Orochi: Investigating Requirements and Expectations for Multipurpose Daily Used Supernumerary Robotic Limbs

Supernumerary robotic limbs (SRLs) present many opportunities for daily use. However, their obtrusiveness and limitations in interaction genericity hinder their daily use. To address challenges of daily use, we extracted three design considerations from previous literature and embodied them in a wearable we call Orochi. The considerations include the following: 1) multipurpose use, 2) wearability by context, and 3) unobtrusiveness in public. We implemented Orochi as a snake-shaped robot with 25 DoFs and two end effectors, and demonstrated several novel interactions enabled by its limber design. Using Orochi, we conducted hands-on focus groups to explore how multipurpose SRLs are used daily and we conducted a survey to explore how they are perceived when used in public. Participants approved Orochi's design and proposed different use cases and postures in which it could be worn. Orochi's unobtrusive design was generally well received, yet novel interactions raise several challenges for social acceptance. We discuss the significance of our results by highlighting future research opportunities based on the design, implementation, and evaluation of Orochi

Emergent Orthotopic Liver Transplantation for Hemorrhage from a Giant Cavernous Hepatic Hemangioma: Case Report and Review

IntroductionCavernous hemangiomas represent the most common benign primary hepatic neoplasm, often being incidentally detected. Although the majority of hepatic hemangiomas remain asymptomatic, symptomatic hepatic hemangiomas can present with abdominal pain, hemorrhage, biliary compression, or a consumptive coagulopathy. The optimal surgical management of symptomatic hepatic hemangiomas remains controversial, with resection, enucleation, and both deceased donor and living donor liver transplantation having been reported.Case reportWe report the case of a patient found to have a unique syndrome of multiorgan cavernous hemangiomatosis involving the liver, lung, omentum, and spleen without cutaneous involvement. Sixteen years following her initial diagnosis, the patient suffered from intra-abdominal hemorrhage due to her giant cavernous hepatic hemangioma. Evidence of continued bleeding, in the setting of Kasabach-Merritt Syndrome and worsening abdominal compartment syndrome, prompted MELD exemption listing. The patient subsequently underwent emergent liver transplantation without complication.ConclusionAlthough cavernous hemangiomas represent the most common benign primary hepatic neoplasm, hepatic hemangioma rupture remains a rare presentation in these patients. Management at a center with expertise in liver transplantation is warranted for those patients presenting with worsening DIC or hemorrhage, given the potential for rapid clinical decompensation

What is changing in indications and treatment of hepatic hemangiomas. A review.

Hepatic cavernous hemangioma accounts for 73% of all benign liver tumors with a frequency of 0.4-7.3% at autopsy and is the second most common tumor seen in the liver after metastases. Patients affected by hemangioma usually have their tumor diagnosed by ultrasound abdominal examination for a not well defined pain, but pain persist after treatment of the hemangioma. The causes of pain can be various gastrointestinal pathologies including cholelithiasis and peptic ulcer disease.The malignant trasformation is pratically inexistent. Different imaging modalities are used to diagnosis liver hemangioma including ultrasonography, computed tomography (CT), magnetic resonance (MR) imaging, and less frequently scintigraphy, positronemission tomography combined with CT (PET/CT) and angiography. Imaging-guided biopsy of hemangioma is usually not resorted to except in extremely atypical cases. The right indications for surgery remain rupture, intratumoral bleeding, Kasabach-Merritt syndrome and organ or vessels compression (gastric outlet obstruction, Budd-Chiari syndrome, etc.) represents the valid indication for surgery and at the same time they are all complications of the tumor itself. The size of the tumor do not represent a valid indication for treatment. Liver hemangiomas, when indication exist, have to be treated firstly by surgery (hepatic resection or enucleation, open, laproscopic or robotic), but in the recent years other therapies like liver transplantation, radiofrequency ablation, radiotherapy, trans-arterial embolization, and chemotherapy have been applied

A detailed study of the Old Baldy thrust fault, Huerfano and Costilla counties, Colorado

Master of ScienceGeologyUniversity of Michiganhttp://deepblue.lib.umich.edu/bitstream/2027.42/115139/1/39015003265116.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/115139/2/39015003265116.pd