bluuebunny/crossref_metadata_2025 huggingface dataset:
THE INFLUENCE OF FASHION TRENDS THRIFT ON THE LEVEL OF SELFCONFIDENCE OF ISLAMIC COMMUNICATION AND BROADCASTING STUDENTS
Authors: puspita Liam
Published: June 2022

As a student who is active in lectures, he should be met by many people including friends,lecturers and the academic community on campus. Their dressing style is also an importanthighlight that supports their self-confidence when meeting other people and that confidence isas an encouragement to be able to achieve more. That is why the discussion of fashion amongstudents is very important to discuss, especially the thrift fashion trend which is currentlygrowing among students so that we know what are the factors of the thrift fashion trend can bevery influential among students and how the positive impact and negative impact of the thriftfashion trend on Islamic communication and broadcasting students. The method in this articleuses a qualitative method where the author pays attention to and interviews the students whoare there. it is proven that many students use clothes, jackets, hoodies, thrift pants while oncampus. The clothes used also greatly affect their level of trust and it was found that there wereseveral students who opened a fashion thrift business as their additional financial income fromthe results of research proved that this thrift fashion trend had a very broad impact.
LEVEL OF THE EFFECTIVENESS OF DISTANCE LEARNING (PJJ) IN STUDENTS' LEARNING INTEREST
Authors: sohiroh amalia
Published: June 2022

Many problems arise in this global era. For example, problems arise in the fields of economy, society, culture, and even education. The poor distribution of the population is due to a lack of knowledge in the wider community, a high proportion of illiterate people, and communication barriers which are the main factors in distance learning. In this regard, the government has made new dedications namely Education Network, Communication Network, and Distance Learning Process Program to expand and equalize public education. This can suppress the ]iteracy rate in Indonesia. Long before this program was socialized, due to the COVID-19 pandemic, the public had to understand what made the situation interact through electronic media (Internet) not directly. The method used in this study is based on interaction with UIN K.H. Student Abdurrahman Wahid about the current online learning system in scientific disciplines. The purpose of this study was to assess student interest in distance learning at UIN K.H. To identify Abdurrahman Wahid.
USE OF TIKTOK APPLICATIONS ON STUDENTS' BEHAVIOR NARCISM KPI UIN KH. ABDURRAHMAN WAHID PEKALONGAN
Authors: Aeni Delliana Fitri
Published: June 2022

Students are social beings who have a high curiosity about technological developments such as the Tiktok application. At UIN KH. Abdurrahman Wahid Pekalongan, many students, especially women, use this TikTok application. Its use is now used excessively which causes narcissistic behavior among female students. Ironically, many female students try to do this by showing their nakedness when swaying by wearing sexy clothes, so this behavior attracts the attention of others who watch it just to fulfill self-satisfaction and get praise from others. This study aims to provide awareness and direction, one of which is about the religious aspect of UIN KH students. Abdurrahman Wahid Pekalongan on the use of the Tiktok Application which can affect narcissistic behavior, so that they are more careful when creating video content on social media and better use it for things that are beneficial for themselves. This study established a descriptive quantitative research method by conducting observations, documentation, and interviews.
Relasi ayat Al Qur'an tradisi penulisan 1100 basmalah bulan Muharam
Authors: Amaliyah Nurul
Published: June 2022

Jurnal ini membahas suatu penelitian yang di lakukan secara langsung , jurnal ini menggunakan metode kualitaf dan menggunakan pendekatan analisis isi. Buharan Muharam memang sangat identik dengan kemasyarakat yang biasa di lakukan oleh masyarakat tentunya di pondok pesantren Aspir Kaliwungu Kendal .
CULTURE SHOCK OF KPI UIN ABDURRAHMAN WAHID OVERSEAS STUDENTS
Authors: sabrina Auliya
Published: June 2022

Culture shock is something that will be experienced by immigrants as a reactionbecause the signs of their original culture are starting to disappear and can occur if theyenter a new area with different cultures, customs, norms, language, and values that areexpected to be difficult to apply in other areas. the new area that the person will live in.These phenomena are felt by overseas students with symptoms such as anxiety, stress,indecision, excess, and feeling afraid and insecure when interacting with other peoplebecause of the many differences in the new area. The purpose of this research is toraise awareness and provide solutions about what they can apply to overcome theproblems of culture shock. This study uses a descriptive qualitative approach byconducting observations, documentation, and interviews with several students fromoutside the Pekalongan area. From several problems such as the impact andconsequences of culture shock, there are various types and can find solutions to theseproblems.
PENGARUH EKSPOR, IMPOR, SAHAM SYARIAH TERHADAP PRODUK DOMESTIK BRUTO (PDB) DI INDONESIA THE INFLUENCE OF EXPORT, IMPORT, SYARI’AH STOCK TOWARD GROSS DOMESTIC PRODUCT (GDP) IN INDONESIA
Authors: triyawan andi
Published: June 2022

