The emergence of telesurgery has received global interest, with secure network transmission identified as a crucial determinant of its success. This study aimed to evaluate the safety and viability of employing quantum cryptography communication in remote partial nephrectomy.
Methods
The surgeon operated on the patient from a distance of over 260 km using remote control of a surgical robot. Key evaluation metrics for the telesurgery procedure included success rate, incidence of complications, network latency, and packet loss.
Results
The average BMI of these patients was 29.4 kg/m2, the average warm ischaemia time was 26 min, and the packet loss rate was 0%. Postoperative patient recovery, as indicated by follow-up results, was favourable.
Conclusions
We introduced a novel telesurgical paradigm for partial nephrectomy based on quantum cryptography communication. The application of pioneering technology provides patients with a safer choice for telemedical treatment and promotes the application of telesurgery.
{"title":"Innovative Integration of Robotic-Assisted Laparoscopic Telesurgery and Quantum Cryptography Communication in Urology: Clinical Application and Initial Experience","authors":"Guangdi Chu, Xuecheng Yang, Xin Zhang, Bo Guan, Jianchang Zhao, Yuan Gao, Yi Yuan, Yuxuan Cao, Shuxin Wang, Jianmin Li, Haitao Niu","doi":"10.1002/rcs.70028","DOIUrl":"https://doi.org/10.1002/rcs.70028","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The emergence of telesurgery has received global interest, with secure network transmission identified as a crucial determinant of its success. This study aimed to evaluate the safety and viability of employing quantum cryptography communication in remote partial nephrectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The surgeon operated on the patient from a distance of over 260 km using remote control of a surgical robot. Key evaluation metrics for the telesurgery procedure included success rate, incidence of complications, network latency, and packet loss.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average BMI of these patients was 29.4 kg/m<sup>2</sup>, the average warm ischaemia time was 26 min, and the packet loss rate was 0%. Postoperative patient recovery, as indicated by follow-up results, was favourable.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>We introduced a novel telesurgical paradigm for partial nephrectomy based on quantum cryptography communication. The application of pioneering technology provides patients with a safer choice for telemedical treatment and promotes the application of telesurgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143112843","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}
Ali Soltani Sharif Abadi, Andrew Ordys, Barbara Pierscionek
Background
The human eye consists of highly sensitive, hydrated, and relatively thin tissues, making precise control and accurate force estimation crucial in robotic eye surgery. This paper introduces a novel control method and state observer designed for a gripper surgical instrument used on the external ocular surface during robotic eye surgery.
Methods
A novel state observer, operating in tandem with the controller, estimates the applied force. The proposed control approach, termed the Fixed-time Observer-based Sliding Mode Control (FOSMC), estimates the applied force by determining the gripper states and uses an eye model to calculate its displacement.
Results
The performance of the proposed control method was compared with two other finite-time and asymptotic techniques across two scenarios. The results demonstrated excellent performance using the proposed method.
Conclusions
The FOSMC control technique effectively estimates the applied force during robotic eye surgery, making it a reliable solution for controlling the gripper surgical instrument.
{"title":"Controlling of Applied Force and Cornea Displacement Estimation in Robotic Corneal Surgery With a Gripper Surgical Instrument","authors":"Ali Soltani Sharif Abadi, Andrew Ordys, Barbara Pierscionek","doi":"10.1002/rcs.70038","DOIUrl":"10.1002/rcs.70038","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The human eye consists of highly sensitive, hydrated, and relatively thin tissues, making precise control and accurate force estimation crucial in robotic eye surgery. This paper introduces a novel control method and state observer designed for a gripper surgical instrument used on the external ocular surface during robotic eye surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A novel state observer, operating in tandem with the controller, estimates the applied force. The proposed control approach, termed the Fixed-time Observer-based Sliding Mode Control (FOSMC), estimates the applied force by determining the gripper states and uses an eye model to calculate its displacement.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The performance of the proposed control method was compared with two other finite-time and asymptotic techniques across two scenarios. The results demonstrated excellent performance using the proposed method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The FOSMC control technique effectively estimates the applied force during robotic eye surgery, making it a reliable solution for controlling the gripper surgical instrument.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11713865/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142960189","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 aimed to explore the feasibility and safety of using 5G communication technology for domestic surgical robots to perform ultra-remote hepatobiliary and pancreatic surgery.
