He Zhang, Yan-Jiang Zhao, Yong-De Zhang, Lei Wang, Ye-Xin Jin, Yan-Yi Pei, Hui Gao
Background
Saturated biopsy is widely used in a histopathological examination of prostate biopsy surgery by expanding the target regions and the increasing the number of insertions.
Methods
The paper proposed a path planning algorithm for multiple targets with a single entry for a cannula flexible needle with variable curvatures. The algorithm is based on modified rapidly-exploring random trees (RRTs), and the variable-curvature motions of the flexible needle are used to achieve optimal path.
Results
The simulation results show that the algorithm has a better form of the paths. The experimental results of five trials showed that the error was 1.42 ± 1.57 mm (mean ± RMSE), and the maximum error was 1.8 mm, which proves high accuracy and effectiveness of the proposed path planning algorithm for multiple targets with a single entry.
Conclusions
This research provides a new solution for prostate saturated biopsy surgery and has high value in future clinical application.
{"title":"Path Planning for Multiple Targets for Cannula Flexible Needle With Variable-Curvature Trajectories","authors":"He Zhang, Yan-Jiang Zhao, Yong-De Zhang, Lei Wang, Ye-Xin Jin, Yan-Yi Pei, Hui Gao","doi":"10.1002/rcs.70010","DOIUrl":"10.1002/rcs.70010","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Saturated biopsy is widely used in a histopathological examination of prostate biopsy surgery by expanding the target regions and the increasing the number of insertions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The paper proposed a path planning algorithm for multiple targets with a single entry for a cannula flexible needle with variable curvatures. The algorithm is based on modified rapidly-exploring random trees (RRTs), and the variable-curvature motions of the flexible needle are used to achieve optimal path.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The simulation results show that the algorithm has a better form of the paths. The experimental results of five trials showed that the error was 1.42 ± 1.57 mm (mean ± RMSE), and the maximum error was 1.8 mm, which proves high accuracy and effectiveness of the proposed path planning algorithm for multiple targets with a single entry.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This research provides a new solution for prostate saturated biopsy surgery and has high value in future clinical application.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741603","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}
Chongan Zhang, Zuoming Fu, Xiaoyue Liu, Guoqing Ding, Liping Qin, Peng Wang, Hong Zhang, Xuesong Ye
Background
In robot-assisted flexible ureteroscopy, planning a safety-enhanced path facilitates ureteroscope reaching the target safely and quickly. However, current methods rarely consider the safety impact caused by body motion of the anterior part, such as impingement on the lumen wall and sweeping motion risk, or the method can only be used in collision-free situations.
Methods
The kinematic model of the anterior part under C-shaped and S-shaped collision bending is first analysed. Considering the newly defined impingement cost and sweeping area, the differential evolution algorithm is adopted to optimise the path in the configuration space. Experiments were performed to verify the effectiveness of the method.
Results
Compared with the competing algorithm, the proposed algorithm reduced impingement cost and sweeping area by an average of 31.0% and 8.64%. Force measurement experiments verified the rationality of the impingement cost expression.
Conclusion
The experimental results proved the feasibility of the proposed path planning algorithm.