This study aims to analyze the effect of exports, imports and Islamic stocks on gross domestic product in Indonesia using data from 2011 to 2020. The research method used to determine the effect of exports, imports and Islamic stocks on gross domestic product in Indonesia is Multiple Linear Regression. while processing the data using E-views software. Export and import data are obtained from the Central Statistics Agency (BPS), Islamic stock data is obtained from the Financial Services Authority (OJK), while data on gross domestic product (GDP) is obtained from the Central Statistics Agency (BPS). The results of this study indicate that simultaneously exports have a significant positive effect on the Gross Domestic Product (GDP) with a value of 0.0270, meaning that the lower the export value, the more it affects GDP. Imports have a significant positive effect on Gross Domestic Product (GDP) with a value of 0.0258, meaning that the lower the import value, the more it affects GDP. Islamic stocks have a negative effect on Gross Domestic Product (GDP) with a value of 0.6437, meaning that the higher the value of Islamic stocks, the less it has an effect on GDP.
AWARDING OF SANAD QIRA'AT AL-QUR'AN DIPLOMA IN MAJLIS TA'LIM RAUDLOTUL MUSYAFIHIN SHOLIH MA'MUN KRADENAN PEKALONGAN
Authors: Niam Muhammad
Published: June 2022

This research tries to reveal the importance of the sanad qiraat of the Koran given by religious institutions, because sanad is important considering that the continuity of science is accounted for through the sanad genealogy, especially in sanad qira'at the quran has various genealogical paths seen from different dialectics. Which researchers specialize in majlis ta'lim raudlotul musyafihin sholih ma'mun. Meanwhile, this study uses a qualitative descriptive method with a case study approach. The results that the researchers found that this dimajlis is not a place of tahfidz al-qur'an but uses bil nadhor (by looking at the qur'an) while the giving of sanad qira'at al-quran is very influential on the santri's sincerity in learning and memorizing the quran.
FUNCTIONAL STRUCTURE OF HIGHER EDUCATION DURING THE COVID-19 PANDEMIC
Authors: Nisrina Nanda
Published: June 2022

Coronavirus Disease 2019, often called Covid-19, is one of the diseases that hasmade a scene worldwide. Covid-19 has many impacts on everyday life, from society to educationissues. Before the Covid-19 pandemic, the system used a face-to-face systemcalled offline; after the Covid-19 case, this learning was carried out online attheir respective homes, both from school and campus. Bold education through virtual meetings via Whatsapp, Zoom Meeting, Google Classroom, and other learning media. It is well because the learning process can be done even from home. Based on this, this researchuses qualitative research with a literature study approach. Therefore, this study aims to avoid thelearning system during the Covid-19 pandemic. The theory used is the structural-functional theory by Talcott Parson, which, through the functions of AGIL, namely: (1) Adaptation,adaptation for students and teachers who start learning is carried out face to face and becomesthrough courage done in their respective homes. (2) Goal Attainment, an onlinelearning system used and learning activities students get their rights in the world of education, even though the Covid-19 hinders its outbreak. (3) Integration, the government issues policies that can help students and studentsduring bold learning. One of the policies is to provide free internet quota assistance to everystudent and student in Indonesia. (4) Latency, every student and student must always be disciplinedeven though the learning is done boldly and not done at school or on campus.
keseimbangan pasar uang dan pasar barang dalam ekonomi syariah
Authors: SYAHRA AISYAH
Published: June 2022

keseimbangan pasar uang merupakan kurva yang menghubungkan titik tingkat sebuah pendapatan nasional kepada berbagai macam kemungkinan dari tingkat buga yang memelihara keseimbangan pasar uang.
Cracking the Enigma of the Sagnac Effect
Authors: Tadesse Henok
Published: June 2022

One of the daunting problems in searching for a correct model of the speed of light is the contradiction between the Michelson-Morley experiment and the Sagnac effect. I have been working on a new theory called Apparent Source Theory (AST ), which is based on three assumptions: 1. The effect of absolute motion of an inertial observer is to create an apparent change in the time of light emission. 2. The center of the light wave fronts moves with the same velocity as the absolute velocity of the inertial observer and the velocity of light depends on the mirror velocity relative to the observer 3. Two observers/detectors that happen to be at the same point in space at the same time instant and moving with equal velocities will observe identical physical phenomena (for example, fringe position). The third postulate is used to analyze light speed problems involving accelerating observers/detectors. AST has been successful in providing consistent explanations for many light speed experiments. However, the precise application of AST to the Sagnac effect has been a challenge for AST. In this paper, a new analysis of Sagnac effect based on AST is presented. One of the unexpected findings is that the light beam propagating in the same direction as the observer will take less time to reach the observer than the light beam propagating in the opposite direction. Unconventionally, the fringe shift in the Sagnac effect is not due to a difference in path lengths of the counter-propagating light beams, but due to difference in their velocities according to the ballistic hypothesis. Experimental testing of this claim is proposed.
KNOWING HUMAN EMOTIONS
Authors: azizah Ulfi Syariatul
Published: June 2022