Methods
A retrospective analysis was conducted on the clinical data of five cases of ultra-remote domestic robot-assisted laparoscopic hepatobiliary and pancreatic surgery completed at Sir Run Run Shaw Hospital, Zhejiang University School of Medicine (referred to as Hangzhou, Zhejiang) and Sir Run Run Shaw Hospital, Alaer Hospital, Zhejiang University School of Medicine (referred to as Alaer city, Xinjiang) from February to September 2023. The main system of the operating desk at Hangzhou, Zhejiang, uses 5G network signal transmission to remotely control the bedside operating system at Alaer City, Xinjiang. The physical distance between the two locations is 4670.2 km, and the network communication distance is 5031.2 km. The operators and assistants are immobilised.
Results
The operations were successful. The number of network image frames was 50, the median delay was 73 (70.25–126.1) ms, and the median operation time was 39 (31–128) min. The median intraoperative blood loss was 2 (2–30) mL. No occurrence of network disruption or data packet loss was observed. One case of instrument adverse event occurred, and the patient returned to normal after replacement. The median times taken to get out of bed, ventilation, and hospitalisation were 19 (15–46) h, 2 (2–4) d, and 3 (3–13) d, respectively. According to the Clavien–Dindo classification, the postoperative complications in one patient were Grade I; no other surgical complications were observed. No abnormalities were observed in the patients after a 30-day re-examination. All patients successfully recovered after a 2-month follow-up.
Conclusions
It is safe and feasible for domestic robots to perform 5G remote robot-assisted hepatobiliary and pancreatic surgery.
{"title":"5G Remote Robot-Assisted Hepatobiliary and Pancreatic Surgery: A Report of Five Cases and a Literature Review","authors":"Yuxin Fan, Chao Ma, Xinyu Wu, Tianyong Cai, Xiao Liang, Zheyong Li, Xiujun Cai","doi":"10.1002/rcs.70027","DOIUrl":"10.1002/rcs.70027","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aimed to explore the feasibility and safety of using 5G communication technology for domestic surgical robots to perform ultra-remote hepatobiliary and pancreatic surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective analysis was conducted on the clinical data of five cases of ultra-remote domestic robot-assisted laparoscopic hepatobiliary and pancreatic surgery completed at Sir Run Run Shaw Hospital, Zhejiang University School of Medicine (referred to as Hangzhou, Zhejiang) and Sir Run Run Shaw Hospital, Alaer Hospital, Zhejiang University School of Medicine (referred to as Alaer city, Xinjiang) from February to September 2023. The main system of the operating desk at Hangzhou, Zhejiang, uses 5G network signal transmission to remotely control the bedside operating system at Alaer City, Xinjiang. The physical distance between the two locations is 4670.2 km, and the network communication distance is 5031.2 km. The operators and assistants are immobilised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The operations were successful. The number of network image frames was 50, the median delay was 73 (70.25–126.1) ms, and the median operation time was 39 (31–128) min. The median intraoperative blood loss was 2 (2–30) mL. No occurrence of network disruption or data packet loss was observed. One case of instrument adverse event occurred, and the patient returned to normal after replacement. The median times taken to get out of bed, ventilation, and hospitalisation were 19 (15–46) h, 2 (2–4) d, and 3 (3–13) d, respectively. According to the Clavien–Dindo classification, the postoperative complications in one patient were Grade I; no other surgical complications were observed. No abnormalities were observed in the patients after a 30-day re-examination. All patients successfully recovered after a 2-month follow-up.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>It is safe and feasible for domestic robots to perform 5G remote robot-assisted hepatobiliary and pancreatic surgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11694231/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142916377","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}
Marcello Gallerani, Roberto F. Pitzalis, Gianluca De Novi, Mark P. Ottensmeyer, Giovanni Berselli
Background
Medical simulation is relevant for training medical personnel in the delivery of medical and trauma care, with benefits including quantitative evaluation and increased patient safety through reduced need to train on patients.
