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The present article shows the development of the kinematic analysis for a Delta Robot. The method used is the application of geometric theory of four-bar mechanisms; Starting from the lengths, distances and heights of each of the closed kinematic chains that make up the delta robot. The angles of each servomotor were calculated and controlled generating the positioning of the TCP (Tool Center Point)...
Bariatric surgery, mainly laparoscopic Roux-en-Y gastric bypass, is widely considered to be the best operation for the treatment of morbid obesity. Leak or fistula of the gastrojejunostomy is a feared complication of this procedure. A patient who developed a gastrocutaneous fistula and was successfully managed endoscopically is reported.
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