Traditional control of continuum robots (CRs) and hyper-redundant robots (HRRs) typically relies on large, costly consoles to capture physician input. This raises the question of whether such systems can be simplified without losing functionality.
Methods
A low-cost, real-time control system was developed for a 7-DoF CR/HRR using a handheld, pencil-like wireless handle equipped with only two passive optical markers. The handle directly controls 5 DoF, while the remaining 2 DoF are resolved through null-space projection for length minimisation and a roll-compensation method that maintains horizontal endoscopic image alignment.
Results
The system enabled effective real-time control of a redundant 7-DoF CR/HRR using only two tracked markers. The supplementary constraints successfully managed redundancy, minimised robot length, and preserved horizontal imaging.
Conclusions
This work presents a compact two-marker input device, a null-space-based length-minimisation strategy, and a roll-compensation method for endoscopic imaging.
{"title":"Stereo Vision-Based Control of Continuum Robots and Hyper-Redundant Robots for Endoscopy","authors":"Sven Fritsch, Dirk Oberschmidt","doi":"10.1002/rcs.70136","DOIUrl":"10.1002/rcs.70136","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Traditional control of continuum robots (CRs) and hyper-redundant robots (HRRs) typically relies on large, costly consoles to capture physician input. This raises the question of whether such systems can be simplified without losing functionality.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A low-cost, real-time control system was developed for a 7-DoF CR/HRR using a handheld, pencil-like wireless handle equipped with only two passive optical markers. The handle directly controls 5 DoF, while the remaining 2 DoF are resolved through null-space projection for length minimisation and a roll-compensation method that maintains horizontal endoscopic image alignment.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The system enabled effective real-time control of a redundant 7-DoF CR/HRR using only two tracked markers. The supplementary constraints successfully managed redundancy, minimised robot length, and preserved horizontal imaging.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This work presents a compact two-marker input device, a null-space-based length-minimisation strategy, and a roll-compensation method for endoscopic imaging.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145999936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
William S. Bolton, Salman Shaikh, Ryan K. Mathew, Asim Sheikh
Introduction
Augmented reality (AR) glasses may enhance neuroendoscopic training by improving visualisation and ergonomics, offering an innovative alternative to traditional fixed screen viewing systems used in neuroendoscopy.
Methods
This prospective, single-group, observational study at a UK neurosurgical centre involved participants from neurosurgery and Ear Nose and Throat (ENT) disciplines. Participants performed neuroendoscopic simulation exercises using Epson MOVERIO AR glasses and subsequently assessed the system using a modified usability scale questionnaire, focusing on learnability, confidence in use, visual quality, and impact on hand-eye coordination.
Results
Nine participants reported that the AR glasses allowed quick adaptability and provided sufficient visual quality. Feedback suggested a potential enhancement in surgical performance and a reduction in operative times.
Conclusions
The feasibility and usability of AR glasses in neuroendoscopic training were highlighted, supporting their potential integration into surgical education. Positive initial responses warrant further investigation in live surgeries to comprehensively validate the technology’s usability and safety.
{"title":"IDEAL Stage 0 Evaluation of the Use of Epson MOVERIO Augmented Reality Headset in Neuroendoscopic Procedural Training","authors":"William S. Bolton, Salman Shaikh, Ryan K. Mathew, Asim Sheikh","doi":"10.1002/rcs.70137","DOIUrl":"10.1002/rcs.70137","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Introduction</h3>\u0000 \u0000 <p>Augmented reality (AR) glasses may enhance neuroendoscopic training by improving visualisation and ergonomics, offering an innovative alternative to traditional fixed screen viewing systems used in neuroendoscopy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This prospective, single-group, observational study at a UK neurosurgical centre involved participants from neurosurgery and Ear Nose and Throat (ENT) disciplines. Participants performed neuroendoscopic simulation exercises using Epson MOVERIO AR glasses and subsequently assessed the system using a modified usability scale questionnaire, focusing on learnability, confidence in use, visual quality, and impact on hand-eye coordination.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Nine participants reported that the AR glasses allowed quick adaptability and provided sufficient visual quality. Feedback suggested a potential enhancement in surgical performance and a reduction in operative times.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The feasibility and usability of AR glasses in neuroendoscopic training were highlighted, supporting their potential integration into surgical education. Positive initial responses warrant further investigation in live surgeries to comprehensively validate the technology’s usability and safety.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145968019","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cable-driven continuum robots face an inherent trade-off between stiffness and flexibility, with stiffness enhancement representing a critical challenge in the field.
