Optimal Design of a Soft Robotic Gripper for Grasping Unknown Objects.

This study presents the design of an underactuated, two-finger, motor-driven compliant gripper for grasping size-varied unknown objects. The gripper module consists of one main frame structure and two identical compliant fingers. The compliant finger is a monolithic compliant mechanism synthesized using a topology optimization method, and then prototyped by 3D printing using flexible filament. The input port for each finger is mounted on a moving platform driven by a gear motor, whereas the fixed port of the finger is mounted on a fixed platform. Each compliant finger can be actuated through the linear motion of the moving platform, and can deform elastically to generate the grasping motion. To demonstrate the effectiveness of the proposed design, the gripper module is mounted on a six-axis robotic arm to pick and place a variety of objects. The results show that objects with the sizes between 42 and 141 mm can be grasped by the developed soft robotic gripper. The maximum payload for the gripper is 2.1 kg. The proposed compliant gripper is a low-cost design that can be used in grasping of size-varied vulnerable objects.

Bringing Patient-Centered Outcomes Research to Life.

A substantial gap exists between medical evidence that is known and medical evidence that is put into practice. Although the Agency for Healthcare Research and Quality (AHRQ) has a long history of developing the content of evidence, the agency now pivots to close that gap by focusing on evidence dissemination and implementation. Achieving better health outcomes requires both the generation of new patient-centered outcomes research (PCOR) knowledge and the appropriate and timely implementation of that knowledge into practice. The Affordable Care Act provided funds to support both types of PCOR efforts, with AHRQ building on years of experience to advance research dissemination and implementation. This article describes the work the AHRQ has done, is doing, and will do in the future. To communicate PCOR evidence findings, AHRQ is currently synthesizing research findings into convincing collections of evidence that can be best taken up by clinicians, patients and caregivers, and policymakers. The future direction for AHRQ is to improve the context for evidence and practice improvement, thereby creating an environment receptive to PCOR. Toward this goal, AHRQ is actively engaging partners, such as professional societies and insurers, to make evidence central to decision making. In addition, AHRQ recently launched two programs that seek to both understand and encourage the use of evidence in clinical practice. Throughout these efforts, AHRQ will continually assess needs and adapt initiatives to ensure that PCOR translates into improved patient-centered health outcomes.

The National Emphysema Treatment Trial (NETT): a study in agency collaboration.

The National Emphysema Treatment Trial (NETT) was a multicenter, randomized, controlled clinical trial, comparing the efficacy of lung volume reduction surgery (LVRS) plus medical management with rehabilitation to medical management with rehabilitation in 1,218 patients with severe emphysema. The NETT was a precedent-setting collaborative effort of three government agencies: the Centers for Medicare and Medicaid Services (CMS); the National Heart, Lung, and Blood Institute of the National Institutes of Health (NIH); and the Agency for Healthcare Research and Quality (AHRQ). NETT provided Medicare beneficiaries with controlled access to a promising but unproven procedure, while scientifically valid data on the efficacy and costs were collected to guide future use, coverage decisions, and policy. NETT demonstrates that collaboration among federal agencies and among health plans, researchers, and providers can successfully fulfill their differing missions simultaneously and is a productive approach to evaluating new treatments of mutual interest.

The validity of ICD-9-CM codes in identifying postoperative deep vein thrombosis and pulmonary embolism.

BACKGROUND: Deep vein thrombosis and pulmonary embolism (DVT/PE) are common complications after surgery and are associated with substantial excess mortality and length of stay. International Classification of Diseases, Ninth Revision, Clinical Modification (ICD-9-CM) codes recorded in hospital claims have been used to identify and study DVT/PE, but the validity of this method is not well studied. METHODS: Identification of postoperative DVT/PE events were compared using ICD-9-CM codes and medical record abstraction in random samples of hospital discharges of Medicare beneficiaries in 2002-2004. RESULTS: Among 20,868 eligible surgical hospitalizations, 232 DVT cases and 95 PE cases were identified by ICD-9-CM codes; 108 DVT cases and 31 PE cases by medical record abstraction; 72 DVT cases and 23 PE cases by both methods. The resulting estimates of PPV of ICD9-CM coding were 31% (72/232 cases) for DVT, 24% (23/95) for PE, and 29% (90/308) for DVT/PE combined. The resulting sensitivity estimates were 67% (72/108 cases) for DVT, 74% (23/31) for PE, and 68% (90/133) for DVT/PE combined. DISCUSSION: ICD-9-CM codes in Medicare claims are sensitive but have limited predictive validity in identifying postoperative DVT/PE. Improvements in the validity are needed before the indicator can be used for safety performance assessment.

Modifying DRG-PPS to include only diagnoses present on admission: financial implications and challenges.

OBJECTIVE: The inability to distinguish complications acquired in hospital from comorbid conditions that are present on admission (POA) has long hampered the use of claims data in quality and safety research. Now pay-for-performance initiatives and legislation requiring Medicare to reduce payment for acquired infections add imperative for POA coding. This study used data from 2 states currently coding POA to assess the financial impact if Medicare pays based on POA conditions only and to examine the challenges in implementing POA coding. METHODS: Medicare payments were calculated based first on all diagnoses and then on POA diagnoses in the Medicare discharge abstracts from California and New York in 2003, using the Diagnosis Related Group (DRG)-based Prospective Payment System (PPS) formula. The potential savings that result from excluding non-POA diagnoses were calculated. Patterns of POA coding were explored. RESULTS: Medicare could have saved $56 million in California, $51 million in New York, and $800 million nationwide in 2003 had it paid hospital claims based only on POA diagnoses. Approximately 15% of the claims had non-POA codes, but only 1.4% of the claims were reassigned to lower-cost DRGs after excluding non-POA diagnoses. Excluding non-POA diagnoses resulted in reduced payment for operating costs, but increased outlier payments because some of the claims were designated as "unusually high cost" in the lower-cost DRGs. POA coding patterns suggest some problems in current POA coding. CONCLUSIONS: To be consistent with pay-for-performance principles and make claims data more useful for quality assurance, incorporating POA coding into DRG-PPS could produce sizable savings for Medicare.

Enhancing measurement in health outcomes research supported by Agencies within the US Department of Health and Human Services.

Many of the Institutes, Agencies and Centers that make up the US Department of Health and Human Services (DHHS) have recognized the need for better instrumentation in health outcomes research, and provide support, both internally and externally, for research utilizing advances in measurement theory and computer technology (informatics). In this paper, representatives from several DHHS agencies and institutes will discuss their need for better instruments within their discipline and describe current or future initiatives for exploring the benefits of these technologies. Together, the perspectives underscore the importance of developing valid, precise, and efficient measures to capture the full burden of disease and treatment on patients. Initiatives, like the Patient-Reported Outcomes Measurement Information System (PROMIS) to create health-related quality of life item banks, represent a trans-DHHS effort to develop a standard set of measures for informing decision making in clinical research, practice, and health policy.