation and Technology Commission of the Hong Kong Special Administrative Region Government
文摘Robotic computing systems play an important role in enabling intelligent robotic tasks through intelligent algo-rithms and supporting hardware.In recent years,the evolution of robotic algorithms indicates a roadmap from traditional robotics to hierarchical and end-to-end models.This algorithmic advancement poses a critical challenge in achieving balanced system-wide performance.Therefore,algorithm-hardware co-design has emerged as the primary methodology,which ana-lyzes algorithm behaviors on hardware to identify common computational properties.These properties can motivate algo-rithm optimization to reduce computational complexity and hardware innovation from architecture to circuit for high performance and high energy efficiency.We then reviewed recent works on robotic and embodied AI algorithms and computing hard-ware to demonstrate this algorithm-hardware co-design methodology.In the end,we discuss future research opportunities by answering two questions:(1)how to adapt the computing platforms to the rapid evolution of embodied AI algorithms,and(2)how to transform the potential of emerging hardware innovations into end-to-end inference improvements.
