Palpation Robot System - Reproduction Method by Deep Neural Network of Skin Palpation Judgment Focusing on Softness Classification

In recent years, the spread of infectious diseases, such as COVID-19, has increased the need for medical examinations to avoid contact between doctors and patients. Most treatments, especially dermatology, require palpation, and its impact is significant. In this study, we aimed to reproduce the judgment of the softness and surface textures of diseased parts, which is important to dermatologists for determining the condition, using a simple robot device. Five levels of softness and three types of surface textures labeled with 14 types of materials were obtained from interviews with dermatologists. To acquire a haptic response from materials during pushing, 1) a single-rod probe with a haptic sensor using a linear actuator and 2) a dual-rod type configuration to obtain vibration propagation was constructed. Frequency-analyzed images were produced from the obtained waveforms of force and acceleration. A total of 343 images from 13 materials were used for transfer learning and were classified using AlexNet. The classification accuracy of the single-rod probe was 93.0%, and that of the dual-probe configuration was 95.2%. The classification accuracy was improved using the dual probe configuration than the single one;the softness classification accuracy was improved from 93.8% (single-rod) to 95.7% (dual-rod configuration). The surface texture classification accuracy was improved from 91.9% (single-rod) to 92.8% (dual-rod configuration), respectively. Therefore, the proposed method enables the reproduction of the judgment of five-level softness and three types of surface texture judgment by dermatologists. © 2022 IEEE.

Experiment assisting system with local augmented body (EASY-LAB) in dual presence environment

This paper introduces a system designed to support conducting experiments of subjects when the situation does not allow experimenter and subject to be in the same place such as the COVID19 pandemic where everyone relied on video conference applications which has its limitation. Due to the difficulty of directing with a video conferencing system using solely video and voice. The system we developed allows an experimenter to actively watch and interact with the subject. Even if you're operating from a distant area, it is still possible to conduct experiments. Another important aspect this study will focus on is the case of when there are several subjects required and the experimenter must be able to guide both subjects equally well. The system proposed uses a 6 DoF robotic arm with a camera and a laser pointer attached to it on the subject side. The experimenter uses a head-mounted display to control it and it moves corresponding to the head movement allowing for easy instruction and intervention to the subject side. Comparison with other similar research is also covered. The study will focus mainly on which viewing method is the easiest for the experimenter to use, and if teaching one subject at the time gives better results than teaching two subjects simultaneously. © 2022 International Measurement Confederation (IMEKO). All rights reserved.

Experiment Assisting System with Local Augmented Body (EASY-LAB) for Subject Experiments under the COVID-19 Pandemic

Since it is challenging to perceive space and objects with a video conferencing system, which communicates using only video and audio, there are difficulties in testing subjects in the COVID-19 pandemic. We propose the EASY-LAB system that allows an experimenter to perform observation and physical interaction with the subject even from a remote location actively. The proposed system displays the camera image on a HMD worn by the experimenter, which camera is mounted on a small 6 DOF robot arm end, allowing observation from an easy-to-see perspective. The experimenter can also instruct the subject using another robot arm with a laser pointer. The robot's joint angles are calculated by Inverse Kinematics from the experimenter's head movements, then reflected in the actual robot. Photon Unity Networking component was used for the synchronization process with remote locations. These devices are affordable, effortless to set up, and can be delivered to the subject's home. Finally, the proposed system was evaluated by four subjects, As a preliminary result, the mean pointing error was 1.1 cm, and the operation time was reduced by 60% compared with the conventional video conferencing system. This result indicated the EASY-LAB's capability, at least in tasks that require pointing and observation from various angles. The statistical study with more subjects will be conducted in the follow-up study. © 2021 ACM.