Emotions words with many meanings can describe experiences in everyone's life. Emotion is also a state that is suggested to every individual in a high level of interaction in something, since they are born individuals have an emotional foundation as if people's emotions can change the way they see the world and interpret the actions of others. Emotions can also be understood from a person's facial expressions and can also be from the tone of his speech, which also has a different tempo and rhythm. Therefore the identification of human emotions is helpful in the field of human interaction. Lots of variety in emotions. Anger emotions, happy emotions, sad emotions, and others, but humans are more specific about the angry emotion. Speaker emotion recognition is the act of trying to recognize human emotions and the affective state of speech. This takes advantage of the fact that sound is often underlying through tone. emotions are the key to emotional health. Excessive emotions that are too strong or persist for too long can make a person unstable, one of which is the ability to stabilize emotions is the ability to entertain and relax through entertainment or silence.
Stabilisasi Ekonomi Dalam Berbagai Sistem
Authors: Rifaldi Muh
Published: June 2022

Kebijakan moneter adalah tindakan yang dilakukan oleh otoritas moneter (biasanya bank sentral) untuk mempengaruhi jumlah uang beredar dan kredit yang pada gilirannya akan mempengaruhi kegiatan ekonomi masyarakat. Stabilisasi ekonomi makro dapat dilihat dari pengaruh guncangan kebijakan harga pangan atau variabel makro lainnya terhadap variabel kunci indikator makro.
PENGARUH EKSPOR DAN OBLIGASI SYARI’AH TERHADAP JUMLAH TENAGA KERJA INDONESIA 2011-2019
Authors: triyawan andi
Published: June 2022

The aim of this research is to analyze the effect of export and sukuk toward the number of employees in Indonesia from 2011 to 2019. This research is quantitative research. The method in this research is multiple Linear Regression, while for analyzing data used E-views software. The data of export taken from Central Statistical Agency while sukuk taken from Finanancial Services Authority and employees data taken from Central Statistical Agency. The result of this research showed that Indonesia's export activities have an effect on employment because it has a figure of 9.4% which indicates> 5%. While the value of the sukuk is 0.1375 or 1.3%, this figure shows that the sukuk has no effect on the absorption of Indonesian workers.
Inhibition as a cause of forgetting
Authors: Marsh Laura Clare , Anderson Michael
Published: June 2022

Inhibitory control is a fundamental process that enables suppression of representations or processes that interfere with ongoing cognition and behavior. This chapter reviews the role of such control processes in causing forgetting from long-term memory. We consider several functional contexts that trigger inhibitory control, including the need to selectively retrieve information, and the need to stop retrieval. These give rise to retrieval-induced forgetting and suppression-induced forgetting, respectively. We review the extensive cognitive and neurobiological work conducted over the last three decades on how inhibitory control induces forgetting in these contexts, including work establishing its fundamental functional properties, neural mechanisms underlying them, and recent work establishing the species- generality of the phenomena. Taken together, this work illustrates the adaptive function of inhibition in overcoming interference that can arise during memory retrieval, and in adapting the state of memory in accordance with current behavioral goals.
Expertise Determines the Frequency and Accuracy of Contributions in Sequential Collaboration
Authors: Mayer Maren , Broß Marcel , Heck Daniel W.
Published: June 2022

Many collaborative online projects such as Wikipedia and OpenStreetMap organize collaboration among their contributors sequentially. In sequential collaboration, one contributor creates an entry which is then consecutively encountered by other contributors who decide whether to adjust or maintain the presented entry. For numeric and geographical judgments, sequential collaboration yields improved judgments over the course of a sequential chain and results in accurate final estimates. We hypothesize that these benefits emerge since contributors adjust entries according to their expertise, implying that judgments of experts have a larger impact compared to those of novices. In three preregistered studies, we measured and manipulated expertise to investigate whether expertise leads to higher change probabilities and larger improvements in judgment accuracy. Moreover, we tested whether expertise results in an increase in accuracy over the course of a sequential chain. As expected, experts adjusted entries more frequently, made larger improvements, and contributed more to the final estimates of sequential chains. Overall, our findings suggest that the high accuracy of sequential collaboration is due to an implict weighting of judgments by expertise.
Multifunctional hybrid module for manipulators
Authors:   Department of Automatic Control and Systems Engineering, The University of Sheffield, UK, Sozer Canberk , Sahu Sujit Kumar , Paterno Linda ,   he BioRobotics Institute, Scuola Superiore Sant’Anna Pisa, Italy,   Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna Pisa, Italy, Menciassi Arianna ,   ICube, CNRS, University of Strasbourg, INSA Strasbourg, Strasbourg, France
Published: June 2022

The modularity concept in manipulators relies on connecting multiple elementary structures to achieve more complex and functional systems [1]. It has promising advantages, such as affordability and higher robustness [2], and allows for better adaptability to changing needs, e.g. enlarging the system workspace. Thus, modularity is highly desired in soft robotics applications, from minimally invasive surgery [3] to deep-sea exploration [4]. In this context, the hybrid soft-rigid approach is an effective method that combines different materials to allow for the main benefits of soft (i.e., compliance and a high degree of freedom) and rigid (i.e., force generation and precision) structures [5]. This study proposes a novel hybrid soft-rigid module that combines actuation in 3D space, proprioceptive sensing, and controllable variable stiffness. The general-purpose module has major advantages, such as compactness, lightweight, low-cost, and easy fabrication using a conventional 3D printer. The design and experimental characterization are here reported. The serial integration of three modules is finally shown.
Finite Element Dynamics of a Concentric Tube Robot Motion and Interaction with Environment Using SOFA-framework
Authors:   School of Biomedical Engineering & Imaging Sciences, King's College London, UK, Zuo Katie , Jackson Benjamin , Henry Ross , Bergeles Christos , Sadati S.M.Hadi
Published: June 2022

