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Marker-less hand-eye calibration permits the acquisition of an accurate transformation between an optical sensor and a robot in unstructured environments. Single monocular cameras, despite their low cost and modest computation requirements, present difficulties for this purpose due to their incomplete correspondence of projected coordinates. In this work, we introduce a hand-eye calibration procedure based on the rotation representations inferred by an augmented autoencoder neural network. Learning-based models that attempt to directly regress the spatial transform of objects such as the links of robotic manipulators perform poorly in the orientation domain, but this can be overcome through the analysis of the latent space vectors constructed in the autoencoding process. This technique is computationally inexpensive and can be run in real time in markedly varied lighting and occlusion conditions. To evaluate the procedure, we use a color-depth camera and perform a registration step between the predicted and the captured point clouds to measure translation and orientation errors and compare the results to a baseline based on traditional checkerboard markers.

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The development of neuroscientific techniques enabling the recording of brain and peripheral nervous system activity has fueled research in cognitive science. Recent technological advancements offer new possibilities for inducing behavioral change, particularly through cost-effective Internet-based interventions. However, limitations in laboratory equipment volume have hindered the generalization of results to real-life contexts. The advent of Internet of Things (IoT) devices, such as wearables, equipped with sensors and microchips, has ushered in a new era in behavior change techniques. Wearables, including smartwatches, electronic tattoos, and more, are poised for massive adoption, with an expected annual growth rate of 55% over the next five years. These devices enable personalized instructions, leading to increased productivity and efficiency, particularly in industrial production. Additionally, the healthcare sector has seen a significant demand for wearables, with over 80% of global consumers willing to use them for health monitoring. This research explores the primary biometric applications of wearables and their impact on users' well-being, focusing on the integration of behavior change techniques facilitated by IoT devices. Wearables have revolutionized health monitoring by providing real-time feedback, personalized interventions, and gamification. They encourage positive behavior changes by delivering immediate feedback, tailored recommendations, and gamified experiences, leading to sustained improvements in health. Furthermore, wearables seamlessly integrate with digital platforms, enhancing their impact through social support and connectivity. However, privacy and data security concerns must be addressed to maintain users' trust. As technology continues to advance, the refinement of IoT devices' design and functionality is crucial for promoting behavior change and improving health outcomes. This study aims to investigate the effects of behavior change techniques facilitated by wearables on individuals' health outcomes and the role of wearables in promoting a healthier lifestyle.

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RESUMEN Antecedentes: El accidente cerebrovascular (ACV) es una de las principales causas de discapacidad permanente, ya que puede provocar lesiones cerebrales graves con secuelas físicas significativas, limitando la capacidad de realizar actividades diarias. Objetivo: Esta investigación tuvo como objetivo diseñar un sistema robótico de movimiento pasivo-continuo para la rehabilitación de miembros inferiores en pacientes adultos con ACV, mejorando así las probabilidades de recuperación de su movilidad de marcha. Metodología: Se llevó a cabo el modelado y simulación del sistema robótico mediante Diseño Asistido por Computadora (CAD), utilizando el software de ingeniería Autodesk Inventor Professional 2023. Resultados: Se obtuvieron las posiciones iniciales y finales del sistema robótico, así como la simulación de movimiento pasivo-continuo. Conclusiones: La toma de medidas precisas de un paciente maximiza la posibilidad de implementar un prototipo funcional que contribuya en el proceso de rehabilitación.

ABSTRACT Background: Cerebrovascular accident (CVA) is one of the main causes of permanent disability, as it can cause serious brain injuries with significant physical consequences, limiting the ability to perform daily activities. Objective: This research aimed to design a robotic system of passive-continuous movement for the rehabilitation of lower limbs in adult patients with stroke, thus improving the chances of recovery of their walking mobility. Methodology: Modeling and simulation of the robotic system using Computer Aided Design (CAD), using the engineering software Autodesk Inventor Professional 2023. Results: The initial and final positions of the robotic system were obtained, as well as the simulation of passive-continuous movement. Conclusions: Taking precise measurements of a patient maximizes the possibility of implementing a functional prototype that contributes to the rehabilitation process.