Methods
This paper presents a prototype medical simulator focusing on ocular and craniofacial trauma (OCF), for training in management of facial and upper airway injuries. It consists of a physical, electromechanical representation of head and neck structures, including the mandible, maxillary region, neck, orbit and peri-orbital regions to replicate different craniofacial traumas. Actuation and hydraulic systems are designed to control animatronic features and flow of simulated blood, tears, and cerebrospinal fluid.
Results
Experimentally validated, the OCF simulator achieves structural and functional characteristics as close as possible to those of a human body.
Conclusions
The OCF Simulator can be used as a stand-alone active simulator, it can be transported and used to train surgeons in simulated real-life scenarios.
Clinical Trial Registration
The authors declare that this statement is not applicable since no clinical tests have been performed.
{"title":"Integrated Design and Prototyping of a Robotic Head for Ocular and Craniofacial Trauma Simulators","authors":"Marcello Gallerani, Roberto F. Pitzalis, Gianluca De Novi, Mark P. Ottensmeyer, Giovanni Berselli","doi":"10.1002/rcs.70039","DOIUrl":"10.1002/rcs.70039","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Medical simulation is relevant for training medical personnel in the delivery of medical and trauma care, with benefits including quantitative evaluation and increased patient safety through reduced need to train on patients.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper presents a prototype medical simulator focusing on ocular and craniofacial trauma (OCF), for training in management of facial and upper airway injuries. It consists of a physical, electromechanical representation of head and neck structures, including the mandible, maxillary region, neck, orbit and peri-orbital regions to replicate different craniofacial traumas. Actuation and hydraulic systems are designed to control animatronic features and flow of simulated blood, tears, and cerebrospinal fluid.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimentally validated, the OCF simulator achieves structural and functional characteristics as close as possible to those of a human body.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The OCF Simulator can be used as a stand-alone active simulator, it can be transported and used to train surgeons in simulated real-life scenarios.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Clinical Trial Registration</h3>\u0000 \u0000 <p>The authors declare that this statement is not applicable since no clinical tests have been performed.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11694338/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142916400","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}
In Kyeong Kim, Jung Hoon Bae, Yoon Suk Lee, In Kyu Lee
Background
Single port robotic platform offers articulation and 360° camera rotation for anorectal tumour excision in a narrow pelvic space. This study assesses the clinical usefulness and outcomes of SP robotic transanal surgery.
Methods
Nine patients who underwent transanal excision using the SP robotic platform were included. A GelPOINT path Transanal Access channel with insufflation stabilisation bag was used to maintain rectal inflation.
Results
All patients underwent full-thickness excision without intraoperative complications. The mean distance from anal verge was 6.41 cm. Prone position was used regardless of the direction of the tumour due to the 360° rotation. The mean operative time was 66.1 min. The mean docking time was 8.7 min with only one docking. All oncologic resection margins were negative, and recurrence was not observed during follow-up.
Conclusions
SP robotic transanal surgery allows flexible vision and meticulous procedures in narrow spaces; therefore, this method has greater feasibility and oncologic safety.
{"title":"Clinical Feasibility and Technical Aspects of Single Port Robotic TransAnal Minimally Invasive Surgery (SP–rTAMIS) for Rectal Neoplasm","authors":"In Kyeong Kim, Jung Hoon Bae, Yoon Suk Lee, In Kyu Lee","doi":"10.1002/rcs.70026","DOIUrl":"10.1002/rcs.70026","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Single port robotic platform offers articulation and 360° camera rotation for anorectal tumour excision in a narrow pelvic space. This study assesses the clinical usefulness and outcomes of SP robotic transanal surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Nine patients who underwent transanal excision using the SP robotic platform were included. A GelPOINT path Transanal Access channel with insufflation stabilisation bag was used to maintain rectal inflation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>All patients underwent full-thickness excision without intraoperative complications. The mean distance from anal verge was 6.41 cm. Prone position was used regardless of the direction of the tumour due to the 360° rotation. The mean operative time was 66.1 min. The mean docking time was 8.7 min with only one docking. All oncologic resection margins were negative, and recurrence was not observed during follow-up.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>SP robotic transanal surgery allows flexible vision and meticulous procedures in narrow spaces; therefore, this method has greater feasibility and oncologic safety.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142900775","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}
Robotic ultrasound visualises internal organs in real-time for various medical applications without the harm of X-rays. The ultrasound probe is attached to the robot's end effector using custom-developed probe holders. This paper analyzes the impact of different probe holder geometries on the robot's base placement and reachability.