Methods
This study presents a stiffness-optimised cable-stayed notched manipulator (CSNM). The Bernoulli–Euler beam theory models elastic beam (EB) deformation for stiffness optimisation, while a simplified piecewise constant-curvature assumption based on tendon lengths is used for kinematics. An evolution-based EB optimisation algorithm achieves uniform stress distribution and enhanced load capacity.
Results
Experiments show that the maximum variance of the EB bending angle after optimisation is 0.5°. The maximum motion error of the manipulator on the x-axis and y-axis is 0.21 and 0.32 mm, respectively. Benefitting from the uniform distribution of stress, the load capacity of the manipulator increases by 100% after optimisation.
Conclusion
These results validate the structural optimisation and kinematic modelling, highlighting the CSNM's potential for endoscopic applications needing flexibility and high load capacity.
{"title":"Stiffness Optimisation and Kinematics Modelling of a Cable-Stayed Flexible Manipulator for Endoscopic Surgery","authors":"Yanqiang Lei, Fuxin Du, Wenbo Zheng, Liping Zhang","doi":"10.1002/rcs.70134","DOIUrl":"10.1002/rcs.70134","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Cable-driven continuum robots face an inherent trade-off between stiffness and flexibility, with stiffness enhancement representing a critical challenge in the field.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study presents a stiffness-optimised cable-stayed notched manipulator (CSNM). The Bernoulli–Euler beam theory models elastic beam (EB) deformation for stiffness optimisation, while a simplified piecewise constant-curvature assumption based on tendon lengths is used for kinematics. An evolution-based EB optimisation algorithm achieves uniform stress distribution and enhanced load capacity.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experiments show that the maximum variance of the EB bending angle after optimisation is 0.5°. The maximum motion error of the manipulator on the <i>x</i>-axis and <i>y</i>-axis is 0.21 and 0.32 mm, respectively. Benefitting from the uniform distribution of stress, the load capacity of the manipulator increases by 100% after optimisation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>These results validate the structural optimisation and kinematic modelling, highlighting the CSNM's potential for endoscopic applications needing flexibility and high load capacity.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145954059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Joshua Yeuk Shun Tran, Rex Wang-Fung Mak, Kevin Ki-Wai Ho, Jonathan Patrick Ng, Cham Kit Wong, Gloria Yan-Ting Lam, Tsz Lung Choi, Michael Tim-Yun Ong, Patrick Shu-Hang Yung
Introduction
Revision total knee arthroplasty (TKA) presents significant challenges due to factors such as infection, component failure, and bone loss. The application of the CORI imageless robotic systems in revision TKA remains underexplored. This study evaluates the utility of the imageless robotic system in three complex revision scenarios: unicompartmental knee arthroplasty conversion, one-stage revision, and second-stage revision.
Methods
A prospective case series of patients undergoing revision of TKA was conducted. Intraoperative surface mapping and soft tissue tension guided surgical planning. Standardised perioperative protocols and rehabilitation were applied.
Results
All patients demonstrated improved outcomes, with Knee Society Scores ranging from 90 to 95 and functional scores from 50 to 80 within two to six months postoperatively. Enhanced alignment and gap balancing were consistently achieved.
Discussion
The imageless system facilitated precise intraoperative assessment and standardised techniques in revision TKA, supporting its potential to improve clinical outcomes. Further studies are warranted to establish long-term benefits.
