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}
Igor Monsellato, Teresa Gatto, Marco Lodin, Celeste Del Basso, Marco Palucci, Federico Sangiuolo, Mariantonietta Alagia, Emanuele Tessitore, Irene Gandini, Fabio Benedetti, Fabio Giannone, Gianluca Cassese, Fabrizio Panaro
Background
Robotic surgery is increasingly adopted for colorectal cancer, but long-term single-surgeon data are limited. This study assessed perioperative, oncologic and economic outcomes of a standardised robotic colorectal programme over 9 years.
Methods
A retrospective cohort of 320 consecutive patients undergoing robotic resection for colorectal malignancy (2016–2025) was analysed. Procedures included right, left, transverse and rectal resections using the da Vinci Si/Xi system. Primary end points were conversion, major complications (Clavien–Dindo ≥ III), 30-day mortality and R0 resection. Secondary outcomes were operative time, length of stay (LOS), reoperation and model-based cost-effectiveness using the Quantify the Impact (QTI) tool.
Results
Conversion occurred in 1.9%, anastomotic leak in 2.2% and mortality in 1%. R0 resection was 99.7%, median LOS 7 [5–10] days, and reoperation 2.5%. QTI estimated savings of €483 versus laparoscopy and €3181 versus open surgery.
Conclusions
A standardised robotic colorectal programme achieved safe, reproducible and economically sustainable outcomes.
{"title":"Long-Term Single-Surgeon Outcomes of 320 Robotic Colorectal Cancer Resections: Safety, Oncologic Reliability, and Cost-Effectiveness","authors":"Igor Monsellato, Teresa Gatto, Marco Lodin, Celeste Del Basso, Marco Palucci, Federico Sangiuolo, Mariantonietta Alagia, Emanuele Tessitore, Irene Gandini, Fabio Benedetti, Fabio Giannone, Gianluca Cassese, Fabrizio Panaro","doi":"10.1002/rcs.70126","DOIUrl":"10.1002/rcs.70126","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic surgery is increasingly adopted for colorectal cancer, but long-term single-surgeon data are limited. This study assessed perioperative, oncologic and economic outcomes of a standardised robotic colorectal programme over 9 years.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective cohort of 320 consecutive patients undergoing robotic resection for colorectal malignancy (2016–2025) was analysed. Procedures included right, left, transverse and rectal resections using the da Vinci Si/Xi system. Primary end points were conversion, major complications (Clavien–Dindo ≥ III), 30-day mortality and R0 resection. Secondary outcomes were operative time, length of stay (LOS), reoperation and model-based cost-effectiveness using the Quantify the Impact (QTI) tool.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Conversion occurred in 1.9%, anastomotic leak in 2.2% and mortality in 1%. R0 resection was 99.7%, median LOS 7 [5–10] days, and reoperation 2.5%. QTI estimated savings of €483 versus laparoscopy and €3181 versus open surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>A standardised robotic colorectal programme achieved safe, reproducible and economically sustainable outcomes.</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":"2025-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145710325","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}
Alexander D. Orsi, Simon Coffey, Eric Slotkin, Paramjeet Gill, Andrew Lehman, Jeffrey Lawrence, Christopher Plaskos, John Keggi
Background
This study examines the agreement and error between manual gap assessment, and assessment with a robotic soft-tissue tensioning device in total knee arthroplasty across multiple surgeons.
Methods
517 consecutive robotic-assisted TKAs were retrospectively reviewed across six surgeons following ethics approval. Robotic and manual mediolateral (ML) balance and medial and lateral gaps were compared using Intraclass Correlation Coefficient (ICC). ΔML balance (manual-robotic) was compared between right and left knees.
Results
Manual and robotic ML balance showed poor agreement (ICC = 0.368). Surgeons had low to moderate correlations (ICC range: 0.152–0.633) and significant differences throughout flexion. Four measured greater medial gaps manually and two measured greater lateral gaps compared to robotics. All showed significant ΔML balance differences between the leg sides (p < 0.05), with surgeon-specific variations in gap patterns.
Conclusions
Manual ML balance correlated poorly and differed significantly from robotic assessment, with surgeon-specific variation. Surgeons should appreciate the variability in subjective versus objective gap measurements.
