Near-infrared (NIR) fluorescence imaging with indocyanine green (ICG) has been recently introduced for lymphatic mapping in robotic gastrectomy.
Methods
Sixty-two patients with early gastric cancer (EGC) were divided into three groups, namely ICG-guided robotic group (G1; n = 18), conventional robotic group (G2; n = 24), and laparoscopic control group (control; n = 20). The primary endpoints were retrieved LNs, surgical outcomes, and postoperative complications.
Results
The G1 group retrieved more total LNs than the other two groups; however, this difference was not statistically significant (19.8 vs. 16.1 vs. 16.9, p = 0.197). However, there were statistical differences in perigastric LNs (15 vs. 10.5 vs. 11, p = 0.010). The G1 group had shorter surgical time than G2 (260 vs. 300 min, p < 0.05).
Conclusion
ICG guided technology aids in achieving a more precise regional LN dissection during robotic gastrectomy for EGC, and is a valuable advancement for gastric cancer surgery.
Clinical trial registration
Chinese Clinical Trial Registry (ChiCTR2500106082)
近红外（NIR）荧光成像与吲哚菁绿（ICG）最近被引入到机器人胃切除术的淋巴定位。方法将62例早期胃癌（EGC）患者分为ig引导机器人组（G1组，n = 18）、常规机器人组（G2组，n = 24）和腹腔镜对照组（对照组，n = 20）。主要终点为检索LNs、手术结果和术后并发症。结果G1组总回收量高于其他两组；然而，这一差异无统计学意义（19.8比16.1比16.9,p = 0.197）。然而，胃周ln有统计学差异（15 vs. 10.5 vs. 11, p = 0.010）。G1组手术时间短于G2组（260 vs 300 min, p < 0.05）。结论在机器人胃切除术中，ICG引导技术有助于实现更精确的区域淋巴结清扫，是胃癌手术的重要进展。中国临床试验注册中心（ChiCTR2500106082）
{"title":"Indocyanine Green–Guided Lymphadenectomy During Robot-Assisted Pylorus and Vagus Nerve Preserving Gastrectomy for Early Gastric Cancer: A Single-Centre Study","authors":"Yichuan Fan, Chi Zhang, Pin Liang, Xiang Hu","doi":"10.1002/rcs.70116","DOIUrl":"https://doi.org/10.1002/rcs.70116","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Near-infrared (NIR) fluorescence imaging with indocyanine green (ICG) has been recently introduced for lymphatic mapping in robotic gastrectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Sixty-two patients with early gastric cancer (EGC) were divided into three groups, namely ICG-guided robotic group (G1; <i>n</i> = 18), conventional robotic group (G2; <i>n</i> = 24), and laparoscopic control group (control; <i>n</i> = 20). The primary endpoints were retrieved LNs, surgical outcomes, and postoperative complications.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The G1 group retrieved more total LNs than the other two groups; however, this difference was not statistically significant (19.8 vs. 16.1 vs. 16.9, <i>p</i> = 0.197). However, there were statistical differences in perigastric LNs (15 vs. 10.5 vs. 11, <i>p</i> = 0.010). The G1 group had shorter surgical time than G2 (260 vs. 300 min, <i>p</i> < 0.05).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>ICG guided technology aids in achieving a more precise regional LN dissection during robotic gastrectomy for EGC, and is a valuable advancement for gastric cancer surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Clinical trial registration</h3>\u0000 \u0000 <p>Chinese Clinical Trial Registry (ChiCTR2500106082)</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":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145224019","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 anatomic lung resections are the standard for early non-small-cell lung cancer, and the robotic approach has gained popularity and the latest frontier is the uniportal robotic (uRATS) approach. The goal of our study is to share our series showing technical details, feasibility and early outcomes.
Methods
From December 2024, we started the uRATS programme for selected patients. Continuous and dichotomous variables were recorded about surgery and the perioperative period. Non-parametric tests were used to compare the data between uRATS and contemporary patients treated with robotic multiport RATS.