{"title":"Novel Application of an Imageless Robotic System in Revision Total Knee Arthroplasty: Unicompartmental Knee Arthroplasty Conversion, 1-Stage Revision, and 2nd-Stage Revision","authors":"Joshua Yeuk Shun Tran, Rex Wang-Fung Mak, Kevin Ki-Wai Ho, Jonathan Patrick Ng, Cham Kit Wong, Gloria Yan-Ting Lam, Tsz Lung Choi, Michael Tim-Yun Ong, Patrick Shu-Hang Yung","doi":"10.1002/rcs.70135","DOIUrl":"10.1002/rcs.70135","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Introduction</h3>\u0000 \u0000 <p>Revision total knee arthroplasty (TKA) presents significant challenges due to factors such as infection, component failure, and bone loss. The application of the CORI imageless robotic systems in revision TKA remains underexplored. This study evaluates the utility of the imageless robotic system in three complex revision scenarios: unicompartmental knee arthroplasty conversion, one-stage revision, and second-stage revision.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A prospective case series of patients undergoing revision of TKA was conducted. Intraoperative surface mapping and soft tissue tension guided surgical planning. Standardised perioperative protocols and rehabilitation were applied.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>All patients demonstrated improved outcomes, with Knee Society Scores ranging from 90 to 95 and functional scores from 50 to 80 within two to six months postoperatively. Enhanced alignment and gap balancing were consistently achieved.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Discussion</h3>\u0000 \u0000 <p>The imageless system facilitated precise intraoperative assessment and standardised techniques in revision TKA, supporting its potential to improve clinical outcomes. Further studies are warranted to establish long-term benefits.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12784240/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145936164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Anna Ureña, Nestor I. Quiroga, Marc Boada, Xavier Michavila, Irene Botias, Angela Guirao, Rudith Guzman, Andrea Calderon, Laureano Molins, Maria Jose Arguis, Ricard Navarro-Ripoll, Ricard Ramos
Background
Minimally invasive approaches such as video-assisted (VATS) and robotic-assisted thoracoscopic surgery (RATS) offer less traumatic alternatives for the treatment of lung cancer. This study compares the early postoperative inflammatory response and complication rates between both techniques in patients undergoing lung resection for non-small cell lung cancer (NSCLC).
Methods
A retrospective review was conducted on patients between 2022 and 2023. Inflammatory markers, including lymphocytes, monocytes, neutrophils, platelets, and derived ratios (PLR, NLR), were analysed.
Results
RATS was associated with significantly higher postoperative inflammatory markers (PLR, p = 0.007; NLR, p = 0.019) and greater perioperative variation (ΔPLR and ΔNLR, p = 0.028). However, no significant association was found between surgical technique or inflammation and the incidence of postoperative complications or persistent air leak (PAL).
Conclusions
RATS induces a stronger early inflammatory response than VATS, but this does not associate with a higher rate of complications or PAL.
背景：视频辅助胸腔镜手术（VATS）和机器人辅助胸腔镜手术（RATS）等微创方法为肺癌治疗提供了创伤较小的选择。本研究比较了两种技术在非小细胞肺癌（NSCLC）患者肺切除术后早期的炎症反应和并发症发生率。方法：对2022 ~ 2023年患者进行回顾性分析。分析炎症标志物，包括淋巴细胞、单核细胞、中性粒细胞、血小板和衍生比率（PLR、NLR）。结果：大鼠术后炎症指标显著增高（PLR, p = 0.007； NLR, p = 0.019），围手术期差异显著（ΔPLR和ΔNLR， p = 0.028）。然而，没有发现手术技术或炎症与术后并发症或持续性漏气（PAL）的发生率有显著关联。结论：大鼠诱导的早期炎症反应比VATS更强，但这与更高的并发症发生率或PAL无关。
{"title":"Influence of Robotic and Thoracoscopic Surgery on Early Postoperative Systemic Inflammatory Response in Patients With Surgically Treated Lung Cancer—Preliminary Results","authors":"Anna Ureña, Nestor I. Quiroga, Marc Boada, Xavier Michavila, Irene Botias, Angela Guirao, Rudith Guzman, Andrea Calderon, Laureano Molins, Maria Jose Arguis, Ricard Navarro-Ripoll, Ricard Ramos","doi":"10.1002/rcs.70132","DOIUrl":"10.1002/rcs.70132","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Minimally invasive approaches such as video-assisted (VATS) and robotic-assisted thoracoscopic surgery (RATS) offer less traumatic alternatives for the treatment of lung cancer. This study compares the early postoperative inflammatory response and complication rates between both techniques in patients undergoing lung resection for non-small cell lung cancer (NSCLC).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective review was conducted on patients between 2022 and 2023. Inflammatory markers, including lymphocytes, monocytes, neutrophils, platelets, and derived ratios (PLR, NLR), were analysed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>RATS was associated with significantly higher postoperative inflammatory markers (PLR, <i>p</i> = 0.007; NLR, <i>p</i> = 0.019) and greater perioperative variation (ΔPLR and ΔNLR, <i>p</i> = 0.028). However, no significant association was found between surgical technique or inflammation and the incidence of postoperative complications or persistent air leak (PAL).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>RATS induces a stronger early inflammatory response than VATS, but this does not associate with a higher rate of complications or PAL.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145919389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Aman Ladak, Johannes O. Bonatti, Roger J. Hajjar, Alaaeldin A. Shalaby, Cameron N. Riviere
Background
HeartPrinter is a flexible parallel wire robot that adheres to the beating heart with vacuum suction at three bases. An injector head actuated by cables delivers gene therapy injections within the bounds of the bases. To deploy onto the epicardium, an introducer mechanism is required. On the heart, the robot's workspace and anatomical model registration to its pose are needed.