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We introduce both conceptual and empirical findings arising from the amalgamation of a robotics cognitive architecture with an embedded physics simulator, aligning with the principles outlined in the intuitive physics literature. The employed robotic cognitive architecture, named CORTEX, leverages a highly efficient distributed working memory known as deep state representation. This working memory inherently encompasses a fundamental ontology, state persistency, geometric and logical relationships among elements, and tools for reading, updating, and reasoning about its contents. Our primary objective is to investigate the hypothesis that the integration of a physics simulator into the architecture streamlines the implementation of various functionalities that would otherwise necessitate extensive coding and debugging efforts. Furthermore, we categorize these enhanced functionalities into broad types based on the nature of the problems they address. These include addressing challenges related to occlusion, model-based perception, self-calibration, scene structural stability, and human activity interpretation. To demonstrate the outcomes of our experiments, we employ CoppeliaSim as the embedded simulator and both a Kinova Gen3 robotic arm and the Open-Manipulator-P as the real-world scenarios. Synchronization is maintained between the simulator and the stream of real events. Depending on the ongoing task, numerous queries are computed, and the results are projected into the working memory. Participating agents can then leverage this information to enhance overall performance.

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In mobile robotics, LASER scanners have a wide spectrum of indoor and outdoor applications, both in structured and unstructured environments, due to their accuracy and precision. Most works that use this sensor have their own data representation and their own case-specific modeling strategies, and no common formalism is adopted. To address this issue, this manuscript presents an analytical approach for the identification and localization of objects using 2D LiDARs. Our main contribution lies in formally defining LASER sensor measurements and their representation, the identification of objects, their main properties, and their location in a scene. We validate our proposal with experiments in generic semi-structured environments common in autonomous navigation, and we demonstrate its feasibility in multiple object detection and identification, strictly following its analytical representation. Finally, our proposal further encourages and facilitates the design, modeling, and implementation of other applications that use LASER scanners as a distance sensor.

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OBJECTIVE: Robot-assisted endovascular surgery has emerged as a new alternative to interventional procedures, with its application expanding to peripheral and visceral approaches. The objective of this paper is to describe a robot-assisted endovascular treatment in splanchnic arteries. METHODS: A case report of an asymptomatic male patient with an incidental finding of a saccular aneurysm of the proper hepatic artery measuring 3.7 × 2.7 cm and distant 0.6 cm from the origin of the gastroduodenal artery. RESULTS: Using a robot-assisted endovascular technique (CorPath GRX platform - Siemens), 2 guidewires were advanced in parallel: the first one was placed inside the aneurysm sac, while the second one was placed in the proper hepatic artery distal to the aneurysm; through the first guidewire, a balloon was advanced, positioned distally to the aneurysm, and through the second one, a microcatheter was advanced. Embolization of the aneurysm was performed with the use of coils and Onyx. Control exam performed 120 days after embolization revealed treated aneurysm and preserved distal arterial flow. CONCLUSION: Using a robotic platform for navigation in splanchnic territory is safe and effective.

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This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist-antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.

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This article presents a novel technique for a class 2 tensegrity robot, also classified as a soft robot, to increase workspace by increasing the number of geometric equilibrium configurations of the robot. The proposed modification, unlike the strategies reported in the literature, consists of increasing the number of points where the flexible and rigid elements that make up the robot come into contact without the need to increase the number of actuators, the number of flexible elements, or modify the geometry of the rigid elements. The form-finding methodology combines the basic principles of statics with the direct and inverse kinematic position analysis to determine the number of equilibrium positions of the modified robot. In addition, numerical experiments were carried out using the commercial software ANSYS®, R18.2 based on the finite element theory, to corroborate the results obtained with them. With the proposed modification, an increase of 23.369% in the number of geometric equilibrium configurations is achieved, which integrates the workspace of the modified class 2 tensegrity robot. The novel technique applied to tensegrity robots and the tools developed to increase their workspace apply perfectly to scale the robots presented in this paper.