Results
In 4 months we performed two segmentectomies and five Lobectomy through uRATS, while one patient was converted due to incomplete fissure. No severe perioperative complications occurred and in the comparison with the multiport approach, no significant differences in operative time, conversions and complications were observed.
Conclusions
The Uniportal RATS approach was safe and feasible with adequate surgical and oncologic post-operative results.
{"title":"Pure Robot-Assisted Uniportal Anatomical Lung Resection for Non-Small Cell Lung Cancer: Technical Aspects and Early Outcomes","authors":"Stefano Bongiolatti, Lavinia Gatteschi, Alessandro Gonfiotti, Giovanni Mugnaini, Simone Tombelli, Luca Voltolini","doi":"10.1002/rcs.70114","DOIUrl":"https://doi.org/10.1002/rcs.70114","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Objective</h3>\u0000 \u0000 <p>Minimally invasive anatomic lung resections are the standard for early non-small-cell lung cancer, and the robotic approach has gained popularity and the latest frontier is the uniportal robotic (uRATS) approach. The goal of our study is to share our series showing technical details, feasibility and early outcomes.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>From December 2024, we started the uRATS programme for selected patients. Continuous and dichotomous variables were recorded about surgery and the perioperative period. Non-parametric tests were used to compare the data between uRATS and contemporary patients treated with robotic multiport RATS.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In 4 months we performed two segmentectomies and five Lobectomy through uRATS, while one patient was converted due to incomplete fissure. No severe perioperative complications occurred and in the comparison with the multiport approach, no significant differences in operative time, conversions and complications were observed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The Uniportal RATS approach was safe and feasible with adequate surgical and oncologic post-operative results.</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":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145224020","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}
Arpita Routray, Chaniya Jaroenkunathum, Sungwook Yang, Robert Maclachlan, Jennifer Adeghate, Marjan Fooladi, Joseph Martel, Cameron N. Riviere
Background
Virtual fixtures in robot-assisted retinal surgery require knowledge of the position of the retina with respect to the surgical tool to be effective. Retinal surface estimation is a difficult problem due to the lack of features in the captured microscope imagery and a complex light path. A laser aiming beam attached to the tool can be easily detected in the microscope imagery and provide valuable information about the location of the surface.
Methods
We propose using the area of a laser aiming beam attached to the surgical tool to determine the distance of the tool from the retina. This area was modified in accordance with the tool width to ensure independence from microscope magnification. Retinal distance is predicted using a dual Kalman filter that combines distance inferred from this metric with information from an optical tracker that tracks the position of the tool in a global coordinate system. This updates both the state and parameters of the system in parallel and allows us to predict retinal distance even with errors in initial parameters.
Results
The laser metric's independence from microscope magnification is demonstrated by plotting the metric at 3 different magnifications for a number of angles. We also predict the distance of the tool from the retina for various random angles at each magnification with median errors of less than 100 μm. Finally, we predict distance at each magnification during freehand motion and validate our results using a force sensor placed underneath the phantom.
Conclusions
Using the area of laser aiming beam attached to the surgical tool, our method can predict the distance of the surgical tool to the retina with errors that are acceptable for implementing virtual fixtures during robot-assisted retinal surgery. The predicted distance is also independent of microscope magnification and can work when initial parameters are not precisely known. Future work will involve adapting this method to in vivo environments and further reduction in prediction errors.