{"title":"Soft Tissue Balance Profiles Differ Between Manual and Robotically Assessed Gaps in Total Knee Arthroplasty","authors":"Alexander D. Orsi, Simon Coffey, Eric Slotkin, Paramjeet Gill, Andrew Lehman, Jeffrey Lawrence, Christopher Plaskos, John Keggi","doi":"10.1002/rcs.70124","DOIUrl":"10.1002/rcs.70124","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study examines the agreement and error between manual gap assessment, and assessment with a robotic soft-tissue tensioning device in total knee arthroplasty across multiple surgeons.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>517 consecutive robotic-assisted TKAs were retrospectively reviewed across six surgeons following ethics approval. Robotic and manual mediolateral (ML) balance and medial and lateral gaps were compared using Intraclass Correlation Coefficient (ICC). ΔML balance (manual-robotic) was compared between right and left knees.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Manual and robotic ML balance showed poor agreement (ICC = 0.368). Surgeons had low to moderate correlations (ICC range: 0.152–0.633) and significant differences throughout flexion. Four measured greater medial gaps manually and two measured greater lateral gaps compared to robotics. All showed significant ΔML balance differences between the leg sides (<i>p</i> < 0.05), with surgeon-specific variations in gap patterns.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Manual ML balance correlated poorly and differed significantly from robotic assessment, with surgeon-specific variation. Surgeons should appreciate the variability in subjective versus objective gap measurements.</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":"2025-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145643514","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}
Minimally invasive surgery has revolutionized surgical practice by reducing surgical trauma and enhancing recovery. In this context, the da Vinci SP System represents a major technological advancement. This review aims to report its clinical applications in general surgery, evaluating associated outcomes and potential advantages.
Methods
A systematic search of MEDLINE, Embase and Web-of-Science databases was conducted in accordance with PRISMA guidelines. The study was pre-registered in PROSPERO.
Results
Seventy-six studies involving 1841 patients were included. The most frequently reported procedures were colorectal/transanal surgeries (868) and cholecystectomies (661). Learning-curve analyses for SP colorectal surgery demonstrated performance stabilization after 18–21 cases. Comparative studies showed shorter docking times and reduced hospital stays for SP procedures compared to laparoscopic multiport or single-site robotic approaches.
Conclusion
The da Vinci SP system appears to be a safe and feasible option for various general surgery procedures. Preliminary evidence supports improved perioperative efficiency in specific contexts, though further validation is warranted.
{"title":"Application of the Da Vinci Single-Port (SP) Robot in General Surgery: A First Systematic Review","authors":"Antonio Cubisino, Maurice Chazal, Fabrizio Panaro","doi":"10.1002/rcs.70123","DOIUrl":"10.1002/rcs.70123","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Introduction</h3>\u0000 \u0000 <p>Minimally invasive surgery has revolutionized surgical practice by reducing surgical trauma and enhancing recovery. In this context, the da Vinci SP System represents a major technological advancement. This review aims to report its clinical applications in general surgery, evaluating associated outcomes and potential advantages.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A systematic search of MEDLINE, Embase and Web-of-Science databases was conducted in accordance with PRISMA guidelines. The study was pre-registered in PROSPERO.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Seventy-six studies involving 1841 patients were included. The most frequently reported procedures were colorectal/transanal surgeries (868) and cholecystectomies (661). Learning-curve analyses for SP colorectal surgery demonstrated performance stabilization after 18–21 cases. Comparative studies showed shorter docking times and reduced hospital stays for SP procedures compared to laparoscopic multiport or single-site robotic approaches.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The da Vinci SP system appears to be a safe and feasible option for various general surgery procedures. Preliminary evidence supports improved perioperative efficiency in specific contexts, though further validation is warranted.</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":"2025-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70123","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145598283","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}
This study compares robotic-assisted pancreatic surgery (R-PS) and laparoscopic pancreatic surgery (L-PS) outcomes in patients with pancreatic malignancies and medium- to high-risk pancreatic fistulas.
Materials and Methods
A retrospective cohort study was conducted at Guangdong Provincial People's Hospital (2021–2023). The primary endpoints were major complications (Clavien-Dindo grade ≥ III) and postoperative morbidity.
Results
200 R-PS and 400 L-PS patients were included, with 163 pairs matched. R-PS showed lower conversion rates (2.5% vs. 17.2%, p < 0.001), less blood loss (119 vs. 179 mL, p = 0.013), and faster function recovery (8.2 vs. 9.6 days, p = 0.038). Postoperatively, R-PS had fewer pancreatic fistulas in malignant (4.1% vs. 32.6%, p < 0.001) and moderate to high-risk cases (8.3% vs. 16.7%, p = 0.026). R-PS benefits are not procedure-specific.
Conclusion
R-PS offers advantages in blood loss, complications, and fistula prevention, suggesting it may be preferable for complex pancreatic surgeries.