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In recent years, social assistive robots have gained significant acceptance in healthcare settings, particularly for tasks such as patient care and monitoring. This paper offers a comprehensive overview of the expressive humanoid robot, Qhali, with a focus on its industrial design, essential components, and validation in a controlled environment. The industrial design phase encompasses research, ideation, design, manufacturing, and implementation. Subsequently, the mechatronic system is detailed, covering sensing, actuation, control, energy, and software interface. Qhali's capabilities include autonomous execution of routines for mental health promotion and psychological testing. The software platform enables therapist-directed interventions, allowing the robot to convey emotional gestures through joint and head movements and simulate various facial expressions for more engaging interactions. Finally, with the robot fully operational, an initial behavioral experiment was conducted to validate Qhali's capability to deliver telepsychological interventions. The findings from this preliminary study indicate that participants reported enhancements in their emotional well-being, along with positive outcomes in their perception of the psychological intervention conducted with the humanoid robot.

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Brain-Computer Interfaces (BCIs) offer the potential to facilitate neurorehabilitation in stroke patients by decoding user intentions from the central nervous system, thereby enabling control over external devices. Despite their promise, the diverse range of intervention parameters and technical challenges in clinical settings have hindered the accumulation of substantial evidence supporting the efficacy and effectiveness of BCIs in stroke rehabilitation. This article introduces a practical guide designed to navigate through these challenges in conducting BCI interventions for stroke rehabilitation. Applicable regardless of infrastructure and study design limitations, this guide acts as a comprehensive reference for executing BCI-based stroke interventions. Furthermore, it encapsulates insights gleaned from administering hundreds of BCI rehabilitation sessions to stroke patients.•Presents a comprehensive methodology for implementing BCI-based upper extremity therapy in stroke patients.•Provides detailed guidance on the number of sessions, trials, as well as the necessary hardware and software for effective intervention.

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We designed a controlled trial protocol that seeks to contribute to cognitive science by studying the effect of thought training on children's executive functions. The study design is a cluster randomized controlled trial, with intra-subject and inter-subject evaluation, with two parallel groups: an experimental group and a TAU control group. With three measures, pre-test, post-test, and follow-up after three months. The participants will be children aged 9 to 11. The allocation will be randomized by groups and not individually. The sample will be a minimum of 44 participants. The primary measures will be neuropsychological tests to assess executive functions. Secondary measures will be a computational thinking test, neuropsychological tests to assess metacognition and attention, and an acceptability scale. The experimental group will participate in the COGNI-MACHINE computational thinking training designed by the first author. The training frequency will be twice a week in 60 min sessions for 12 weeks. The TAU control group will receive computer science classes as usual during the same time as the experimental group. The evaluators taking the measurements will be blinded to the assignment. The investigators in charge of the intervention will be blinded to the results of the evaluations.

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Resumen Introducción: La cirugía bariátrica se considera actualmente la opción de tratamiento más eficaz para la obesidad mórbida. El bypass gástrico laparoscópico en Y de Roux sigue siendo el estándar de oro en cirugía bariátrica. El advenimiento de la robótica quirúrgica ha llevado a una reducción de algunos de los desafíos más difíciles en la laparoscopia avanzada. Objetivo: Determinar la seguridad y eficacia del bypass gástrico en Y de Roux asistido por robot en comparación con el abordaje laparoscópico. Material y métodos: Se realizó un estudio retrospectivo que incluyo 50 pacientes con distintos grados de obesidad divididos en dos grupos de 25 cada uno. Se realizó una base de datos con las variables de acuerdo al tipo de abordaje quirúrgico (robótico y laparoscópico), registrando los días de estancia hospitalaria, sangrado, tiempo quirúrgico, complicaciones, reingresos hospitalarios, complicaciones y disminución del IMC. Resultados: En el grupo laparoscópico se observó un sangrado transoperatorio de 115.8+64 mililitros, en el grupo robótico solo fue de 59.6+45.8 mililitros (p<0.001). Un tiempo quirúrgico laparoscópico de 151.8+34.6 minutos, mientras que el grupo robótico fue de 216.4+50 minutos, los pacientes permanecieron hospitalizados 4.2+2.4 días en el grupo laparoscópico, los pacientes del grupo robótico 3.4+1 días, sin diferencia significativa (p=0.077). En ambos grupos no hubo reingresos hospitalarios. En el grupo laparoscópico la disminución de IMC fue de 8.9+2.5, mientras que para el grupo robótico fue de 13.7+2.3 con significancia estadística (p<0.001). Discusión: El bypass gástrico en Y de Roux asistido por robot es más seguro y eficaz en comparación con el abordaje laparoscópico. El abordaje robótico disminuye de forma significativa el sangrado transoperatorio, disminuye los días de estancia hospitalaria (sin diferencia significativa) y reduce de forma significativa la disminución del IMC, sin aumentar los reingresos hospitalarios a 30 días ni las complicaciones.