Methods
We present HeartPrinter's components and introducer mechanism, and assess them on an artificial beating heart. We evaluate accuracy for position determination of the bases and registering a three-dimensional heart scan.
Results
The introducer mechanism successfully positioned HeartPrinter, and the bases adhered to the beating heart. The base positions and registration were calculated accurately with errors under 4 and 2 mm.
Conclusions
The introducer mechanism can deploy HeartPrinter on the epicardium, and HeartPrinter's components can operate on the heart. Workspace determination and registration demonstrate feasibility as preliminary concepts.
{"title":"Development of a Flexible Parallel Wire Robot for Epicardial Interventions","authors":"Aman Ladak, Johannes O. Bonatti, Roger J. Hajjar, Alaaeldin A. Shalaby, Cameron N. Riviere","doi":"10.1002/rcs.70130","DOIUrl":"10.1002/rcs.70130","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>HeartPrinter is a flexible parallel wire robot that adheres to the beating heart with vacuum suction at three bases. An injector head actuated by cables delivers gene therapy injections within the bounds of the bases. To deploy onto the epicardium, an introducer mechanism is required. On the heart, the robot's workspace and anatomical model registration to its pose are needed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We present HeartPrinter's components and introducer mechanism, and assess them on an artificial beating heart. We evaluate accuracy for position determination of the bases and registering a three-dimensional heart scan.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The introducer mechanism successfully positioned HeartPrinter, and the bases adhered to the beating heart. The base positions and registration were calculated accurately with errors under 4 and 2 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The introducer mechanism can deploy HeartPrinter on the epicardium, and HeartPrinter's components can operate on the heart. Workspace determination and registration demonstrate feasibility as preliminary concepts.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12772424/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145914259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pan Song, Cong Huang, Xiang Wang, Jiyu Yang, Yiming Zhang, Zhihua Li, Xinfei Li, Shubo Fan, Hongjian Zhu, Liqun Zhou, Kai Zhang, Kunlin Yang, Xuesong Li
Background
The comparative perioperative outcomes of totally intracorporeal robot-assisted ileal ureteral replacement (TI-RAIUR) versus that of RAIUR with extracorporeal ileal segment preparation (RAIUR-EI) remain undefined. This study pioneers a comparative analysis between these approaches to guide clinical individualised therapy.
Methods
Thirty-four patients who underwent RAIUR (22 via RAIUR-EI and 12 via TI-RAIUR) were included. Baseline characteristics, perioperative outcomes, and follow-up data were systematically compared.
Results
There were no between-group differences in baseline characteristics. The RAIUR-EI approach significantly reduced the reoperation time for initial failed procedures. Both groups achieved 100% 1-year subjective success and stable long-term renal function. The complication rates were statistically similar, although one Clavien–Dindo III incisional hernia occurred in the RAIUR-EI group. In addition, the TI-RAIUR approach demonstrated better aesthetic outcomes.
Conclusions
Both techniques achieve reliable outcomes for long-segment ureteral reconstruction. The RAIUR-EI approach may optimise efficiency in more complex cases, whereas the TI-RAIUR technique results in better aesthetic outcomes.
