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Robots used in research on Embodied AI often need to physically explore the world, to fail in the process, and to develop from such experiences. Most research robots are unfortunately too stiff to safely absorb impacts, too expensive to repair if broken repeatedly, and are never operated without the red kill-switch prominently displayed. The GummiArm Project was intended to be an open-source “soft” robot arm with human-inspired tendon actuation, sufficient dexterity for simple manipulation tasks, and with an eye on enabling easy replication of robotics experiments. The arm offers variable-stiffness and damped actuation, which lowers the potential for damage, and which enables new research opportunities in Embodied AI. The arm structure is printable on hobby-grade 3D printers for ease of manufacture, exploits stretchable composite tendons for robustness to impacts, and has a repair-cycle of minutes when something does break. The material cost of the arm is less than $6000, while the full set of structural parts, the ones most likely to break, can be printed with less than $20 worth of plastic filament. All this promotes a concurrent approach to the design of “brain” and “body,” and can help increase productivity and reproducibility in Embodied AI research. In this work we describe the motivation for, and the development and application of, this 6 year project.

Presentamos el caso de una mujer de 71 años que, siendo diagnosticada de hidatidosis hepática, se había realizado trisegmentectomía hepática desarrollándose en el postoperatorio, estenosis del conducto hepático y fístula biliar secundaria que no se resolvió con tratamiento conservador, por lo que se realizó hepático yeyunostomía en Y de Roux. Cinco meses después la paciente comenzó a presentar fiebre intermitente con alteración de la bioquímica hepática; se diagnosticó de colangitis y se pautó tratamiento con amoxicilina-clavulánico durante 15 días. A los tres meses consultó de nuevo por fiebre, tos y expectoración espesa amarillenta. La radiografía de tórax mostró un infiltrado basal derecho. Se realizaron TC y colangioRMN sin hallazgos patológicos. Con el diagnóstico de neumonía basal derecha se pautó tratamiento con piperazilina-tazobactam y posteriormente amoxicilina-clavulánico, pero al suspender el tratamiento antibiótico presentó de nuevo de fiebre. En un cultivo de esputo creció E. coli sensible a quinolonas por lo que se pautó tratamiento con levofloxacino a pesar de lo cual la paciente continuó con fiebre acudiendo de nuevo a urgencias.La paciente presentaba expectoración amarilla biliosa. En la exploración tenía fiebre de 38 ºC, con tensión arterial de 80/40 y frecuencia cardiaca de 100 lpm.En las pruebas complementarias el hemograma mostró leucocitos: 31.000 con un 92% de neutrófilos y 2% de cayados. La hemoglobina era de 9 mg/dl siendo las plaquetas normales. La bioquímica hepática era normal y la gasometría arterial mostraba insuficiencia respiratoria. En la Rx de tórax se objetivó derrame pleural derecho. Se intentó realizar toracocentesis diagnóstica con ecografía dirigida, no pudiéndose obtener muestra para analizar.Con la sospecha de fístula biliopulmonar se realizó gammagrafía hepatobiliar con IDA (derivado del ácido iminodiacé-tico marcado con tecnecio) confirmándose el diagnóstico (Fig. 1).Se realizó CTPH observándose importante dilatación de vía biliar y fuga biliar hacia tórax. Se objetivó estenosis de la anastomosis con el asa yeyunal, que se dilató y se dejó catéter de drenaje externo-interno y para tutorización de la anastomosis (Fig. 2). REV ESP ENFERM DIG (Madrid) Vol. 99. N.°12, pp. 723-724, 2007 Fig. 1. En fase de eliminación el trazador va ascendiendo a región torá-cica, distribuyéndose por el pulmón derecho. Fig. 2. Estenosis de la anastomosis con el asa yeyunal con dilatación de la vía biliar y fuga biliar hacia tórax.

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Aim To describe and assess how minimal invasive surgery in inguinal hernia repair is in spanish general surgery residency. Material & Methonds An anonymus survey with 26 questions was sent to all Surgery Residents in Spain by email by Spanish Surgeons Association. Responses were analysed using both qualitative and quantitative methods. Results 161 answers were recieved. Residents of each year and each hospital answered that survey. 83.2% performed minimal invasive abdominal wall surgery. But in 78.2% of hospital this surgery was conducted by 1 or 2 senior surgeon. 55.1% performed less than 30 surgeries per year. TEP was preferred than TAPP in most cases. 51.2% of residents did not rotate in an abdominal wall surgery unit. At least 48% of residents did not performed any minimal invasive surgery during their residency training, but 71.4% performed their first open inguinal hernia repair at their first year of residency. Those who performed minimal invasive surgery, just 6% performed more than 20 surgeries. 91.9% of residents percieved gaps in their minimal invasive inguinal hernia repair surgery training. Conclusion Abdominal wall surgery is infraestimated. This survey findings highlighted the gaps and the callenges encouterd by Spanish General Surgery residents in acquiring satisfactory minimal invasive inguinal hernia surgery skills during their residency. An improvement in our formation is needed.