Abstract Introduction: Bariatric surgery is currently considered the most effective treatment option for morbid obesity. The laparoscopic Roux-en-Y gastric bypass remains the gold standard in bariatric surgery. The advent of surgical robotics has led to a reduction in some of the most difficult challenges in advanced laparoscopy. Objective: To determine the safety and efficacy of robot-assisted Roux-en-Y gastric bypass compared to the laparoscopic approach. Material and methods: A retrospective study was carried out that included 50 patients with different degrees of obesity divided into two groups of 25 patients each. A database was created with the variables according to the type of surgical approach (robotic and laparoscopic), recording the days of hospital stay, bleeding, surgical time, complications, hospital readmissions, complications, and BMI decrease. Results: In the laparoscopic group, intraoperative bleeding of 115.8+64 milliliters was observed, in the robotic group it was only 59.6+45.8 milliliters (p<0.001). A laparoscopic surgical time of 151.8+34.6 minutes, while the robotic group was of 216.4+50 minutes, the patients remained hospitalized 4.2+2.4 days in the laparoscopic group, the patients in the robotic group 3.4+1 days, with no significant difference (p=0.077). In both groups there were no hospital readmissions. In the laparoscopic group, the decrease in BMI was 8.9+2.5, while for the robotic group it was 13.7+2.3 with statistical significance (p<0.001). Discussion: Robot-assisted Roux-en-Y gastric bypass is more safe and effective compared to the laparoscopic approach. The robotic approach significantly reduces intraoperative bleeding, decreases the days of hospital stay (with no significant difference), and significantly reduces the decrease in BMI, without increasing 30-day hospital readmissions or complications.

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Introduction: The rise of soft robotics has driven the development of devices for assistance in activities of daily living (ADL). Likewise, different types of actuation have been developed for safer human interaction. Recently, textile-based pneumatic actuation has been introduced in hand exoskeletons for features such as biocompatibility, flexibility, and durability. These devices have demonstrated their potential use in assisting ADLs, such as the degrees of freedom assisted, the force exerted, or the inclusion of sensors. However, performing ADLs requires the use of different objects, so exoskeletons must provide the ability to grasp and maintain stable contact with a variety of objects to lead to the successful development of ADLs. Although textile-based exoskeletons have demonstrated significant advancements, the ability of these devices to maintain stable contact with a variety of objects commonly used in ADLs has yet to be fully evaluated. Materials and methods: This paper presents the development and experimental validation in healthy users of a fabric-based soft hand exoskeleton through a grasping performance test using The Anthropomorphic Hand Assessment Protocol (AHAP), which assesses eight types of grasping with 24 objects of different shapes, sizes, textures, weights, and rigidities, and two standardized tests used in the rehabilitation processes of post- stroke patients. Results and discussion: A total of 10 healthy users (45.50 ± 14.93 years old) participated in this study. The results indicate that the device can assist in developing ADLs by evaluating the eight types of grasps of the AHAP. A score of 95.76 ± 2.90% out of 100% was obtained for the Maintaining Score, indicating that the ExHand Exoskeleton can maintain stable contact with various daily living objects. In addition, the results of the user satisfaction questionnaire indicated a positive mean score of 4.27 ± 0.34 on a Likert scale ranging from 1 to 5.