背景：在机器人辅助柔性输尿管镜检查中，规划安全增强路径有助于输尿管镜安全快速地到达目标。然而，目前的方法很少考虑前段身体运动造成的安全影响，如对管壁的撞击和扫动风险，或者该方法只能在无碰撞情况下使用：方法：首先分析了 C 形和 S 形碰撞弯曲下前部的运动学模型。考虑到新定义的撞击成本和横扫面积，采用微分进化算法优化配置空间中的路径。实验验证了该方法的有效性：结果：与竞争算法相比，所提出的算法平均降低了 31.0% 的撞击成本和 8.64% 的清扫面积。测力实验验证了撞击成本表达式的合理性：实验结果证明了所提路径规划算法的可行性。
{"title":"Multi-Objective Safety-Enhanced Path Planning for the Anterior Part of a Flexible Ureteroscope in Robot-Assisted Surgery","authors":"Chongan Zhang, Zuoming Fu, Xiaoyue Liu, Guoqing Ding, Liping Qin, Peng Wang, Hong Zhang, Xuesong Ye","doi":"10.1002/rcs.70007","DOIUrl":"10.1002/rcs.70007","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In robot-assisted flexible ureteroscopy, planning a safety-enhanced path facilitates ureteroscope reaching the target safely and quickly. However, current methods rarely consider the safety impact caused by body motion of the anterior part, such as impingement on the lumen wall and sweeping motion risk, or the method can only be used in collision-free situations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The kinematic model of the anterior part under C-shaped and S-shaped collision bending is first analysed. Considering the newly defined impingement cost and sweeping area, the differential evolution algorithm is adopted to optimise the path in the configuration space. Experiments were performed to verify the effectiveness of the method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Compared with the competing algorithm, the proposed algorithm reduced impingement cost and sweeping area by an average of 31.0% and 8.64%. Force measurement experiments verified the rationality of the impingement cost expression.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The experimental results proved the feasibility of the proposed path planning algorithm.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142693987","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}
Quentin Neuville, Taylor Frantz, Frederick Van Gestel, Bart Janssen, Jef Vandemeulebroucke, Johnny Duerinck, Thierry Scheerlinck
Background
We present a method to determine and visualise the functional centre of rotation (FCOR) of the hip during total hip arthroplasty using an augmented reality head mounted display (AR-HMD).
Methods
We developed software allowing a HoloLens to provide inside-out infrared tracking of markers affixed to cadaver femurs and 3D printed acetabuli. Two observers rotated 20 cadaver femurs twice in a matching cup, producing 80 measurements. The FCOR of the acetabulum and femoral head was determined based on the point cloud generated from the displacement of the femoral trackers to the acetabular tracker.
Results
Compared to the ground truth, the FCOR resulted in an absolute error of 2.9 ± 1.4 mm for the acetabulum and 2.9 ± 1.2 mm for the femur, with 95th percentiles below 5.6 and 4.7 mm.
Conclusion
The proposed AR-HMD system offers an accurate and reproducible way to determine the femoral and acetabular FCOR in an experimental setting.
{"title":"Validation of an Augmented Reality Based Functional Method to Determine and Render the Hip Rotation Centre During Total Hip Arthroplasty","authors":"Quentin Neuville, Taylor Frantz, Frederick Van Gestel, Bart Janssen, Jef Vandemeulebroucke, Johnny Duerinck, Thierry Scheerlinck","doi":"10.1002/rcs.70011","DOIUrl":"10.1002/rcs.70011","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We present a method to determine and visualise the functional centre of rotation (FCOR) of the hip during total hip arthroplasty using an augmented reality head mounted display (AR-HMD).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We developed software allowing a HoloLens to provide inside-out infrared tracking of markers affixed to cadaver femurs and 3D printed acetabuli. Two observers rotated 20 cadaver femurs twice in a matching cup, producing 80 measurements. The FCOR of the acetabulum and femoral head was determined based on the point cloud generated from the displacement of the femoral trackers to the acetabular tracker.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Compared to the ground truth, the FCOR resulted in an absolute error of 2.9 ± 1.4 mm for the acetabulum and 2.9 ± 1.2 mm for the femur, with 95th percentiles below 5.6 and 4.7 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The proposed AR-HMD system offers an accurate and reproducible way to determine the femoral and acetabular FCOR in an experimental setting.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70011","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142693988","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}
M. Ramkumar, R. Sarath Kumar, R. Padmapriya, S. Balu Mahandiran
Background
Early detection of lymph node metastasis in breast cancer is vital for improving treatment outcomes and prognosis.
Methods
This study introduces an Improved Decompose, Transfer, and Compose Binary Coyote Net-based Multiple Instance Learning (ImDeTraC-BCNet-MIL) method for predicting lymph node metastasis from Whole Slide Images (WSIs) using multiple instance learning. The method involves segmenting WSIs into patches using Otsu and double-dimensional clustering techniques. The developed multiple instance learning approach introduces a paradigm into computational pathology by shaping pathological data and constructing features. ImDeTraC-BCNet-MIL was utilised for feature generation during both training and testing to differentiate lymph node metastasis in WSIs.