背景：本研究比较了机器人辅助胰腺手术（R-PS）和腹腔镜胰腺手术（L-PS）对胰腺恶性肿瘤和中高危胰腺瘘患者的治疗效果。材料与方法：回顾性队列研究于广东省人民医院（2021-2023）进行。主要终点为主要并发症（Clavien-Dindo分级≥III）和术后发病率。结果：纳入R-PS患者200例，L-PS患者400例，配对163对。R-PS的转换率较低（2.5% vs. 17.2%） p结论：R-PS在失血、并发症和瘘预防方面具有优势，提示R-PS可能更适合复杂的胰腺手术。
{"title":"Comparison of Robotic and Laparoscopic Pancreatic Surgery Outcomes: A Retrospective Cohort Study With Propensity Score Matching and Subgroup Analysis of Pancreatic Malignancies and Moderate to High-Risk Pancreatic Fistulas","authors":"Min Yu, Wentao Zhong, Feng Zhang, Weifeng Hong, Yuan Yuan, Changgui Zou, Qing Lin, Rufu Chen","doi":"10.1002/rcs.70117","DOIUrl":"10.1002/rcs.70117","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study compares robotic-assisted pancreatic surgery (R-PS) and laparoscopic pancreatic surgery (L-PS) outcomes in patients with pancreatic malignancies and medium- to high-risk pancreatic fistulas.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>A retrospective cohort study was conducted at Guangdong Provincial People's Hospital (2021–2023). The primary endpoints were major complications (Clavien-Dindo grade ≥ III) and postoperative morbidity.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>200 R-PS and 400 L-PS patients were included, with 163 pairs matched. R-PS showed lower conversion rates (2.5% vs. 17.2%, <i>p</i> < 0.001), less blood loss (119 vs. 179 mL, <i>p</i> = 0.013), and faster function recovery (8.2 vs. 9.6 days, <i>p</i> = 0.038). Postoperatively, R-PS had fewer pancreatic fistulas in malignant (4.1% vs. 32.6%, <i>p</i> < 0.001) and moderate to high-risk cases (8.3% vs. 16.7%, <i>p</i> = 0.026). R-PS benefits are not procedure-specific.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>R-PS offers advantages in blood loss, complications, and fistula prevention, suggesting it may be preferable for complex pancreatic surgeries.</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":"2025-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145598294","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}
Percutaneous abdominal interventions require precise and real-time guidance for safe needle placement. Conventional CT or fluoroscopy provides accurate localisation but involves radiation, while ultrasound (US) offers a radiation-free alternative but suffers from limited 3D visualisation.
Methods
We developed a guidance system integrating a needle-guide mechanism with a tracked US probe to achieve real-time radiation-free targeting. The approach reconstructs freehand 3D US volumes at 25 frames per second, enabling path planning and augmenting the needle trajectory onto live B-scan images. Validation was conducted using a mockup, two phantoms, a pig model, and a human volunteer.
Results
The system completed 3D US acquisition within 10 s and achieved high accuracy, with mean calibration errors of 0.62 mm and 0.22°. Needle tracking yielded angular and positional errors of 0.84 ± 0.40° and 0.76 ± 0.38 mm.
Conclusions
This method enables accurate, rapid, and radiation-free guidance, demonstrating strong potential for clinical application.
{"title":"Freehand Three-Dimensional Ultrasound Image-Guided Needle Targeting for Percutaneous Abdominal Puncture","authors":"Tiexiang Wen, Qian Ni, Jia Gu","doi":"10.1002/rcs.70120","DOIUrl":"10.1002/rcs.70120","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Percutaneous abdominal interventions require precise and real-time guidance for safe needle placement. Conventional CT or fluoroscopy provides accurate localisation but involves radiation, while ultrasound (US) offers a radiation-free alternative but suffers from limited 3D visualisation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We developed a guidance system integrating a needle-guide mechanism with a tracked US probe to achieve real-time radiation-free targeting. The approach reconstructs freehand 3D US volumes at 25 frames per second, enabling path planning and augmenting the needle trajectory onto live B-scan images. Validation was conducted using a mockup, two phantoms, a pig model, and a human volunteer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The system completed 3D US acquisition within 10 s and achieved high accuracy, with mean calibration errors of 0.62 mm and 0.22°. Needle tracking yielded angular and positional errors of 0.84 ± 0.40° and 0.76 ± 0.38 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This method enables accurate, rapid, and radiation-free guidance, demonstrating strong potential for clinical application.</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":"2025-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145508359","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}
This work presents a low-complexity robotic device for needle-to-target alignment designed to streamline Magnetic Resonance Imaging (MRI)-guided biopsy procedures while maintaining physician control over insertion.