{"title":"Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam","authors":"Arpita Routray, Chaniya Jaroenkunathum, Sungwook Yang, Robert Maclachlan, Jennifer Adeghate, Marjan Fooladi, Joseph Martel, Cameron N. Riviere","doi":"10.1002/rcs.70113","DOIUrl":"https://doi.org/10.1002/rcs.70113","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Virtual fixtures in robot-assisted retinal surgery require knowledge of the position of the retina with respect to the surgical tool to be effective. Retinal surface estimation is a difficult problem due to the lack of features in the captured microscope imagery and a complex light path. A laser aiming beam attached to the tool can be easily detected in the microscope imagery and provide valuable information about the location of the surface.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose using the area of a laser aiming beam attached to the surgical tool to determine the distance of the tool from the retina. This area was modified in accordance with the tool width to ensure independence from microscope magnification. Retinal distance is predicted using a dual Kalman filter that combines distance inferred from this metric with information from an optical tracker that tracks the position of the tool in a global coordinate system. This updates both the state and parameters of the system in parallel and allows us to predict retinal distance even with errors in initial parameters.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The laser metric's independence from microscope magnification is demonstrated by plotting the metric at 3 different magnifications for a number of angles. We also predict the distance of the tool from the retina for various random angles at each magnification with median errors of less than 100 μm. Finally, we predict distance at each magnification during freehand motion and validate our results using a force sensor placed underneath the phantom.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Using the area of laser aiming beam attached to the surgical tool, our method can predict the distance of the surgical tool to the retina with errors that are acceptable for implementing virtual fixtures during robot-assisted retinal surgery. The predicted distance is also independent of microscope magnification and can work when initial parameters are not precisely known. Future work will involve adapting this method to in vivo environments and further reduction in prediction errors.</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":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70113","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145224084","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}
Radioactive particle implantation, as a new method of cancer treatment, has been widely used in the field of tumour treatment. However, the different information feedback caused by the differences in the intraoperative environment is easy to affect the control effect of the particle implantation robot.
Methods
This paper summarises the interactive control method of radioactive seeds implantation robot, and divides it into master and slave control technology, automatic control technology and intraoperative safety interaction technology according to the type of control means.
Results
The application of interactive control technology in radioactive particle implantation robots has benefitted from the progress of intraoperative information analysis technology, which has enabled more accurate control guidance.
Discussion
Although the interactive control technology of radioactive particle implantation robots still faces many challenges, with the continuous progress of intraoperative information analysis technology, its development potential is still huge.
{"title":"A Review of Intraoperative Interactive Control Methods for Seeds Implantation Robots","authors":"Yongde Zhang, Haoran Qu, Chuang He, Xuequan Huang","doi":"10.1002/rcs.70111","DOIUrl":"10.1002/rcs.70111","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Introduction</h3>\u0000 \u0000 <p>Radioactive particle implantation, as a new method of cancer treatment, has been widely used in the field of tumour treatment. However, the different information feedback caused by the differences in the intraoperative environment is easy to affect the control effect of the particle implantation robot.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper summarises the interactive control method of radioactive seeds implantation robot, and divides it into master and slave control technology, automatic control technology and intraoperative safety interaction technology according to the type of control means.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The application of interactive control technology in radioactive particle implantation robots has benefitted from the progress of intraoperative information analysis technology, which has enabled more accurate control guidance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Discussion</h3>\u0000 \u0000 <p>Although the interactive control technology of radioactive particle implantation robots still faces many challenges, with the continuous progress of intraoperative information analysis technology, its development potential is still huge.</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":"2025-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145202434","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}
Evgenia Roussinova, Olivier Brina, William Galand, Philippe Reymond, Silvestro Micera, Paolo Machi, Mohamed Bouri
Background
Interventional neuroradiologists currently miss crucial information when facing an ischaemic stroke case as they cannot localise the thrombus precisely nor determine its mechanical properties, which are both important for the clot extraction procedure.
Methods
In this in vitro study, clot analogues of different stiffnesses and dimensions were inserted in an idealised arterial phantom using distinct insertion pressure levels. Guidewire-clot interaction forces were recorded using a robotic device equipped with a force sensor. A model-based clot detection method was developed.
Results
Clot stiffness, initial clot volume, and insertion pressure were all found to impact the guidewire-clot interaction forces. In detecting the clot's proximal and distal edges, we achieved success rates of 86.5% and 71.2%, respectively, within a tolerance of 1.5 mm.
Conclusions
The study brings new perspectives for mechanical thrombectomy by demonstrating that multiple parameters influence the occlusion's mechanical state and by proposing algorithms for identifying the clot's extremities.