The concept of continuum and soft robotics has opened new abilities that were previously unachievable by rigid robotics alone, such as squeezing, growing, and morphing to their environments. As an example, Concentric Tube Robots (CTR) are continuum robots made of a series of pre-curved, elastic tubes where each tube can individually be rotated, as well as extended and recalled; interactions between each tube allows for turns and twists, giving control over the length and configuration of the robot. CTRs can assist in minimally invasive surgery (MIS) to access difficult to reach areas, due to the intricate human anatomy, with advantages including single-site entry and their malleable nature [1]. However, utilizing CTRs, and continuum robots in general, are not without their own challenges. Due to the complex nature of a continuum structure, fast and accurate simulations are still in development and require specific skills to operate. These simulations are not usually accurate due to the complex behaviours of the materials used and their deformable nature. SOFA (Simulation Open Framework Architecture) was introduced as an open-source platform to address some of the challenges with real-time physics-based simulation of interaction with deformable tissue in medical applications and later for modelling soft robots. More specifically, a BeamAdapter plugin2 was developed based on interpolation of a continuous geometry over multiple consecutive Timoshenko beam segments to address the simulation challenges of neurovascular interventions using interleaved catheters and guidewires [2]. The BeamAdapter plugin has been also utilized for interactive planning of coil embolization in brain aneurysms [3] and interactive training system for interventional electrocardiology procedures [4]. We have recently developed a Reduced-Order dynamic model for CTRs based on the shape interpolation of the robot backbone and showcased its real-time performance, correct estimation of the path-dependent motions and snapping instances, accurate simulations of stable and post-snapping motions in an experimental comparative study [5]. In this paper, we outline the process and the code on how a CTR model can be implemented into an example scene provided as a part of the SOFA-framework ‘BeamAdapter’ plugin [2].
A Sensorized Needle-Insertion Device for Characterizing Percutaneous Thoracic Tool-Tissue Interactions
Authors:   Department of Electrical and Software Engineering, University of Calgary, L’Orsa Rachael , Zareinia Kourosh , Westwick David , Sutherland Garnette , Kuchenbecker Katherine  J ,   Surgical Performance Laboratory, Project neuroArm, University of Calgary,   Haptic Intelligence Department, Max Planck Institute for Intelligent Systems,   Department of Mechanical and Industrial Engineering, Ryerson University
Published: June 2022

Tube thoracostomy (TT), where a tube is placed between the lungs and the chest wall to drain air and/or ﬂuids introduced by injury or disease, is a crucial procedure with both routine and emergent applications. It has high complication rates (up to 37.9%) [1], particularly for residents [2] and emergency physicians [3]. Inadver- tent tissue punctures during insertion can cause severe complications, including rare immediate fatality [4]. We propose semi-automating TT tool insertion, as merging the accurate haptic sensing capabilities of a medical robot with the dexterity and perspicacity of a physician could help protect against non-target tissue puncture. To avoid insertional complications, operators must a) position and b) orient tools correctly, and must c) halt insertion immediately upon breaching the parietal pleu- ral membrane. We focus here on preliminaries required for c) and leave a) and b) to future work. We report a prototype sensorized needle-insertion device named NID0 that records manual tool-tissue interactions with ex vivo porcine ribs, a realistic tissue phantom for TT [5], from contact to puncture of the parietal pleura. The acquired dataset showcases tissue characteristics and informs future puncture detection algorithms.
Robotic Surgery – Implications for Informed Consent
Authors:   Memorial University of Newfoundland –  Faculty of Medicine, Henley Jessica , Kirby Simon
Published: June 2022

Informed consent can be a complicated medico-legal process to ensure that a patient understands the risks involved with medical treatment or procedure. Surgeons in particular continue to face legal liability on the claim that informed consent was not properly achieved before surgery, which is likely to be further complicated by evolving technological advances in medicine [1],[2]. Robotic surgery introduces ambiguity for physicians to achieve informed consent. In addition to explaining the procedure according to the plan, the physician must describe the risk inherent to the technology that could create risk during the procedure. In the relatively new and ever-progressing world of surgical robotics, the surgeon may not have a complete understanding of what can go wrong based on their knowledge of the technology. This ambiguity leaves room for legal vulnerability for both the physician and the patient in achieving informed consent, as well as ambiguity in who can be held responsible. With the development and implementation of surgical robotics, no standardized protocol or training has been developed for how to approach informed consent discussions with patients. This poster considers the implications of surgical robotics on informed consent.
Design and experimental evaluation of the SOFTScreen Capsule System in a Colon Phantom
Authors:   Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College  London, UK, Consumi Vanni , Lindenroth Lukas , Stoyanov Danail , Stilli Agostino
Published: June 2022