Methods
The robotic device was designed with a rigid frame incorporating two linear degrees of freedom for the in-plane alignment of a needle guide with a predefined target. Trajectory planning and automated motion execution, including image transfer and sequence triggering, were managed through a custom MRI-integrated software interface. Preliminary evaluation of alignment accuracy was performed in an agar phantom containing 5 and 10 mm tumour mimics.
Results
In phantom experiments, the system consistently achieved submillimeter alignment accuracy for both the 5-mm and 10-mm tumour models across all trials, without any operational failures.
Conclusions
These preliminary findings demonstrate the feasibility of the proposed robotic device for semiautomated MRI-guided abdominal biopsy, pending further extensive preclinical testing.
{"title":"Low-Complexity Robotic Device for Magnetic Resonance Imaging-Guided Needle Biopsy","authors":"Anastasia Antoniou, Nikolas Evripidou, Leonidas Georgiou, Antreas Chrysanthou, Antonis Christofi, Jufeng Zhao, Liyang Yu, Wenjun Li, Christakis Damianou","doi":"10.1002/rcs.70121","DOIUrl":"10.1002/rcs.70121","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This work presents a low-complexity robotic device for needle-to-target alignment designed to streamline Magnetic Resonance Imaging (MRI)-guided biopsy procedures while maintaining physician control over insertion.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The robotic device was designed with a rigid frame incorporating two linear degrees of freedom for the in-plane alignment of a needle guide with a predefined target. Trajectory planning and automated motion execution, including image transfer and sequence triggering, were managed through a custom MRI-integrated software interface. Preliminary evaluation of alignment accuracy was performed in an agar phantom containing 5 and 10 mm tumour mimics.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In phantom experiments, the system consistently achieved submillimeter alignment accuracy for both the 5-mm and 10-mm tumour models across all trials, without any operational failures.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>These preliminary findings demonstrate the feasibility of the proposed robotic device for semiautomated MRI-guided abdominal biopsy, pending further extensive preclinical testing.</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":"2025-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70121","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145460810","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}
Yao Wang, Fuxin Du, Gang Zhang, Peng Zhang, Tianxiang Liu, Yibin Li, Rui Song
Background
The concentric tube robots (CTRs) show great potential for minimally invasive surgery due to their size and flexibility. However, friction remains a key factor contributing to accuracy errors in CTR applications, and reducing friction effects to enhance CTRs' precision remains a critical challenge.
Methods
This paper pioneers the application of a vibration friction reduction (VFR) method for CTRs, aiming to reduce inter-tube friction and improve system accuracy. First, a CTR system with VFR was designed, incorporating a vibration generator consisting of four vibration motors and a 3D-printed component. Then, to better test and analyse the effects of vibration on friction, a variable-friction coefficient kinematic model for CTRs was established. Finally, experiments were conducted to validate the approach.
Results
The results show that the VFR method can reduce the positional error of CTRs by approximately 36.5%.
Conclusion
This paper provides a new approach to enhance CTRs' accuracy in surgical applications.
{"title":"Optimising the Accuracy of Concentric Tube Robots: Using Vibration Friction Reduction","authors":"Yao Wang, Fuxin Du, Gang Zhang, Peng Zhang, Tianxiang Liu, Yibin Li, Rui Song","doi":"10.1002/rcs.70119","DOIUrl":"10.1002/rcs.70119","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The concentric tube robots (CTRs) show great potential for minimally invasive surgery due to their size and flexibility. However, friction remains a key factor contributing to accuracy errors in CTR applications, and reducing friction effects to enhance CTRs' precision remains a critical challenge.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper pioneers the application of a vibration friction reduction (VFR) method for CTRs, aiming to reduce inter-tube friction and improve system accuracy. First, a CTR system with VFR was designed, incorporating a vibration generator consisting of four vibration motors and a 3D-printed component. Then, to better test and analyse the effects of vibration on friction, a variable-friction coefficient kinematic model for CTRs was established. Finally, experiments were conducted to validate the approach.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The results show that the VFR method can reduce the positional error of CTRs by approximately 36.5%.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This paper provides a new approach to enhance CTRs' accuracy in surgical applications.</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":"2025-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145453872","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}
Sergei Bedrikovetski, Johnny Lo, Ishraq Murshed, Tracy Fitzsimmons, Tarik Sammour, Michelle Thomas
Background
Interest in robotic colorectal surgery is growing, but outcomes in the Australian public health sector are lacking. This study aimed to evaluate short-term outcomes following robotic colorectal surgery in a public hospital setting.