{"title":"Potential of Guidewire-Clot Interaction Forces for Clot Detection in Robotic Mechanical Thrombectomy","authors":"Evgenia Roussinova, Olivier Brina, William Galand, Philippe Reymond, Silvestro Micera, Paolo Machi, Mohamed Bouri","doi":"10.1002/rcs.70109","DOIUrl":"https://doi.org/10.1002/rcs.70109","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Interventional neuroradiologists currently miss crucial information when facing an ischaemic stroke case as they cannot localise the thrombus precisely nor determine its mechanical properties, which are both important for the clot extraction procedure.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this in vitro study, clot analogues of different stiffnesses and dimensions were inserted in an idealised arterial phantom using distinct insertion pressure levels. Guidewire-clot interaction forces were recorded using a robotic device equipped with a force sensor. A model-based clot detection method was developed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Clot stiffness, initial clot volume, and insertion pressure were all found to impact the guidewire-clot interaction forces. In detecting the clot's proximal and distal edges, we achieved success rates of 86.5% and 71.2%, respectively, within a tolerance of <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>±</mo>\u0000 </mrow>\u0000 <annotation> $pm $</annotation>\u0000 </semantics></math> 1.5 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The study brings new perspectives for mechanical thrombectomy by demonstrating that multiple parameters influence the occlusion's mechanical state and by proposing algorithms for identifying the clot's extremities.</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":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70109","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145146604","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}
Bainan Liu, Dongsheng Li, Bo Pan, Yue Ai, Wenpeng Gao, Yili Fu
Background
The single-port surgical robot can reduce incision size and accelerate postoperative recovery. This paper analyses the dynamic model of the remote centre mechanism (RCM) of the proposed single-port robot for force control.
Methods
This paper proposes a dynamic model identification method for the RCM with a minimal parameter set derived from its tree structure. A nonlinear friction model for the prismatic joints and corresponding identification method are introduced, and the parameter set is iteratively refined using iterative reweighted least squares (IRLS), sequential quadratic programming (SQP) and an outlier detection algorithm. An adaptive Kalman filter (AKF) is applied to suppress noise in position differentiation, ensuring smooth velocity and acceleration.
Results
The proposed method improves fitting accuracy and provides low-deviation predictions for cross-validation trajectory data.
Conclusions
The proposed method enhances modelling accuracy and noise suppression in single-port surgical robots.
Clinical Trial Registration
The authors declare that this research is not a clinical trial and is not registered with any clinical trial registry
{"title":"Modelling the Dynamics of the Remote Centre Mechanism in Single-Port Minimally Invasive Robot","authors":"Bainan Liu, Dongsheng Li, Bo Pan, Yue Ai, Wenpeng Gao, Yili Fu","doi":"10.1002/rcs.70105","DOIUrl":"10.1002/rcs.70105","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The single-port surgical robot can reduce incision size and accelerate postoperative recovery. This paper analyses the dynamic model of the remote centre mechanism (RCM) of the proposed single-port robot for force control.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper proposes a dynamic model identification method for the RCM with a minimal parameter set derived from its tree structure. A nonlinear friction model for the prismatic joints and corresponding identification method are introduced, and the parameter set is iteratively refined using iterative reweighted least squares (IRLS), sequential quadratic programming (SQP) and an outlier detection algorithm. An adaptive Kalman filter (AKF) is applied to suppress noise in position differentiation, ensuring smooth velocity and acceleration.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The proposed method improves fitting accuracy and provides low-deviation predictions for cross-validation trajectory data.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed method enhances modelling accuracy and noise suppression in single-port surgical robots.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Clinical Trial Registration</h3>\u0000 \u0000 <p>The authors declare that this research is not a clinical trial and is not registered with any clinical trial registry</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":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145093236","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}
JinBin Xu, GengGuo Deng, ZhanSen Huang, Sam Un Cheong, Zifeng Xu, Yuedian Ye, Weihao Liu, Xiaoming Li, Jiang Li, Qunxiong Huang, Tengcheng Li, Jinming Di
Objective
To evaluate the feasibility of a novel robotic-assisted laparoscopic technique—side clamp two-step vascular method—for left renal vein (LRV) transposition in nutcracker syndrome (NCS).