Colorectal cancer (CRC) is nowadays one of the deadliest cancer but the high surviving rate is achievable if the disease is diagnosticated and treated at the early stage. However, the standard procedure represents a discomfortable treatment for many patients at the point that many are discouraged in undergoing routine screening program. In fact, the clinician has to insert and guide by hand a semi-flexible tubular colonoscope and might apply significant forces and torques on the colon walls, with the complications of creating loops in the intestine, tissue damage or even perforation. For this reason, research in capsule robotic colonoscopy is in high demand [1]; the main objective of robotics in this field is to design a system capable of navigating inside the large intestine in order to provide visual inspection of the lumen, possibly, carrying surgical tools required in the colonoscopy procedure, i.e. polypectomy, without the creation of large pushing forces and loops. Human colon is about 130 cm long and composed by 4 consecutive tracts, joint at different angles, named sigmoid, descending, transverse and ascending colon. The diameter the tubular organ can changes from 25 mm to 70 mm, reaching up to 80 mm if insufflated with CO2 gas, often adopted in colonoscopy. Nonetheless, colon wall is a multilayers membrane that consists of four main layers (mucosa, submucosa, muscularis externa and serosa) which makes the membrane very compliant to large deformation and very slippery, being the internal wall of the colon characterized by continuous secretion of mucus Due to both the morphology and the frictional behaviour of the colon, the design of robots that are able to crawl the intestine and perform the screening of the organ is a challenge. Various locomotion strategies for micro robotic devices have been explored, such active capsules inspired by bio-mimetic locomotion strategies, such insect or caterpillar, or by use of locomoting members to self- propel once inside the colon such wheels or tracks [2]. Nonetheless, current robotic solutions are still far away to replace the standard colonoscopy due to the challenges in integrating reliable locomotion strategy in small size robots able to face the complex environment represented by the colon. In this work, we discuss the design and the features of the SOFTScreen system [3], discussing the testing of its locomotion capability inside a silicone phantom resembling the colon surface.
Automatic Vessel Recognition and Segmentation: a novel Deep Learning Architecture with Transfer Learning Approach
Authors:   The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy, Faoro Giovanni , Pane Stefano , Iacovacci Veronica , Moccia Sara , Menciassi Arianna ,   Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy
Published: June 2022

Ultrasound (US) imaging stands as a valid alternative to X-rays based methodologies for navigation and intraoperative tracking of vascular probes, thanks to its non-ionizing nature. However, US images quality is highly operator dependent, being subject to probe’s orientation and contact force. In recent years, researchers have worked to develop Robotic US Systems (RUSS), granting the acquisition of good quality real-time US images, without the need of an expert operator [1]. Besides, to facilitate US images analysis, deep learning strategies have been developed. Applications in the field include the automatic segmentation of vessels, which is fundamental during endovascular procedures. Intraoperatively, an automatic method to classify images based on the presence of vessels and selectively segment only vascular images would be valuable. For example, during hand-held probe procedures it would increase the quality of information feedback. In RUSS, it would enable automatic adjustment of probe positioning serving as alternative to manual positioning by highly trained sonographers. Additionally, a method for precisely discriminating the presence of vessels in the image plane could increase safety in visual-servoing platforms, by preventing possible control instabilities generated by imaging artifacts. However, segmentation architectures typically assume that the processed image contains vessels to be segmented [2], but this is not granted in real intraoperative settings especially at the beginning of the procedure when the imaging probe is not yet optimally positioned. To address these unmet needs, in this paper we propose a multi-task convolutional neural network (CNN) architecture able to distinguish between vessel and no vessel images, in addition to segmenting them. The goal of such architecture is to enable robust and automatic US images analysis in real intraoperative settings.
A Novel, Research-Orientated Organ Perfusion Platform
Authors:   Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, Magbagbeola M , Doyle K , Rai Z.L , Lindenroth L , Dwyer G , Stilli A , Davidson B.R , Stoyanov D ,   Centre for Surgical Innovation, Organ Repair and Transplantation (CSIORT), University College London,   Royal Free Hospital NHS Trust, London
Published: June 2022

Abstract— This paper presents a low-cost, versatile, organ perfusion machine designed for use in research. The modular and adaptable nature of the system allows for additional sensing equipment to be added or adapted for specific use. A feedback controller was implemented and tested on a porcine liver to maintain input pressure of the perfusate into the hepatic artery (HA). The results confirmed the effectiveness of the controller for maintaining input through the HA in a timely manner.
A Temporal Learning Approach to Inpainting Endoscopic Specularities and Its effect on Image Correspondence
Authors:   Computer  Science  Department,  Surgical  Robot  Vision  Group,  University  College  London, Daher Rema , Vasconcelos Francisco , Stoyanov Danail
Published: June 2022