{"title":"Robot-Assisted Ileal Ureter Replacement: Comparisons Between Totally Intracorporeal and Extracorporeal Ileal Segment Preparation","authors":"Pan Song, Cong Huang, Xiang Wang, Jiyu Yang, Yiming Zhang, Zhihua Li, Xinfei Li, Shubo Fan, Hongjian Zhu, Liqun Zhou, Kai Zhang, Kunlin Yang, Xuesong Li","doi":"10.1002/rcs.70131","DOIUrl":"10.1002/rcs.70131","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The comparative perioperative outcomes of totally intracorporeal robot-assisted ileal ureteral replacement (TI-RAIUR) versus that of RAIUR with extracorporeal ileal segment preparation (RAIUR-EI) remain undefined. This study pioneers a comparative analysis between these approaches to guide clinical individualised therapy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Thirty-four patients who underwent RAIUR (22 via RAIUR-EI and 12 via TI-RAIUR) were included. Baseline characteristics, perioperative outcomes, and follow-up data were systematically compared.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>There were no between-group differences in baseline characteristics. The RAIUR-EI approach significantly reduced the reoperation time for initial failed procedures. Both groups achieved 100% 1-year subjective success and stable long-term renal function. The complication rates were statistically similar, although one Clavien–Dindo III incisional hernia occurred in the RAIUR-EI group. In addition, the TI-RAIUR approach demonstrated better aesthetic outcomes.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Both techniques achieve reliable outcomes for long-segment ureteral reconstruction. The RAIUR-EI approach may optimise efficiency in more complex cases, whereas the TI-RAIUR technique results in better aesthetic outcomes.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2026-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145896176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yan Zhao, Hui Li, Runbo Liu, Jianhua Zhang, Shunming Hong, Bo Yang
Background
Autonomous robotic surgery has demonstrated its potential for the optimal outcomes. However, vascular interventional surgery (VIS) with flexible catheters and soft tissue raises challenges to autonomous execution of preplanned tasks due to indeterminately changed surgical state.
Methods
We present a novel end-to-end deep learning-based framework of human–robot collaborative navigation for VIS. A surgical Generative Adversarial Networks is employed for real-time local path planning of the catheter tip under variable-vascular-contour environment. A CNNs-based action estimator is proposed for nonlinear mapping from the tip's path to the end's action. A human–robot trust-based shared control model is established for surgical navigation.
Results
The networks are trained by a self-built dataset and experiments are conducted under catheterization room environment. The results show the catheter's action decision accuracy achieves 93.75%. The surgical effectiveness and safety are improved with the proposed method.
Conclusion
This work provides a way to achieve autonomous VIS.
{"title":"A Deep Learning-Based Human–Robot Collaborative Navigation Framework for Vascular Interventional Surgery","authors":"Yan Zhao, Hui Li, Runbo Liu, Jianhua Zhang, Shunming Hong, Bo Yang","doi":"10.1002/rcs.70125","DOIUrl":"10.1002/rcs.70125","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Autonomous robotic surgery has demonstrated its potential for the optimal outcomes. However, vascular interventional surgery (VIS) with flexible catheters and soft tissue raises challenges to autonomous execution of preplanned tasks due to indeterminately changed surgical state.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We present a novel end-to-end deep learning-based framework of human–robot collaborative navigation for VIS. A surgical Generative Adversarial Networks is employed for real-time local path planning of the catheter tip under variable-vascular-contour environment. A CNNs-based action estimator is proposed for nonlinear mapping from the tip's path to the end's action. A human–robot trust-based shared control model is established for surgical navigation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The networks are trained by a self-built dataset and experiments are conducted under catheterization room environment. The results show the catheter's action decision accuracy achieves 93.75%. The surgical effectiveness and safety are improved with the proposed method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This work provides a way to achieve autonomous VIS.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145859076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Chen Su, Shan Lin, Qiaocao Su, Xiaorong Liu, Leyi Wei, Changshun Yang
Background
Gastrointestinal diseases pose a significant global health challenge, and their early screening relies on wireless capsule endoscopy (WCE). However, analysing the massive volume of WCE images is time-consuming and prone to human error. Although deep learning offers solutions, existing systems are often inflexible and technically complex, limiting clinical adoption.