Methods
We propose a method to improve probe holder geometries and robot base placements to enhance reachability, validated using a 7-DoF serial manipulator (KUKA iiwa 7) for ultrasound scans of multiple subcutaneous body parts.
Results
Without additional space restrictions, the number of robot base positions with high reachability could be strongly increased with an improved probe holder geometry. Under space constraints, previously unreachable target poses became accessible by adapting the probe holder geometry.
Conclusions
Our method provides an automated solution for determining improved probe holder geometries, enhancing reachability to target areas, especially when the robot's placing area is limited.
{"title":"Increasing Reachability in Robotic Ultrasound Through Base Placement and Tool Design","authors":"Jonas Osburg, Ngoc Thinh Nguyen, Floris Ernst","doi":"10.1002/rcs.70037","DOIUrl":"10.1002/rcs.70037","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic ultrasound visualises internal organs in real-time for various medical applications without the harm of X-rays. The ultrasound probe is attached to the robot's end effector using custom-developed probe holders. This paper analyzes the impact of different probe holder geometries on the robot's base placement and reachability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose a method to improve probe holder geometries and robot base placements to enhance reachability, validated using a 7-DoF serial manipulator (KUKA iiwa 7) for ultrasound scans of multiple subcutaneous body parts.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Without additional space restrictions, the number of robot base positions with high reachability could be strongly increased with an improved probe holder geometry. Under space constraints, previously unreachable target poses became accessible by adapting the probe holder geometry.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Our method provides an automated solution for determining improved probe holder geometries, enhancing reachability to target areas, especially when the robot's placing area is limited.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11677544/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142900891","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}
Xiaodong Wang, Jianjun Zhu, Yong Wang, Cheng Wang, Peng Chen, Pengju Lyu, Jun Xu, Gao-Jun Teng
Background
Percutaneous puncture procedures, guided by image-guided robotic-assisted intervention (IGRI) systems, are susceptible to disruptions in patients' respiratory rhythm due to factors such as pain and psychological distress.
Methods
We developed an IGRI system with a coded structured light camera and a binocular camera. Our system incorporates dual-pathway deep learning networks, combining convolutional long short-term memory (ConvLSTM) and point long short-term memory (PointLSTM) modules for real-time respiratory signal monitoring.
Results
Our in-house dataset experiments demonstrate the superior performance of the proposed network in accuracy, precision, recall and F1 compared to separate use of PointLSTM and ConvLSTM for respiratory pattern classification.
Conclusion
In our IGRI system, a respiratory signal monitoring module was constructed with a binocular camera and dual-pathway deep learning networks. The integrated respiratory monitoring module provides a basis for the application of respiratory gating technology to IGRI systems and enhances surgical safety by security mechanisms.
{"title":"A Respiratory Signal Monitoring Method Based on Dual-Pathway Deep Learning Networks in Image-Guided Robotic-Assisted Intervention System","authors":"Xiaodong Wang, Jianjun Zhu, Yong Wang, Cheng Wang, Peng Chen, Pengju Lyu, Jun Xu, Gao-Jun Teng","doi":"10.1002/rcs.70017","DOIUrl":"10.1002/rcs.70017","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Percutaneous puncture procedures, guided by image-guided robotic-assisted intervention (IGRI) systems, are susceptible to disruptions in patients' respiratory rhythm due to factors such as pain and psychological distress.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We developed an IGRI system with a coded structured light camera and a binocular camera. Our system incorporates dual-pathway deep learning networks, combining convolutional long short-term memory (ConvLSTM) and point long short-term memory (PointLSTM) modules for real-time respiratory signal monitoring.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Our in-house dataset experiments demonstrate the superior performance of the proposed network in accuracy, precision, recall and <i>F</i>1 compared to separate use of PointLSTM and ConvLSTM for respiratory pattern classification.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>In our IGRI system, a respiratory signal monitoring module was constructed with a binocular camera and dual-pathway deep learning networks. The integrated respiratory monitoring module provides a basis for the application of respiratory gating technology to IGRI systems and enhances surgical safety by security mechanisms.</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":"2024-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883359","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}
We investigated the accuracy of targeted resection thickness in patients undergoing primary Total Knee Arthroplasty (TKA) using the ROSA robotic system.
