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""There is a huge demand to develop a method for assisting surgeons in automatically predicting soft tissue deformation in terms of a bone-remodelling CAPNS1 plan. This paper introduces several novel elements into a system for the simulation of postoperative facial appearances with respect to prespecified bone-remodelling plans. First, a new algorithm for efficient detection of collisions, using the signed distance field, is described. Next, the penalty method is applied to determine the contact load of bone on facial soft tissue. Finally, a non-linear finite mixed element model is developed to estimate the tissue deformation induced by the prescribed bone remodelling plan. The performance of the proposed collision detection algorithm has been improved in memory requirements and computational efficiency compared with conventional methods. In addition, the methodology is evaluated over both synthetic and real data, with simulation performance averaging Talazoparib cost connection. Haptic capabilities were added to MBARS and user tests were conducted to help design the haptic control loop. Selleck Dolutegravir The accuracy of a 3D physical scan was tested on a femur model. Indication for force scaling and mode switching was found. Average distance error of collected points from the surface scanned by the robot was 0.3 mm. It is suggested that haptic control of bone-mounted robots should be non-linear and not necessarily transparent. Haptic surface acquisition can be used to generate an accurate intraoperative model of a joint surface. Copyright ? 2010 John Wiley & Sons, Ltd. ""The technique of kidney transplantation has been well established. The operation is typically performed through a lower quadrant muscle cutting incision. With advances in robotic technology, many procedures are now being performed using the robot. This article describes a simple model of ex-vivo kidney transplantation using the robotic technique. This is a good training model and could be applied in select group of patients in the clinical setting. Copyright ? 2011 John Wiley & Sons, Ltd. ""In 2012, we received 683 submissions and published 20 editorials, 38 reviews, 11 letters and 128 original articles. This represents an acceptance rate for original papers in the range of 20%.