Results
The proposed model achieves the highest accuracy of 95.3% and 99.8%, precision values of 98% and 99.8%, and recall rates of 92.9% and 99.8% on the Camelyon16 and Camelyon17 datasets.
Conclusions
These findings underscore the effectiveness of ImDeTraC-BCNet-MIL in enhancing the early detection of lymph node metastasis in breast cancer.
{"title":"Improved DeTraC Binary Coyote Net-Based Multiple Instance Learning for Predicting Lymph Node Metastasis of Breast Cancer From Whole-Slide Pathological Images","authors":"M. Ramkumar, R. Sarath Kumar, R. Padmapriya, S. Balu Mahandiran","doi":"10.1002/rcs.70009","DOIUrl":"10.1002/rcs.70009","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Early detection of lymph node metastasis in breast cancer is vital for improving treatment outcomes and prognosis.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study introduces an Improved Decompose, Transfer, and Compose Binary Coyote Net-based Multiple Instance Learning (ImDeTraC-BCNet-MIL) method for predicting lymph node metastasis from Whole Slide Images (WSIs) using multiple instance learning. The method involves segmenting WSIs into patches using Otsu and double-dimensional clustering techniques. The developed multiple instance learning approach introduces a paradigm into computational pathology by shaping pathological data and constructing features. ImDeTraC-BCNet-MIL was utilised for feature generation during both training and testing to differentiate lymph node metastasis in WSIs.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The proposed model achieves the highest accuracy of 95.3% and 99.8%, precision values of 98% and 99.8%, and recall rates of 92.9% and 99.8% on the Camelyon16 and Camelyon17 datasets.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>These findings underscore the effectiveness of ImDeTraC-BCNet-MIL in enhancing the early detection of lymph node metastasis in breast cancer.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142634518","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}
Accurately annotated CT images of liver tumours can effectively assist doctors in diagnosing and treating liver cancer. However, due to the relatively low density of the liver, its tumours, and surrounding tissues, as well as the existence of multi-scale problems, accurate automatic segmentation still faces challenges.
Methods
We propose a segmentation network DSA-Former that combines convolutional kernels and attention. By combining the morphological and edge features of liver tumour images, capture global/local features and key inter-layer information, and integrate attention mechanisms obtaining detailed information to improve segmentation accuracy.
Results
Compared to other methods, our approach demonstrates significant advantages in evaluation metrics such as the Dice coefficient, IOU, VOE, and HD95. Specifically, we achieve Dice coefficients of 96.8% for liver segmentation and 72.2% for liver tumour segmentation.
Conclusion
Our method offers enhanced precision in segmenting liver and liver tumour images, laying a robust foundation for liver cancer diagnosis and treatment.
{"title":"DSA-Former: A Network of Hybrid Variable Structures for Liver and Liver Tumour Segmentation","authors":"Jun Qin, Huizhen Luo, Fei He, Guihe Qin","doi":"10.1002/rcs.70004","DOIUrl":"10.1002/rcs.70004","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Accurately annotated CT images of liver tumours can effectively assist doctors in diagnosing and treating liver cancer. However, due to the relatively low density of the liver, its tumours, and surrounding tissues, as well as the existence of multi-scale problems, accurate automatic segmentation still faces challenges.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose a segmentation network DSA-Former that combines convolutional kernels and attention. By combining the morphological and edge features of liver tumour images, capture global/local features and key inter-layer information, and integrate attention mechanisms obtaining detailed information to improve segmentation accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Compared to other methods, our approach demonstrates significant advantages in evaluation metrics such as the Dice coefficient, IOU, VOE, and HD95. Specifically, we achieve Dice coefficients of 96.8% for liver segmentation and 72.2% for liver tumour segmentation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our method offers enhanced precision in segmenting liver and liver tumour images, laying a robust foundation for liver cancer diagnosis and treatment.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70004","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142634517","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}
Alexandra Scheibert, Mark Preuss, Jonas Osburg, Floris Ernst, Markus Kleemann, Marco Horn
Background
Endovascular procedures are the preferred method for treating peripheral arterial disease. However, limited imaging options during these procedures, such as X-rays and contrast media, expose patients and healthcare professionals to potentially harmful radiation. This study introduces a robotic ultrasound system (RUSS) for navigating endovascular procedures in order to reduce radiation and provide additional information.