IMpassion130: Final OS analysis from the pivotal phase III study of atezolizumab + nab-paclitaxel vs placebo + nab-paclitaxel in previously untreated locally advanced or metastatic triple-negative breast cancer

Background: Based on findings from IMpassion130, international guidelines now recommend atezolizumab (A) + nab-paclitaxel (nP) for patients (pts) with locally advanced or metastatic TNBC (mTNBC) whose tumours express PD-L1 on tumour-infiltrating immune cells (IC). Here we report prespecified final OS and long-term safety results. Methods: The study design and final PFS analysis have been reported (Schmid NEJM 2018). Pts were randomised 1:1 to A + nP or placebo (P) + nP. Co-primary endpoints were PFS (tested in parallel in ITT and PD-L1+ pts) and OS (tested hierarchically in ITT and, if significant, in PD-L1+ pts). Results: As of 14 April 2020, 666/902 pts (73.8%) had died;median OS follow-up was 18.8 mo (IQR, 8.9-34.7 mo). 6% of pts in the A + nP arm and 2% in the P + nP arm remained on any treatment. OS data are in the Table. 460 A + nP arm pts and 430 P + nP arm pts were safety evaluable, of whom 8% and 3%, respectively, received nP for up to 24 mo. Similarly, 5% in the A + nP arm received nP for ≥ 24 mo (vs 1% in the P + nP arm). Respectively, 51% vs 43% had a G 3-4 AE;≈ 1% per arm had a G 5 AE (no new G 5 AEs since last analysis;no patterns seen);24% vs 19% had a serious AE, and 59% vs 42% had an AE of special interest (G 3-4 in 8% vs 5%). No confirmed or suspected COVID-19 AEs were reported. 19% in the A + nP arm and 8% in the P + nP arm had an AE leading to treatment discontinuation (most commonly due to neuropathy);in 18% and 8%, respectively, AEs led to nP discontinuation, and in 8% and 1%, AEs led to A or P discontinuation. Conclusions: While OS differences for A + nP vs P + nP in the IMpassion130 ITT population were not statistically significant, precluding formal testing, clinically meaningful OS benefit was observed in PD-L1+ pts (7.5-mo median OS improvement). A + nP remained safe and tolerable with longer follow-up. Results from this final and mature OS analysis are consistent with prior interim analyses. [Formula presented] Clinical trial identification: NCT02425891. Editorial acknowledgement: Medical writing assistance for this abstract was provided by Ashley J. Pratt, PhD, of Health Interactions, and funded by F. Hoffmann-La Roche, Ltd. Legal entity responsible for the study: F. Hoffmann-La Roche, Ltd. Funding: F. Hoffmann-La Roche, Ltd. Disclosure: L.A. Emens: Honoraria (self): AbbVie, Amgen, Celgene, Chugai, Gritstone, MedImmune, Peregrine, Shionogi, Syndax;Honoraria (self), Travel/Accommodation/Expenses: AstraZeneca, Bayer, MacroGenics, Replimune, Vaccinex;Travel/Accommodation/Expenses: Bristol Myers Squibb, Genentech/Roche, Novartis;Research grant/Funding (institution): Aduro Biotech, AstraZeneca, The Breast Cancer Research Foundation, Bristol Myers Squibb, Bolt Therapeutics, Corvus, The US Department of Defense, EMD Serono, Genentech, Maxcyte, Merck, The National Cancer Institute, The NSABP Foundation, Roche, The Transl;Licensing/Royalties: Aduro;Advisory/Consultancy: Roche. S. Adams: Research grant/Funding (institution): Genentech;Research grant/Funding (institution): Merck, Amgen, BMS, Novartis, Celgene, Daiichi Sankyo. C.H. Barrios: Advisory/Consultancy: Boehringer- Ingelheim;Advisory/Consultancy: GSK;Advisory/Consultancy, Research grant/Funding (institution): Novartis;Advisory/Consultancy, Research grant/Funding (institution): Pfizer;Advisory/ Consultancy, Research grant/Funding (institution): Roche/Genentech;Advisory/Consultancy: Eisai;Advisory/Consultancy, Research grant/Funding (institution): Merck;Advisory/Consultancy, Research grant/Funding (institution): AstraZeneca;Non-remunerated activity/ies: Bayer;Research grant/ Funding (institution): AbbVie;Research grant/Funding (institution): Amgen;Research