To validate the proposed system, experimental tests were conducted using instrumentation typically available in the operating room (i.e., a respiratory ventilator, a patient monitor for intensive care, and an endoscope). The innovative aspect of the proposed XR-based monitoring platform lies in the comprehensiveness of the available information, in its modularity and flexibility (in terms of adaption to different sources of data), ease of use, and most importantly, in a reliable communication, which are critical requirements for the healthcare field. Finally, the XR-based monitoring platform also allows displaying in XR the video stream coming directly from the endoscope. Furthermore, information regarding the patient clinical record is also shown upon request. In particular, the XR platform supports the medical staff by automatically acquiring the patient’s vitals from the operating room instrumentation and displaying them in real-time directly on an XR headset. The proposed system provides real-time access to a comprehensive set of patients’ information, which are made promptly available to the surgical team in the operating room (OR). This result undoubtedly paves the way for the in-service maintenance of nuclear power plants.Īn extended-reality (XR) platform for real-time monitoring of patients’ health during surgical procedures is proposed. In a gas environment, the efficiency of absorber ball removal can reach 58.96 kg/h with a lift of 7.5 m and 48.54 kg/h with a lift of 10 m. The results show that the continuum robot can smoothly pass through the divider plug and reach any position at the bottom of a ball-storage tank where absorber balls are located with only two segments. Finally, the functions of the device are verified by tests. In addition, some special kinematics solutions can be obtained according to opposite-bending and feeding characteristics. Then, according to the symmetrical layout of actuation ropes, the kinematics of the single-segment continuum robot are extended, and the kinematics equation which is universal to the continuum robot with the dual segment is summarized. In this article, a 3-DOF dual-segment continuum robot system is proposed which is equipped with an end-effector to remove absorber balls by pneumatic conveying. However, removing absorber balls in a constrained environment through an inspection port is fairly challenging. In situ maintenance works for nuclear power plants are highly beneficial as they can significantly reduce the current maintenance cycle and cost.
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