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One of the biggest problems faced by amputees is obtaining a suitable low-cost prosthesis. To address this problem, the design and implementation of a transradial prosthesis controlled by electroencephalographic (EEG) signals was carried out. This prosthesis is an alternative to prostheses using electromyographic (EMG) signals, which are very complex and exhausting for the patient to execute. We collected EEG signal data using the Emotiv Insight Headset, which were then processed to control the movement of the prosthesis, known as the Zero Arm. Additionally, we incorporated Machine Learning algorithms to classify different types of objects and shapes. The prosthesis also features a haptic feedback system, which simulates the function of mechanoreceptors in the skin, providing the user with a sense of touch when using the prosthesis. Our research has yielded a viable and cost-effective prosthetic limb. We utilized 3D printing and easily obtainable servomotors and controllers, making the prosthesis affordable and accessible. Performance tests of the Zero Arm prosthesis have yielded promising results. The prosthesis demonstrated an average success rate of 86.67% across various tasks, indicating its reliability and effectiveness. Additionally, the prosthesis has an average recognition rate of 70% for different types of objects, a noteworthy accomplishment.

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Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and understanding the impact of the varying morphological conditions which impact the evolutionary process, and therefore for choosing suitable variation ranges. By morphological conditions, we refer to the starting state of the robot, and to variations in its sensor readings during operation due to noise. In this article, we introduce a method that permits us to measure the impact of these morphological variations and we analyze the relation between the amplitude of variations, the modality with which they are introduced, and the performance and robustness of evolving agents. Our results demonstrate that (i) the evolutionary algorithm can tolerate morphological variations which have a very high impact, (ii) variations affecting the actions of the agent are tolerated much better than variations affecting the initial state of the agent or of the environment, and (iii) improving the accuracy of the fitness measure through multiple evaluations is not always useful. Moreover, our results show that morphological variations permit generating solutions which perform better both in varying and non-varying conditions.

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La tecnología y la inteligencia artificial ganan cada vez más espacio en el diagnóstico, tratamiento y seguimiento del paciente: los wearables, las apps mHealth y los dispositivos basados en la tecnología robótica son un apoyo para el personal de salud de enfermería. A través del método hermenéutico se analizaron los resultados de una revisión bibliográfica de documentos seleccionados en Pubmed, Scielo y ELSEVIER, para describir el estado del arte de las wearables, apps y dispositivos tecnológicos que pueden ser empleados en el cuidado enfermero; lo que constituyó el objetivo de la presente investigación. Se procesaron diecisiete artículos y tres informes. Los resultados se muestran en tres categorías donde se identificaron: tres wereables, ocho aplicaciones móviles y tres robots que se emplean en enfermería. Se concluye que los wereables, las aplicaciones móviles y la robótica tienen hoy día una presencia trascendente en los espacios de cuidado y atención de salud y que acercan al personal de enfermería a sus pacientes. La tecnología no suple el cuidado de enfermería, pero si constituye una herramienta de apoyo en su quehacer.

Technology and artificial intelligence are gaining more and more space in patient diagnosis, treatment and monitoring; wearables, mHealth apps and devices based on robotic technology are a support for nursing health personnel. Through the hermeneutical method, the bibliographic review was carried out with the analysis and interpretation of the selected documents in Pubmed, Scielo and ELSEVIER: seventeen articles and three reports were processed. The results are shown in three categories identified as: three wearable, eight mobile applications and three robots used in nursing. The conclusion is that wearables, mobile applications and robotics today have a significant presence in healthcare spaces nursing staff closer to their patients. Technology does not replace nursing care but it is a support tool in their work.

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Objective: The present study sought to retrospectively evaluate the efficacy of robotic gait training in children with cerebral palsy (CP) gross motor function classification system (GMFCS) levels II, III and IV. Method: The medical records from 69 patients with CP, who participated in the Lokomat® protocol, were analyzed using a retrospective approach. The results from the Gross Motor Function Measure (GMFM), 6-minute walk test (6MinWT), 10-meter walk test (10MWT) and Timed Up and Go (TUG) test were analyzed before and after the protocol was administered. Results: An improvement in GMFM was observed for all GMFCS levels. GMFCS level III patients showed a significant improvement in the 6MinWT (p= 0.01), and GMFCS level IV patients displayed a significant improvement in GMFM dimension B (p= 0.03). All tests showed a significant improvement when compared to their performance before the application of the protocol. Conclusion: The study suggests that all patients diagnosed with CP benefit from gait training, using the Lokomat® system, within their expected motor frame.