Computer vision has been utilized to analyze mini- mally invasive surgery videos and aid with polyp detec- tion, tool localization, and organ 3D modelling tasks. However, irregular light patterns such as saturation, specular highlights, or extreme contrasts occlude texture and hinder these tasks. In this work, specular highlights were removed and the occluded data was reconstructed. To do that, an unsupervised temporal generative ad- versarial network (GAN) was used to inpaint specular highlights spatially and temporally. Due to the absence of a dataset with ground truth occluded textures, the network was trained on the in-vivo gastric endoscopy dataset (Hyper-Kvasir [1]) with specular highlight masks that were automatically created and processed to act as pseudo ground truths. Ablation studies and direct comparison with other methods were used to show the improved results of our system. In addition, the results on various datasets show the generalizability of our net- work on different environments and procedures as shown in Fig. 1. Finally, experiments also show the positive effect of inpainting on other computer vision tasks under the umbrella of 3D reconstruction and localization in endoscopy including feature matching as well as optical flow and disparity estimation.
Deep Learning-based Plane Pose Regression towards Training in Freehand Obstetric Ultrasound
Authors:   Wellcome/EPSRC Centre for International and Surgical Sciences, University College London, Di Vece Chiara , Dromey Brian , Vasconcelos Francisco , David Anna L , Peebles Donald , Stoyanov Danail ,   Elizabeth  Garrett  Anderson  Institute  for  Women’s  Health,  University  College  London,   NIHR  UCL  Hospitals  Biomedical  Research  Centre,  University  College  London
Published: June 2022

In obstetrics ultrasound (US) training, the learner’s ability to mentally build a three-dimensional (3D) map of the fetus from a two-dimensional (2D) US image represents a major challenge. Pre-defined anatomical planes, known as standard planes (SPs), retain a sig- nificant clinical relevance. Their correct acquisition re- quires extensive experience due to the complexity of SP definition, their high intra- and low inter-class variation. Previous work proposed automating the extraction of SPs from data acquired with a simplified protocol rather than assisting operators in acquiring typical freehand 2D SPs. These methods, based on traditional machine learn- ing (ML) approaches [1] or convolutional neural network (CNN) [2], are mostly confined to selection or classifi- cation of SPs. Automatic approaches for the localisation of planes in 3D volumes are based either on supervised learning (SL) [3] or reinforcement learning (RL) [4]. The first ones, even though effective, can mainly localize one single plane at a time or are tailored to just one organ. Also, they attempt to learn a mapping from high- dimensional volumetric data to low-dimensional abstract features directly, making the training difficult. In the second case, most of the available solutions employing deep reinforcement learning (DRL) are based on robotic navigation and are used at the point of care. To the best of our knowledge, there are no available training systems to guide the sonographers in freehand obstetric US. Currently, training in obstetric US is focused on SPs recognition. The autonomous probe navigation towards SPs remains a highly challenging task due to the need to interpret variable and complex images and their spatial relationship. Our work aims to develop a real-time training platform to guide inexperienced sonographers in acquiring proper obstetric US images that could be potentially deployed for existing US machines.
Human Machine Interfaces for robot-assisted colonoscopy: a clinical survey
Authors:   Center of Research in Biomedical Engineering, Universitat Politècnica de Catalunya,, Finocchiaro M , Arezzo A , Menciassi A , Casals A , Hernansanz A , Ciuti G ,   he BioRobotics Institute and 3Department of Excellence in Robotics & AI, Scuola  Superiore Sant’Anna,,   Department of Surgical Sciences, University of Torino
Published: June 2022

Over the years, the continuous development of intraluminal procedures resulted in strong benefits for the patients, i.e., reduced blood loss, lower risks of infections, diminished scaring impact and quicker recovery time [1]. However, these improvements imposed high mental and physical stress to the clinicians [2], [3]. In this context, the introduction of robotic technologies has resulted in notable improvements in terms of endoscopes flexibility and control stability, by designing multi-steerable snake-like robots and endoscopic capsules. Nevertheless, it also introduces additional degrees of freedom (DOF) to control and sensing information to process, posing the basis for a new framework of human-robot interaction and high-level telemanipulation control [4]. Besides the mechanical design of the surgical device, the Human Machine Interface (HMI, i.e., the interface used to maneuver the endoscope, together with the adopted control strategy and the quality of the feedback received during the interventions) has an important impact over the outcomes of the procedure. Accordingly, all these factors can vary the difficulty of the tasks and are strictly connected to the users’ physical and mental stress, influencing their final performances [5]. Focusing on one intraluminal intervention, i.e., robot- assisted colonoscopy, a variety of HMI have been designed in the last decades, including different input devices, assistive tools and feedback [6]. However, few studies aiming at assessing the best features of the HMI have been performed so far [7]–[9], leading to a lack of knowledge about the optimal HMI able to minimize the cognitive and physical load of the operators and maximize their performace. Herein, we present the results of a survey administered to more than 70 endoscopists across different European countries, to get insights about the clinicians’ desires on the next generation HMI for robot assisted colonoscopy.
Multi Jet Fusion of Nylon-12: A Viable Method to 3D-print Concentric Tube Robots?
Authors:   Department of Robotics Engineering, Worcester Polytechnic Institute, USA, Picho K , Persons B , d‚ÄôAlmeida J. F , Pacheco N. E , Reynolds C , Fichera L
Published: June 2022