Methods
The RUSS comprises a seven-degree-of-freedom robotic arm that navigates an ultrasound transducer across a specific region of interest. The system is controlled by a self-programed software designed to navigate the robotic arm in a methodical and reproducible manner using a foot switch.
Results
An endovascular surgeon investigated the guidance and visibility of various guidewires and successfully implanted three stents in a vascular leg phantom using the RUSS without further radiation exposure.
Conclusions
The innovative set-up has several potential applications, including radiation-free endovascular procedures as well as health screening and diagnostic support in vascular medicine.
背景：血管内手术是治疗外周动脉疾病的首选方法。然而，在这些手术过程中，有限的成像选择（如 X 射线和造影剂）会使患者和医护人员暴露于潜在的有害辐射中。本研究介绍了一种用于血管内手术导航的机器人超声系统（RUSS），以减少辐射并提供更多信息：RUSS由一个七自由度的机械臂组成，它能引导超声波传感器穿过特定的感兴趣区域。该系统由一个自编程软件控制，该软件旨在通过脚踏开关有条不紊地以可重复的方式导航机械臂：结果：一名血管内科医生研究了各种导丝的引导和可视性，并使用 RUSS 成功地在一个血管腿部模型中植入了三个支架，而没有进一步的辐射暴露：该创新装置具有多种潜在应用，包括无辐射血管内手术以及血管医学中的健康检查和诊断支持。
{"title":"Robotic Assisted Ultrasound-Guided Endovascular Stent Implantation in a Vascular Model","authors":"Alexandra Scheibert, Mark Preuss, Jonas Osburg, Floris Ernst, Markus Kleemann, Marco Horn","doi":"10.1002/rcs.70005","DOIUrl":"10.1002/rcs.70005","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Endovascular procedures are the preferred method for treating peripheral arterial disease. However, limited imaging options during these procedures, such as X-rays and contrast media, expose patients and healthcare professionals to potentially harmful radiation. This study introduces a robotic ultrasound system (RUSS) for navigating endovascular procedures in order to reduce radiation and provide additional information.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The RUSS comprises a seven-degree-of-freedom robotic arm that navigates an ultrasound transducer across a specific region of interest. The system is controlled by a self-programed software designed to navigate the robotic arm in a methodical and reproducible manner using a foot switch.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>An endovascular surgeon investigated the guidance and visibility of various guidewires and successfully implanted three stents in a vascular leg phantom using the RUSS without further radiation exposure.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The innovative set-up has several potential applications, including radiation-free endovascular procedures as well as health screening and diagnostic support in vascular medicine.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70005","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142585013","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}
Automatic High Tibial Osteotomy (HTO) landmark detection methods promise to improve the effectiveness and standardisation of HTO preoperative planning. Unfortunately, due to the limited number of HTO datasets, existing methods are less robust when dealing with patients with varied deformities than traditional manual planning, severely limiting their clinical viability and application in practical surgical settings.
Methods
Here, we present a new HTO landmark detection framework using an integration of optimised heatmap-offset aggregation method and traditional feature extraction. Subjective and objective approaches were employed to reflect the final clinical acceptance of our model.
Results
Average Mean Absolute Error of prediction results compared to the surgeon's gold standard was 0.35° for the hip-knee-ankle angle. The objective score rated by surgeons reached 4.4 on a scale of 5.
Conclusion
The study demonstrated that the automatic detection method has great potential serving as an alternative to manual radiological analysis in practical surgical pre-operative planning.