grant/Funding (institution): Astellas;Research grant/Funding (institution): BMS;Research grant/Funding (institution): Celgene;Research grant/Funding (institution): Lilly;Research grant/Funding (institution): Medivation;Research grant/Funding (institution): Sanofi;Research grant/Funding (institution): Taiho Pharmaceutical;Research grant/Funding (institution) Mylan;Research grant/Funding (institution): Merrimack;Research grant/Funding (institution): Biomarin;Research grant/Funding (institution): Daiichi Sankyo;Research grant/Funding (institution): Abraxis BioScience;Research grant/Funding (institution): AB Science;Research grant/Funding (institution): Asana BioSciences;Research grant/Funding (institution): Exelixis, Research grant/Funding (institution): ImClone Systems, Research grant/Funding (institution): LEO Pharma;Research grant/Funding (institution): Millennium;Advisory/Consultancy: Merck Sharp and Dohme;Advisory/Consultancy: AstraZeneca. V.C. Dieras: Honoraria (self), Advisory/Consultancy: Roche/Genentech, Pfizer, Lilly, Novartis, Daiichi Sankyo, AstraZeneca, AbbVie, Seattle Genetics, Odonate, MSD. H. Iwata: Honoraria (self), Advisory/Consultancy: Chugai;Honoraria (self), Advisory/Consultancy: Novartis, AstraZeneca, Pfizer, Lilly, Daiichi-Sankyo, Eisai, Kyowa Kirin;Non-remunerated activity/ies: MSD, Bayer, BI, Nihon, Kayaku, Sanofi. S. Loi: Research grant/Funding (institution), Non-remunerated activity/ies: Novartis, BMS, Roche-Genentech, Merck;Research grant/Funding (institution): Puma, Eli Lilly, Pfizer;Unpaid consultant: Seattle Genetics;Unpaid consultant: Pfizer;Unpaid consultant: Novartis;Unpaid consultant: BMS;Unpaid consultant: AstraZeneca;Unpaid consultant: Roche/Genentech;Advisory/Consultancy (institution): Aduro Biotechnology. H.S. Rugo: Research grant/Funding (institution): Pfizer, Novartis, Lilly, Genentech/Roche, Merck, OBI, Eisai, Plexxikon, Immunomedics;Research grant/Funding (institution), Travel/Accommodation/Expenses: Macrogeneics, Daiichi;Travel/Accommodation/Expenses: Puma, Mylan, Genentech/Roche, Novartis, Pfizer;Honoraria (self): Celltrion. A. Schneeweiss: Research grant/Funding (institution): Celgene, Roche, AbbVie, Molecular Partner;Advisory/Consultancy: Roche AstraZeneca;Travel/Accommodation/Expenses: Celgene, Roche, Pfizer;Honoraria (self): Roche, Celgene, Pfizer, AstraZeneca, Novartis, MSD, Tesaro, Lilly. E.P. Winer: Honoraria (self): Lilly, Genentech, Infinite MD, Carrick Therapeutics, GSK, Jounce, Genomic HEalth, Merck, Seattle Genetics;Honoraria (self), Leadership role: Leap. S. Patel: Shareholder/Stockholder/Stock options, Full/Part-time employment: F. Hoffmann-La Roche. V. Henschel: Shareholder/Stockholder/Stock options, Full/Part-time employment: F. Hoffmann-La Roche. A. Swat: Shareholder/Stockholder/Stock options, Full/Part-time employment: F. Hoffmann-La Roche. M. Kaul: Shareholder/Stockholder/Stock options, Full/Part-time employment: F. Hoffmann-La Roche. L. Molinero: Shareholder/Stockholder/Stock options, Full/Part-time employment: F. Hoffmann-La Roche. S.Y. Chui: Shareholder/Stockholder/Stock options, Full/Part-time employment: Genentech/Roche. P. Schmid: Honoraria (self), Advisory/Consultancy, Research grant/Funding (institution), Spouse/Financial dependant, spouse – consulting for Genentech: Roche;Honoraria (self): Medscape;Honoraria (self), Advisory/Consultancy: AstraZeneca;Honoraria (self): GI Therapeutics;Honoraria (self): Health Interactions;Advisory/Consultancy: Pfizer;Advisory/Consultancy, Research grant/Funding (institution): Novartis;Advisory/Consultancy: Merck;Advisory/Consultancy: Boehringer Ingelheim;Advisory/Consultancy: Bayer;Advisory/Consultancy: EISAI;Advisory/Consultancy: Celegence;Advisory/Consultancy: Puma;Research grant/Funding (institution), Spouse/Financial dependant, spouse – consulting for Genentech: Genentech;Research grant/Funding (institution): Oncogenex.