Methods
This retrospective case series included 70 patients who underwent robotic colorectal surgery and were treated at the Royal Adelaide Hospital, South Australia, between 2015 and 2025. All procedures were performed using the da Vinci Xi Surgical System.
Results
The mean operative time was 270 min, with a 4.3% conversion rate to open surgery. The median length of stay was 5 days and there was no 30-day mortality. R0 resection rates were 93.3% for colon cancer and 87.5% for rectal cancer.
Conclusions
Robotic colorectal surgery can be safely implemented within a universally funded public hospital setting. In our specific centre we demonstrate excellent surgical outcomes but have identified oncological outcomes that need ongoing improvement with increasing volume.
{"title":"Short-Term Outcomes After Selective Robotic Colorectal Surgery at a Large Public Tertiary Hospital in South Australia","authors":"Sergei Bedrikovetski, Johnny Lo, Ishraq Murshed, Tracy Fitzsimmons, Tarik Sammour, Michelle Thomas","doi":"10.1002/rcs.70118","DOIUrl":"https://doi.org/10.1002/rcs.70118","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Interest in robotic colorectal surgery is growing, but outcomes in the Australian public health sector are lacking. This study aimed to evaluate short-term outcomes following robotic colorectal surgery in a public hospital setting.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This retrospective case series included 70 patients who underwent robotic colorectal surgery and were treated at the Royal Adelaide Hospital, South Australia, between 2015 and 2025. All procedures were performed using the da Vinci Xi Surgical System.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The mean operative time was 270 min, with a 4.3% conversion rate to open surgery. The median length of stay was 5 days and there was no 30-day mortality. R0 resection rates were 93.3% for colon cancer and 87.5% for rectal cancer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Robotic colorectal surgery can be safely implemented within a universally funded public hospital setting. In our specific centre we demonstrate excellent surgical outcomes but have identified oncological outcomes that need ongoing improvement with increasing volume.</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":"2025-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145429401","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}
Adrien Deceuninck, Pierre-Alain Thiebaut, Michael Bubenheim, Sonia Aguir, Benjamin Bottet, Antoine Dujon, Mathias Couralet, Jean Melki, Matthieu Sarsam, Jean-Christophe Sabourin, Florian Guisier, Jean-Marc Baste, Nicolas Piton
Background
Lymph node dissection is essential for lung cancer staging and treatment planning. This study compares the extent and quality of lymph node dissection between robot-assisted thoracic surgery (RATS) and video-assisted thoracic surgery (VATS).
Methods
In this prospective cohort study, 40 patients undergoing oncologic lobectomy via RATS (n = 20) or VATS (n = 20) were included. We assessed the number of explored lymph node stations, dissected nodes, and microscopic integrity criteria.
Results
RATS resulted in a higher median number of explored stations (5 vs. 4; p = 0.0375) and resected nodes (8 vs. 6; p = 0.0432). However, no significant differences were found in the microscopic quality criteria.
Conclusions
RATS enables broader lymph node dissection but does not improve microscopic quality compared with VATS. These findings highlight the need for further studies to assess clinical outcomes.
{"title":"Quality of Lymph Node Dissection in Lung Cancer Surgery: A Comparative Analysis of Robotic-Assisted Versus Video-Assisted Thoracic Surgery Using Novel Pathological Criteria","authors":"Adrien Deceuninck, Pierre-Alain Thiebaut, Michael Bubenheim, Sonia Aguir, Benjamin Bottet, Antoine Dujon, Mathias Couralet, Jean Melki, Matthieu Sarsam, Jean-Christophe Sabourin, Florian Guisier, Jean-Marc Baste, Nicolas Piton","doi":"10.1002/rcs.70112","DOIUrl":"10.1002/rcs.70112","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Lymph node dissection is essential for lung cancer staging and treatment planning. This study compares the extent and quality of lymph node dissection between robot-assisted thoracic surgery (RATS) and video-assisted thoracic surgery (VATS).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this prospective cohort study, 40 patients undergoing oncologic lobectomy via RATS (<i>n</i> = 20) or VATS (<i>n</i> = 20) were included. We assessed the number of explored lymph node stations, dissected nodes, and microscopic integrity criteria.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>RATS resulted in a higher median number of explored stations (5 vs. 4; <i>p</i> = 0.0375) and resected nodes (8 vs. 6; <i>p</i> = 0.0432). However, no significant differences were found in the microscopic quality criteria.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>RATS enables broader lymph node dissection but does not improve microscopic quality compared with VATS. These findings highlight the need for further studies to assess clinical outcomes.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 5","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70112","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145276633","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}
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