Objetivo: Verificar retrospectivamente a eficácia do treino de marcha com robótica (Lokomat®) em pacientes com Paralisia Cerebral (PC) níveis II, III e IV da Medida da Função Motora Grossa (GMFCS). Método: Análise retrospectiva descritiva do prontuário de 69 pacientes com PC que realizaram o protocolo da Lokomat®. Os resultados do teste de caminhada de 6 minutos (TC6M), teste de caminhada de 10 metros (TC10M), Timed Up and Go (TUG) e da Avaliação da Função Motora Grossa (GMFM) foram realizados e analisados pré e pós protocolo. Resultados: Foi observada uma melhora no GMFM para pacientes de todos os níveis do GMFCS. Pacientes GMFCS nível III apresentaram melhora significativa do TC6M (p= 0,01) e pacientes GMFCS nível IV apresentaram melhora significativa da dimensão B do GMFM (p= 0,03). Todos os testes mostraram melhoras significativas quando comparados aos resultados antes da aplicação do protocolo. Conclusão: O estudo sugere que todos os pacientes com diagnóstico de PC se beneficiaram do treino de marcha com uso da Lokomat® dentro de seu quadro motor esperado.

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The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot structures. A classification is proposed and depicted through experiments. Additionally, many soft robot platforms present in the literature are classified using it. This classification allows for order and coherence in the area of soft robotics and provides enough freedom to expand soft robotics research.

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This paper looks at wireless sensor networks (WSNs) in healthcare, where they can monitor patients remotely. WSNs are considered one of the most promising technologies due to their flexibility and autonomy in communication. However, routing protocols in WSNs must be energy-efficient, with a minimal quality of service, so as not to compromise patient care. The main objective of this work is to compare two work schemes in the routing protocol algorithm in WSNs (cooperative and collaborative) in a home environment for monitoring the conditions of the elderly. The study aims to optimize the performance of the algorithm and the ease of use for people while analyzing the impact of the sensor network on the analysis of vital signs daily using medical equipment. We found relationships between vital sign metrics that have a more significant impact in the presence of a monitoring system. Finally, we conduct a performance analysis of both schemes proposed for the home tracking application and study their usability from the user's point of view.

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ABSTRACT Background The results and benefits of Robotic-assisted Radical Prostatectomy (RARP) are already established in the literature. However, new robotic platforms have been released recently in the market and their outcomes are still unknown. In this scenario, our objective is to describe our experience implementing the HugoTM RAS robot and report the clinical data of patients who underwent Robotic-assisted Radical Prostatectomy. Material and Methods We retrospectively analyzed fifteen consecutive patients who underwent RARP with HugoTM RAS System (Medtronic, Minneapolis, USA) from June to October 2021. The patients underwent transperitoneal RARP on lithotomy position, using six trocars (4 robotic trocars and 2 for the assistant). We reported the clinical feasibility and safety of this platform, assessing perioperative data, including complications and early outcomes. Continuous variables were reported as median and interquartile ranges, categorical variables as frequencies and proportions. Results and Limitations All procedures were safe and feasible with no major complications or conversion. Median operative time was 235 minutes (213-271), and median estimated blood loss was 300ml (100-310). Positive surgical margins were reported in 5 patients (33%). The median hospitalization time was 2 days (2-2), and the median time to remove the foley was 7 days (7-7). On the first appointment four weeks after surgery, all patients had undetectable PSA values, and 61% were continent. Conclusions We described preliminary results with safe and feasible procedures performed with HugoTM RAS System robotic platform. The surgeries were successfully executed with acceptable perioperative outcomes, without conversions or major complications. However, as this technology is very recent, further studies with a long-term follow-up are awaited to access postoperative functional and oncological outcomes.