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Mathieu Stephan,G. Rognini,A. Sengul,R. Beira,L. Santos-Carreras,H. Bleuler 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgical instruments through the use of a robotic arm directly inserted into the patient’ insufflated abdominal cavity. Suturing, dissection and ablation instruments will be attached on this 8 mm x 9 mm x 3mm MIS gripper. Finite Element Analysis is used to model the gripper and determine the deformation matrix coefficients. Gripping and XYZ Cartesian direction applied forces can be measured with a resolution of 0.1N for a maximum force of 10N. However a significant difference between the predicted values by the Finite Element model and those obtained in the characterization of the force sensor is found. This divergence is due to misalignments of the strain gages located on the blades of the gripper. Future work will be focused on reducing misalignment of force sensors as well as other error sources.
Exposure to occupational hazards for pregnancy and sick leave in pregnant workers
Jean-Bernard Henrotin,Monique Vaissiere,Maryline Etaix,Mathieu Dziurla,Stephane Malard,Dominique Lafon 대한직업환경의학회 2017 대한직업환경의학회지 Vol.29 No.-
Background: This study aimed to investigate the association between exposure to occupational hazards for pregnancy and sick leave (SL) in pregnant workers. Methods: A cross-sectional study was performed in French occupational health services in 2014. Occupational hazards for pregnancy were assessed by occupational health physicians (OHPs). After delivery and at the time of returning to work, 1,495 eligible workers were interviewed by OHPs. Information on SL was self-reported. Risk ratios (RRs) were calculated from multivariable analyses based on a generalized linear model with a Bernoulli distribution and a log link adjusted for selected confounders for binary outcomes or zero-inflated negative binomial regression for count outcomes. Results: Among recruited workers, 74.9% presented “at least one SL” during pregnancy. After adjustment, the cumulative index of occupational hazards (0, 1–2, 3–4, ≥ 5 risks) for pregnancy was significantly associated with “at least one SL” during pregnancy in a dose–response relationship. This gradient was also observed with “early SL” (<15 week gestation): from 1 to 2 risks, RR = 1.48 (95% confidence intervals (CIs): 0.92-2.38); from 3 to 4 risks, RR = 2.03 (95% CI: 1.25-3.30); equal to or higher than five risks, RR = 2.90 (95% CI: 1.89-4.44); with “duration of absence” (adjusted mean): from 1 to 2 risks, m= 38.6 days; from 3 to 4 risks, m= 46.8 days; equal to or higher than five risks, m= 53.8 days. We also found that deprivation, pregnancy at risk, assisted reproductive therapy, work-family conflicts, home-work commuting felt as difficult and young age are associated with a higher risk of SL. Conclusions: Our results support the assertion that pregnant workers exposed to occupational hazards for pregnancy without medical complications are also at risk of taking SL during pregnancy. More prevention in the workplace for pregnant workers exposed to occupational hazards could reduce SL.