Methods
We propose GI-ScreenNet v2, a multi-backbone network framework based on ensemble and transfer learning. It supports arbitrary backbones through a standardised interface and leverages a cross-attention mechanism to dynamically integrate multi-model features for sophisticated representation learning.
Results
In KvasirV2, GI-ScreenNet v2 achieves 94.87% accuracy, 3.31% higher than traditional methods. This high-performance result enables efficient GI screening and paves the way for practical AI-assisted diagnostics.
Conclusions
We present a unified framework for GI disease detection, with an integrated workflow for dynamic model selection and cross-attention fusion. This design enables efficient integration of novel models and techniques, advancing robust diagnostic systems.
{"title":"GI-ScreenNet v2: A Modular Framework for Gastrointestinal Disease Detection Based on an Integrated Transfer Learning","authors":"Chen Su, Shan Lin, Qiaocao Su, Xiaorong Liu, Leyi Wei, Changshun Yang","doi":"10.1002/rcs.70128","DOIUrl":"10.1002/rcs.70128","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Gastrointestinal diseases pose a significant global health challenge, and their early screening relies on wireless capsule endoscopy (WCE). However, analysing the massive volume of WCE images is time-consuming and prone to human error. Although deep learning offers solutions, existing systems are often inflexible and technically complex, limiting clinical adoption.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose GI-ScreenNet v2, a multi-backbone network framework based on ensemble and transfer learning. It supports arbitrary backbones through a standardised interface and leverages a cross-attention mechanism to dynamically integrate multi-model features for sophisticated representation learning.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In KvasirV2, GI-ScreenNet v2 achieves 94.87% accuracy, 3.31% higher than traditional methods. This high-performance result enables efficient GI screening and paves the way for practical AI-assisted diagnostics.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>We present a unified framework for GI disease detection, with an integrated workflow for dynamic model selection and cross-attention fusion. This design enables efficient integration of novel models and techniques, advancing robust diagnostic systems.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 1","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145835427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Digestive tract cancers are among the most common malignancies worldwide, and early diagnosis greatly improves patient prognosis. For instance, colorectal cancer has a 90% 5-year survival rate at early stages. Endoscopic Submucosal Dissection (ESD) is the standard treatment, but traditional flexible endoscopes pose operational and visual challenges.
Methods
This paper proposes a dual-continuum robotic surgical system based on a cascaded vertebrae design. Kinematic and frictional modelling analyses were conducted to ensure stable operation of the surgical robotic system on a commercial endoscope. In addition, a teleoperation system was developed to enable bimanual ESD procedures.
Results
Experimental validation confirmed the system's workspace, stiffness, hysteresis optimisation, and teleoperation accuracy. In an ex vivo ESD procedure performed on a porcine stomach, the system successfully resected a lesion with a diameter of 20 mm.
Conclusion
This continuum robotic system demonstrates strong clinical potential to enhance ESD performance and reduce procedural difficulty.
{"title":"Design of a Continuum Surgical Robotic System for Bimanual Endoscopic Submucosal Dissection","authors":"Haiyan Hu, Heng Zhang, Zhenhao Chen, Haojie Tian, Shumei Yu, Yong Jiang","doi":"10.1002/rcs.70127","DOIUrl":"10.1002/rcs.70127","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Digestive tract cancers are among the most common malignancies worldwide, and early diagnosis greatly improves patient prognosis. For instance, colorectal cancer has a 90% 5-year survival rate at early stages. Endoscopic Submucosal Dissection (ESD) is the standard treatment, but traditional flexible endoscopes pose operational and visual challenges.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper proposes a dual-continuum robotic surgical system based on a cascaded vertebrae design. Kinematic and frictional modelling analyses were conducted to ensure stable operation of the surgical robotic system on a commercial endoscope. In addition, a teleoperation system was developed to enable bimanual ESD procedures.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimental validation confirmed the system's workspace, stiffness, hysteresis optimisation, and teleoperation accuracy. In an ex vivo ESD procedure performed on a porcine stomach, the system successfully resected a lesion with a diameter of 20 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This continuum robotic system demonstrates strong clinical potential to enhance ESD performance and reduce procedural difficulty.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 6","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145746104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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