Methods
Calliper measurements of the distal femur (DF), proximal tibia (PT), and posterior condyles (PC) were taken in 44 patients from June 2023 to January 2024.
Results
Planned and actual resection depth difference was 0.67 mm ± 0.6 mm (mean ± SD) (p = 0.217) and 0.94 mm ± 1.15 mm (p = 0.4) for medial and lateral DF, 0.93 mm ± 0.81 mm (p = 0.001) and 0.89 mm ± 0.8 mm (p = 0.008) for medial and lateral PT, and 1.1 mm ± 0.97 mm (p = 0.001) and 1.04 mm ± 0.79 mm (p = 0.001) for medial and lateral PC, respectively.
Conclusion
The ROSA robotic system can achieve a high degree of accuracy for planned resection thickness. Results are valid only for the imageless ROSA TKA in patients with primary knee osteoarthritis.
背景：我们研究了使用ROSA机器人系统进行原发性全膝关节置换术（TKA）患者靶向切除厚度的准确性。方法：2023年6月至2024年1月，对44例患者股骨远端（DF）、胫骨近端（PT）和后髁（PC）进行卡钳测量。结果：计划和实际切除深度差分别为内侧和外侧DF的0.67 mm±0.6 mm (mean±SD) （p = 0.217）和0.94 mm±1.15 mm (p = 0.4)，内侧和外侧PT的0.93 mm±0.81 mm （p = 0.001）和0.89 mm±0.8 mm (p = 0.008)，内侧和外侧PC的1.1 mm±0.97 mm （p = 0.001）和1.04 mm±0.79 mm （p = 0.001）。结论：ROSA机器人系统可以实现高精确度的计划切除厚度。结果仅对原发性膝骨关节炎患者的无图像ROSA TKA有效。
{"title":"Accuracy of the Imageless Mode of the ROSA Robotic System for Targeted Resection Thickness in Total Knee Arthroplasty: A Prospective, Single Surgeon Case-Series Study","authors":"Zakareya Gamie, Eustathios Kenanidis, Georgios Douvlis, Nikolaos Milonakis, Alexander Maslaris, Eleftherios Tsiridis","doi":"10.1002/rcs.70029","DOIUrl":"10.1002/rcs.70029","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We investigated the accuracy of targeted resection thickness in patients undergoing primary Total Knee Arthroplasty (TKA) using the ROSA robotic system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Calliper measurements of the distal femur (DF), proximal tibia (PT), and posterior condyles (PC) were taken in 44 patients from June 2023 to January 2024.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Planned and actual resection depth difference was 0.67 mm ± 0.6 mm (mean ± SD) (<i>p</i> = 0.217) and 0.94 mm ± 1.15 mm (<i>p</i> = 0.4) for medial and lateral DF, 0.93 mm ± 0.81 mm (<i>p</i> = 0.001) and 0.89 mm ± 0.8 mm (<i>p</i> = 0.008) for medial and lateral PT, and 1.1 mm ± 0.97 mm (<i>p</i> = 0.001) and 1.04 mm ± 0.79 mm (<i>p</i> = 0.001) for medial and lateral PC, respectively.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The ROSA robotic system can achieve a high degree of accuracy for planned resection thickness. Results are valid only for the imageless ROSA TKA in patients with primary knee osteoarthritis.</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":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11666924/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883454","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}
Alessandro Martinino, Ojus Khanolkar, Erdem Koyuncu, Egor Petrochenkov, Giulia Bencini, Joanna Olazar, Pierpaolo Di Cocco, Jorge Almario-Alvarez, Mario Spaggiari, Enrico Benedetti, Ivo Tzvetanov
Background
Machine learning has emerged as a potent tool in healthcare. A decision tree model was built to improve the decision-making process when determining the optimal choice between an open or robotic surgical approach for kidney transplant.
Methods
822 patients (OKT) and 169 (RKT) underwent kidney transplantation at our centre during the study period. A decision tree model was built in a two-step process consisting of: (1) Creating the model on the training data and (2) testing the predictive capabilities of the model using the test data.