{"title":"Automatic Landmark Detection for Preoperative Planning of High Tibial Osteotomy Using Traditional Feature Extraction and Deep Learning Methods","authors":"Jiaqi Han, Xinlong Ma, Yiou Lyu, Haohao Bai","doi":"10.1002/rcs.70006","DOIUrl":"10.1002/rcs.70006","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Automatic High Tibial Osteotomy (HTO) landmark detection methods promise to improve the effectiveness and standardisation of HTO preoperative planning. Unfortunately, due to the limited number of HTO datasets, existing methods are less robust when dealing with patients with varied deformities than traditional manual planning, severely limiting their clinical viability and application in practical surgical settings.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Here, we present a new HTO landmark detection framework using an integration of optimised heatmap-offset aggregation method and traditional feature extraction. Subjective and objective approaches were employed to reflect the final clinical acceptance of our model.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Average Mean Absolute Error of prediction results compared to the surgeon's gold standard was 0.35° for the hip-knee-ankle angle. The objective score rated by surgeons reached 4.4 on a scale of 5.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The study demonstrated that the automatic detection method has great potential serving as an alternative to manual radiological analysis in practical surgical pre-operative planning.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142577179","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}
Daisuke Fukumori, Christoph Tschuor, Takashi Hamada, Nicolai Aagaard Schultz, Paul Suno Krohn, Stefan Burgdorf, Luit Penninga, Jan Henrik Storkholm, Christian Ross Pedersen, Jens Hillingsø, Lars Bo Svendsen, Peter Nørgaard Larsen
Background
The aim of this study was to investigate the perioperative outcomes of robotic liver surgery (RLS) and Open liver surgery (OLS) in a centre with a high number of operations.
Methods
A 1:1 propensity score matched (PSM) analysis of a retrospective database of RLS and OLS was performed. Cumulative sum (CUSUM) analysis was performed to identify learning curves.
Result
After PSM analysis, operative time was significantly longer in the RLS group (p < 0.001). Estimated blood loss was significantly lower in the RLS group (p < 0.001). Transfusion rates were significantly lower in the RLS group. The length of hospital stay was shorter in the RLS group (3.5vs6.3 days, p < 0.001). Readmission rates were significantly lower in the RLS group (p < 0.049). CUSUM analysis showed a learning curve for at least 8 low—intermediate RLS procedures and 27 advanced—Expert RLS procedures.
Conclusions
RLS has many advantages, including being safe to perform, less blood loss and faster postoperative recovery compared with OLS.
{"title":"Short-Term Surgical Outcomes After Robotic Liver Surgery: A Propensity-Score Matched Analysis With Conventional Open Liver Surgery at a High-Volume Centre in Denmark","authors":"Daisuke Fukumori, Christoph Tschuor, Takashi Hamada, Nicolai Aagaard Schultz, Paul Suno Krohn, Stefan Burgdorf, Luit Penninga, Jan Henrik Storkholm, Christian Ross Pedersen, Jens Hillingsø, Lars Bo Svendsen, Peter Nørgaard Larsen","doi":"10.1002/rcs.70003","DOIUrl":"https://doi.org/10.1002/rcs.70003","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The aim of this study was to investigate the perioperative outcomes of robotic liver surgery (RLS) and Open liver surgery (OLS) in a centre with a high number of operations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A 1:1 propensity score matched (PSM) analysis of a retrospective database of RLS and OLS was performed. Cumulative sum (CUSUM) analysis was performed to identify learning curves.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Result</h3>\u0000 \u0000 <p>After PSM analysis, operative time was significantly longer in the RLS group (<i>p</i> < 0.001). Estimated blood loss was significantly lower in the RLS group (<i>p</i> < 0.001). Transfusion rates were significantly lower in the RLS group. The length of hospital stay was shorter in the RLS group (3.5vs6.3 days, <i>p</i> < 0.001). Readmission rates were significantly lower in the RLS group (<i>p</i> < 0.049). CUSUM analysis showed a learning curve for at least 8 low—intermediate RLS procedures and 27 advanced—Expert RLS procedures.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>RLS has many advantages, including being safe to perform, less blood loss and faster postoperative recovery compared with OLS.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 5","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70003","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451745","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}
Lei Lin, Zhao An, Xiaodong Yang, Yuming Zhu, Xiao Zhou
Background
Uniportal video assisted thoracoscopic surgery has become widely accepted with increasing subxiphoid approach for major pulmonary resections. The purpose of this study was to verify the safety and feasibility of a SHURUI single port (SP) Robotic Surgical System in subxiphoid right upper lobectomy.