Concentric Tube Robots (CTRs) are needle-sized flexible manipulators well suited for minimally invasive surgery. The body of a CTR consists of a set of pre-curved tubes nested telescopically within each other, as shown in Fig. 1. Each tube can be translated and rotated independently. During actuation, the tubes interact elastically with each other, creating tentacle-like bending motions. CTRs are usually made of superelastic Nickel-Titanium (Nitinol), a metal alloy capable of withstanding large amounts of strain (typically up to 6-8%) without undergoing plastic deformation. Strain recovery is key for the operation of a CTR, as it enables the body of the robot to undergo substantial yet reversible bending. In recent years, different groups have investigated the viability of 3D-printing CTRs using materials other than Nitinol [1-2]. This research is motivated by the fact that Nitinol can be a challenging material to work with: to build CTRs, Nitinol tubing must first be formed into a prescribed curved shape through an annealing treatment, which, as previous work has shown, can be complex, time-consuming, and error-prone [3]. Correct execution of this process requires specialized expertise as well as equipment that may not be readily available in a robotics laboratory. 3D-printing promises to overcome these challenges by providing a way to rapidly prototype CTRs. This would not only benefit CTR research, but it would also enable new appealing capabilities, such as the ability to create patient- or procedure-specific robots. In this paper, we present a study on the viability of fabricating CTRs using Multi Jet Fusion (MJF) of Nylon- 12, a type of elastic polymer commonly used in additive manufacturing [4]. We note that Nylon-12 was already evaluated for the purpose of building CTRs in [2], but fabrication was performed with Selective Laser Sintering (SLS), which produced unsatisfactory results. Our study is the first study to evaluate the suitability of MJF to 3D- print CTRs.
Dual-Arm Platform for Control of Magnetically Actuated Soft Robots
Authors:   STORM Lab UK, University of Leeds, Brockdorff M , Pittiglio G , da  Veiga T , Chandler J. H , Valdastri P
Published: June 2022

The present work discusses a novel approach for remote magnetic actuation. In the following, we present a full characterization of the dual External Permanent Magnet (dEPM) actuation system. Herein, we discuss how this system can be applied to fully control the magnetic field in a predefined workspace. We discuss how it can generate a homogeneous magnetic field, in every direc- tion and control every independent gradient in the same workspace. We prove how up to 8 Degrees of Freedom (DOF), 3 independent field components and 5 gradients directions, can be controlled fully independently. The rise in popularity of magnetic actuation comes from the fact that it allows for the control of wireless magnetic micro-robots and magnetic Soft Continuum Robots (SCRs), which bring about a reduction in size when compared to their non-magnetic counterparts. SCRs have a theoretical infinite number of DOFs and thus, can adapt to various nonlinear environments, min- imising contact and pressure on surrounding tissue. While successful multi-DOFs magnetic actuation has been demonstrated at small scale [1], by using systems of coils, large-scale manipulation is yet to be fully proven. In fact, it might require several independently- controlled coils [2] to be effective along any possible direction of motion. Despite their ability to generate both homogeneous fields [3] and gradients [2], systems of coils are less scalable, compared to permanent magnet- based magnetic field control systems [3]. In fact, due to lower field density, energy-consumption and need for high-performance cooling systems, they are generally characterized by limited workspace [4]. By further developing the idea of remotely actuating 1 Internal Permanent Magnet (IPM) (internal since, generally, inside the human body) with 1 External Per- manent Magnet (EPM) [5], we discuss how 2 robotically actuated EPMs are able to magnetically manipulate 2 IPMs, independently. This is achieved by independently controlling the torque (magnetic field) and the force (field gradients) applied to each IPM.
Validation of a Proof-of-Concept System for Personalised Computer-Assisted Treatment of Knee Osteochondral Lesions
Authors:   Mechatronics in Medicine Laboratory, Imperial College London, UK, Tatti F , Jaramaz B ,   Smith & Nephew Inc., USA, Rodriguez  y  Baena F
Published: June 2022

The number of total and partial knee arthroplasties performed annually in the United Kingdom increased steadily between 2003-2019. Over the past two years, the COVID-19 pandemic has created a backlog of delayed arthroplasties that will require several years to clear [1]. Early intervention through targeted treatment of focal cartilage lesions could alleviate some of the burden by avoiding or postponing the need for more complex and invasive procedures, but such interventions are still uncommon [2]. Among the key challenges of these pro- cedures is the difficulty of ensuring correct positioning and a good congruence between the implant and patient anatomy, which are critical for success [3]. In this regard, Computer-Assisted Orthopaedic Surgery (CAOS) could be of assistance, as it provides valu- able metrics to inform the selection and placement of an implant, and minimise the error between planning and execution. CAOS systems promise to bring more quantitative data and objective metrics into the operating theatre, informing the surgeons’ decisions, thus allowing them to tailor each intervention to the patient’s needs [4]. This work presents the validation of a novel computer- assisted surgical workflow for the treatment of osteo- chondral lesions. The software uses intraoperative in- formation on the patient’s anatomy and lesion to help clinicians optimise the selection of an implant and its pose. The software was combined with the existing capabilities of the NAVIO™ surgical system (Smith & Nephew inc.) [5], creating a complete workflow that incorporates both surgical planning and assisted bone preparation.
A Mixed Reality System for Human Teleoperation in Tele-Ultrasound
Authors:   Robotics and Control Lab, University of British Columbia, Black D.  G , Salcudean S.  E
Published: June 2022