Results
Our model correctly predicted an OKT in 148 patients out of 161 test cases who received an OKT (accuracy 91%) and predicted an RKT in 19 out of 25 test cases of patients receiving an RKT (accuracy 76%).
Conclusion
Our model represents the inaugural data-driven model that furnishes concrete insights for the discernment between employing robotic and open surgery techniques.
{"title":"Predictive Capacities of a Machine Learning Decision Tree Model Created to Analyse Feasibility of an Open or Robotic Kidney Transplant","authors":"Alessandro Martinino, Ojus Khanolkar, Erdem Koyuncu, Egor Petrochenkov, Giulia Bencini, Joanna Olazar, Pierpaolo Di Cocco, Jorge Almario-Alvarez, Mario Spaggiari, Enrico Benedetti, Ivo Tzvetanov","doi":"10.1002/rcs.70035","DOIUrl":"10.1002/rcs.70035","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Machine learning has emerged as a potent tool in healthcare. A decision tree model was built to improve the decision-making process when determining the optimal choice between an open or robotic surgical approach for kidney transplant.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>822 patients (OKT) and 169 (RKT) underwent kidney transplantation at our centre during the study period. A decision tree model was built in a two-step process consisting of: (1) Creating the model on the training data and (2) testing the predictive capabilities of the model using the test data.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Our model correctly predicted an OKT in 148 patients out of 161 test cases who received an OKT (accuracy 91%) and predicted an RKT in 19 out of 25 test cases of patients receiving an RKT (accuracy 76%).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our model represents the inaugural data-driven model that furnishes concrete insights for the discernment between employing robotic and open surgery techniques.</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":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883750","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}
Evgenii O. Lopukhov, Ilya A. Frolov, Mikhail A. Solovyev, Leonid S. Prokhorenko, Denis. S. Mishchenkov, Daniil D. Klimov, Andrei A. Vorotnikov, Yuri V. Poduraev, Andrei A. Grin, Oleg V. Levchenko
Background
Navigation surgical systems have been widely used in spinal fusion to ensure accuracy and safety during pedicle screw insertion.
Methods
The research was performed under laboratory conditions, using stereotactic navigation, surgical instruments for spinal fusion, development of additional devices and software. During the experiments, all stages of the computed tomography-guided navigation system use were performed—preoperative preparation of patient data and planning to provide visual control of the navigation of surgical instruments during the insertion of screws.
Results
The 20 screws were inserted into the vertebrae of the lumbar spine phantom with an average pedicle width of 12.6 ± 1.29 mm with 100% clinical accuracy. The 30 screws were inserted into cadaveric sheep vertebrae with an average pedicle width of 6.56 ± 0.58 mm with 96.67% efficiency.
Conclusions
The proposed navigation technique of the CT-guided navigation system is highly effective in the navigation process of surgical instruments and pedicle screws during spinal fusion.
{"title":"Computer-Guided Navigation System Efficiency Evaluation Using Surgical Instruments for Spinal Fusion","authors":"Evgenii O. Lopukhov, Ilya A. Frolov, Mikhail A. Solovyev, Leonid S. Prokhorenko, Denis. S. Mishchenkov, Daniil D. Klimov, Andrei A. Vorotnikov, Yuri V. Poduraev, Andrei A. Grin, Oleg V. Levchenko","doi":"10.1002/rcs.70033","DOIUrl":"10.1002/rcs.70033","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Navigation surgical systems have been widely used in spinal fusion to ensure accuracy and safety during pedicle screw insertion.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The research was performed under laboratory conditions, using stereotactic navigation, surgical instruments for spinal fusion, development of additional devices and software. During the experiments, all stages of the computed tomography-guided navigation system use were performed—preoperative preparation of patient data and planning to provide visual control of the navigation of surgical instruments during the insertion of screws.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The 20 screws were inserted into the vertebrae of the lumbar spine phantom with an average pedicle width of 12.6 ± 1.29 mm with 100% clinical accuracy. The 30 screws were inserted into cadaveric sheep vertebrae with an average pedicle width of 6.56 ± 0.58 mm with 96.67% efficiency.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed navigation technique of the CT-guided navigation system is highly effective in the navigation process of surgical instruments and pedicle screws during spinal fusion.</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":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883735","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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