Methods
Five swine models were used to perform subxiphoid right upper lobectomy with SHURUI SP Robotic Surgical System. Operation details were recorded to assess the safety and feasibility of the SHURUI system.
Results
Results showed that the operation success was 100%. The time from anaesthesia to complete docking of the robotic system was 30.0 (20.0, 36.0) minutes and the total operation time was 125.0 (62.0, 142.5) minutes. Blood loss during operation was 30.0 (25.0, 125.0) mL. No death or complications occurred during the operation.
Conclusions
Uniportal robotics assisted right upper lobectomy via subxiphoid approach with SHURUI system performed in this study preliminary showed its safety and feasibility.
{"title":"Subxiphoid Uniportal Robotic Assisted Right Upper Lobectomy in Swine: A Novel Technology","authors":"Lei Lin, Zhao An, Xiaodong Yang, Yuming Zhu, Xiao Zhou","doi":"10.1002/rcs.70000","DOIUrl":"https://doi.org/10.1002/rcs.70000","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Uniportal video assisted thoracoscopic surgery has become widely accepted with increasing subxiphoid approach for major pulmonary resections. The purpose of this study was to verify the safety and feasibility of a SHURUI single port (SP) Robotic Surgical System in subxiphoid right upper lobectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Five swine models were used to perform subxiphoid right upper lobectomy with SHURUI SP Robotic Surgical System. Operation details were recorded to assess the safety and feasibility of the SHURUI system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Results showed that the operation success was 100%. The time from anaesthesia to complete docking of the robotic system was 30.0 (20.0, 36.0) minutes and the total operation time was 125.0 (62.0, 142.5) minutes. Blood loss during operation was 30.0 (25.0, 125.0) mL. No death or complications occurred during the operation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Uniportal robotics assisted right upper lobectomy via subxiphoid approach with SHURUI system performed in this study preliminary showed its safety and feasibility.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 5","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451742","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}
Markus A. Küper, Jonas Johannink, Bastian Amend, Tina Histing, Steven C. Herath
Background
In recent years, endoscopic treatment of pelvic ring injuries has emerged. In addition to the complex 3D anatomy of the bony pelvis, a particular challenge is its embedding in the surrounding soft tissue structures. It is known from other surgical specialties that the preparation can be facilitated by using surgical robot systems.
Materials and Methods
In a patient with an open-book injury of the pelvic ring, a symphysis plate was performed using the DaVinci system.
Results
We describe the robotic-assisted osteosynthesis on the anterior pelvic ring with available instruments.
Conclusion
The further development of minimally invasive surgical techniques is always linked to the development of new instruments. For trauma surgery, this means in particular the reduction of dislocated fractures. If appropriate techniques and instruments are developed here, minimally invasive treatment of injuries to the pelvic ring or acetabulum may represent an alternative to open procedures in the future.
{"title":"Minimally Invasive Pelvic and Acetabular Surgery: Case Report of a Robot-Assisted Osteosynthesis of an Open-Book Injury of the Pelvic Ring","authors":"Markus A. Küper, Jonas Johannink, Bastian Amend, Tina Histing, Steven C. Herath","doi":"10.1002/rcs.70002","DOIUrl":"https://doi.org/10.1002/rcs.70002","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In recent years, endoscopic treatment of pelvic ring injuries has emerged. In addition to the complex 3D anatomy of the bony pelvis, a particular challenge is its embedding in the surrounding soft tissue structures. It is known from other surgical specialties that the preparation can be facilitated by using surgical robot systems.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>In a patient with an open-book injury of the pelvic ring, a symphysis plate was performed using the DaVinci system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>We describe the robotic-assisted osteosynthesis on the anterior pelvic ring with available instruments.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The further development of minimally invasive surgical techniques is always linked to the development of new instruments. For trauma surgery, this means in particular the reduction of dislocated fractures. If appropriate techniques and instruments are developed here, minimally invasive treatment of injuries to the pelvic ring or acetabulum may represent an alternative to open procedures in the future.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 5","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451746","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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