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Development of a simple discarding robot for the media changing process
Ryosuke Nonoyama,Koichiro Yori,Keiichi Sugiura,Makoto Jinno 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
Currently, in regenerative medicine, cell processing is performed manually, which is labor intensive and expensive. Recently, automatic cell culture apparatuses equipped with a vertical articulated robot have been proposed to improve the efficiency of cell-processing tasks. However, most of them automate all the cell-processing tasks, which complicate the system. This study aimed to develop a simple and rational cell-processing system by combining the tasks performed by a robot and human. In a previous study, we proposed a method to improve the efficiency of the media changing process and implemented prototypes that improve the efficiency of discarding and injecting tasks. Herein, we developed and evaluated a simpler discarding robot than the previous model. The proposed discarding robot fulfilled its basic functions. Using the robot, the operator does not need to worry about the liquid-dripping effect during the discarding task. Moreover, the device is equipped with human error countermeasures. Further, as this device is sufficiently small to be used in a safety cabinet, it can be integrated into current culture methods.
( Michihiro Yoshida ),( Itaru Naitoh ),( Kazuki Hayashi ),( Naruomi Jinno ),( Yasuki Hori ),( Makoto Natsume ),( Akihisa Kato ),( Kenta Kachi ),( Go Asano ),( Naoki Atsuta ),( Hidenori Sahashi ),( Hir 대한소화기학회 2021 Gut and Liver Vol.15 No.3
Background/Aims: Although endoscopic transpapillary gallbladder drainage (ETGBD) has been reported as an alternative procedure for acute cholecystitis, it requires advanced endoscopic techniques. In terms of the certainty of achieving drainage, it remains a challenging procedure. The aim of the current study was to elucidate the practical efficacy of cholangioscopic assistance and to develop a new classification that could be used to evaluate the technical difficulty of ETGBD and provide a theoretical strategy to apply cholangioscopy appropriately for difficult ETGBD. Methods: A total of 101 patients undergoing ETGBD were retrospectively studied. The characteristics and technical outcomes of ETGBD with conventional ETGBD (C-ETGBD) and Spy- Glass DS-assisted ETGBD (SG-ETGBD) were evaluated. The characteristics and technique-dependent factors of unsuccessful C-ETGBD/SG-ETGBD were evaluated using the classification based on the steps of the procedure. The predictive factors of successful C-ETGBD/SG-ETGBD were examined. Results: C-ETGBD was successful in 73 patients (72.3%). SG-ETGBD was successful in 11 of 13 patients (84.6%) who had C-ETGBD failure. Optional SG-ETGBD significantly increased the final success rate (94.1%) compared to C-ETGBD alone (p=0.003). ETGBD procedures could be classified into four steps. SG-assistance worked as an excellent troubleshooter in step 1 (failure to identify the cystic duct orifice) and step 2 (failure of guidewire advancement across the downturned angle of cystic duct takeoff). Magnetic resonance cholangiopancreatography could provide predictive information based on the classification. Conclusions: Optional SG-ETGBD achieved a significantly higher success rate than C-ETGBD alone. Step classification is helpful for determining the technical difficulty of ETGBD and developing a theoretical strategy to apply cholangioscopy in a coordinated manner. (Gut Liver 2021;15:476-485)