Many applications including telemedicine, manufactur- ing, and maintenance profit from remote guidance. Ex- isting approaches to tele-ultrasound (US) include robotic teleoperation as well as multimedia applications that combine verbal and graphical guidance. Robotic US systems can provide high precision, low latency, and haptic feedback [1][2][3]. One system has demonstrated clinical utility in trials [4], and much recent work has focused on autonomous robotic US [5]. However, the issues of safe human-robot interaction and guaranteed robust autonomy remain difficult, especially from a reg- ulatory perspective. Further limitations include restricted workspaces, time consuming set-up, large physical size that prevents use in ambulances, and cost, especially compared to inexpensive US systems. Conversely, systems sold by Clarius Mobile Health Corp. and Butterfly Network use a wireless US probe with images and video conferencing available via a cloud interface on a mobile phone application. Though inexpensive and flexible, the desired probe pose and force are given verbally or with some overlays of arrows or pointers on the US image, which is very inefficient, leading to high latency and low precision. We present a novel concept of ‚ÄúHuman Teleoperation" through mixed reality which bridges the gap between these two methods. In this control framework, the human follower is controlled as a flexible, cognitive robot such that both the input and the actuation are carried out by people, but with near robot-like latency and precision. This allows teleguidance that is more precise, intuitive, and low latency than verbal guidance, yet more flexible, inexpensive, and accessible than robotic teleoperation. This short paper summarizes the concepts and intro- duces a new design of the communication system to use a secure, high-speed, network-agnostic WebRTC interface. More details and results can be found in [6].
Towards a Procedure Optimised Steerable Microcatheter for Neurosurgical Laser Ablation
Authors:   The Mechatronics in Medicine Lab, Imperial College London, Aktas A , Demircali A. A , Secoli R , Temelkuran B , Rodriguez y Baena F ,   Department of Metabolism, Digestion and Reproduction, Imperial College London,   The Hamlyn Centre for Robotic Surgery, Imperial College London
Published: June 2022

Minimally invasive surgery (MIS) has seen significant growth over the last two decades due to its great benefits to surgical outcomes. In MIS neurosurgical procedures such as biopsy, ablation, and fluid delivery/extractions, it is common practice to use straight catheters. The success of these procedures derives from the precision and accuracy of reaching the surgical target without damaging healthy structures, which is not often possible due to limitations of the tool design. To overcome these, researchers continue to work on improving procedural delivery via robotic steerable needles with multiple design choices [1]. Within this area of research, the first robotic ecosystem, code-name EDEN2020 (Enhanced Delivery Ecosystem for Neurosurgery in 2020), was de- veloped to provide a clinical tool to assess the potential of Convection Enhanced Delivery (CED) of chemo- therapeutics along preferential pathways that align to an- isotropic brain structures [2]. This task is possible only with a flexible delivery system.
EndoVine: Soft Robotic Endoscope for Colonoscopy
Authors:   University of Verona, Italy, Pore Ameya , Piccinelli Nicola , Rossi Giacomo  De , Piano Matteo , Meli Daniele , Dall’Alba Diego , Muradore Riccardo , Fiorini Paolo
Published: June 2022

Colonoscopy is the gold standard examination procedure for screening colorectal cancer (CRC), providing the ability to inspect the lower digestive tract [1]. Standard colonoscopy is carried out with a minimally invasive approach based on a flexible endoscope controlled by the steering knobs. However, for routine screening, the intrusive nature of the intervention, the rigidity of the device and the lack of intuitiveness in steering can make the experience highly unpleasant to the recipient [2]. Pa- tient discomfort and pain are due to tissue stretching and friction as the endoscope is pushed through the colon [1]. Furthermore, the use of rigid instruments introduces risks such as tissue perforation and anaesthesia-related adverse events [2]. Overcoming the design limitations of the flexible endoscope by using soft material can reduce both tissue stretching and friction, making it more tolerable for the patient. Soft everting robots that show growth from the tip have demonstrated successful application in navigating highly constrained environment without damaging it. Tip-extending soft robots, called vine robots, take flex- ible film as body material and air pressure as input power to propel forward [3]. Natural orifice intraluminal procedures that operate through constrained bodily lu- mens such as colon, oesophagus, and trachea, represent suitable scenarios for vine robots. Recent work has in- vestigated soft pressure-driven colonoscope via inflation of tip balloons [4], which may cause harmful local tissue stretching. Another work by Dehghani et al. developed a pneumatically driven colonoscopy robot [5]; however, their prototype does not allow retraction of the tip and does not provide room for instruments. Retraction of vine robots is believed to be a challenging problem due to the buckling of the robots [3]. Therefore, in this abstract, we present an Endoscopic Vine robot (EndoVine) designed for colonoscopy with a novel retraction mechanism. EndoVine comprises a double inverted soft inflatable sleeve that propels the tip using internal pneumatic propulsion. It will be equipped with an internal flexible channel for the camera, light source and working instruments to enable bowel inspection.