Methods
Between May and December 2023, three male NCS patients (median age: 14 years) underwent robot-assisted LRV transposition using the Di's technique. The key procedure included a side clamp two-step technique to selectively occlude the infrarenal inferior vena cava and LRV without right renal vein manipulation. Surgical outcomes, including operative time, blood loss, anastomosis duration, and postoperative complications, were retrospectively analysed.
Results
All procedures were successfully completed. Median operative time was 125 min, with LRV anastomosis completed in 23 min. Postoperative imaging confirmed the resolution of LRV compression, with pressure gradients reduced to < 3 mmHg. Symptoms resolved completely within 4 weeks.
Conclusions
The robotic-assisted side clamp two-step technique offers a minimally invasive alternative for LRV transposition in NCS, minimising vascular dissection and preserving right renal venous flow.
Trial Registration
This clinical trial has been registered in the Chinese Clinical Trial Registry (ChiCTR, registration number: ChiCTR2500099335).
{"title":"Non-Right Renal Vein Occlusion: A Side Clamp Two-Step Technique for Robot-Assisted Laparoscopic Transposition of the Left Renal Vein in Nutcracker Syndrome","authors":"JinBin Xu, GengGuo Deng, ZhanSen Huang, Sam Un Cheong, Zifeng Xu, Yuedian Ye, Weihao Liu, Xiaoming Li, Jiang Li, Qunxiong Huang, Tengcheng Li, Jinming Di","doi":"10.1002/rcs.70110","DOIUrl":"10.1002/rcs.70110","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Objective</h3>\u0000 \u0000 <p>To evaluate the feasibility of a novel robotic-assisted laparoscopic technique—side clamp two-step vascular method—for left renal vein (LRV) transposition in nutcracker syndrome (NCS).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Between May and December 2023, three male NCS patients (median age: 14 years) underwent robot-assisted LRV transposition using the Di's technique. The key procedure included a side clamp two-step technique to selectively occlude the infrarenal inferior vena cava and LRV without right renal vein manipulation. Surgical outcomes, including operative time, blood loss, anastomosis duration, and postoperative complications, were retrospectively analysed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>All procedures were successfully completed. Median operative time was 125 min, with LRV anastomosis completed in 23 min. Postoperative imaging confirmed the resolution of LRV compression, with pressure gradients reduced to < 3 mmHg. Symptoms resolved completely within 4 weeks.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The robotic-assisted side clamp two-step technique offers a minimally invasive alternative for LRV transposition in NCS, minimising vascular dissection and preserving right renal venous flow.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Trial Registration</h3>\u0000 \u0000 <p>This clinical trial has been registered in the Chinese Clinical Trial Registry (ChiCTR, registration number: ChiCTR2500099335).</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":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145082692","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}
Fabian N. Necker, David J. Cholok, Marc J. Fischer, Kyle Gifford, Chris Le Castillo, Michael Scholz, Michael Januszyk, Christoph W. Leuze, Bruce L. Daniel, Arash Momeni
Background
We present a novel method for accurately measuring skin-surface distances using standard smartphone photos and Photoshop, validated on 3D-printed DIEP-flap models and on calibration grid-patterns.
Materials and Methods
Distance measurements are acquired in Photoshop in a calibration plane between dots on a grid-pattern as well as between perforators on photos of 3D-printed models and compared against ground-truth. Margins of errors are calculated from fitted linear models.
Results
Submillimeter accuracy can be achieved within errors of ±0.45 mm (80% probability) and ±0.8 mm (95% probability) for measuring distances on the dot-grid. On the 3D-printed DIEP-models, distance measurements are accurate within ±1.75 mm (80% probability) and ±3.1 mm (95% probability).
Conclusions
We introduce a simple yet highly accurate technique to measure skin-surface distances using normal photos. Depending on the scenario, submillimeter or conservatively very low millimetre errors can be achieved, sufficiently accurate for clinical use, whilst maintaining topographic relationships of the measurements.
{"title":"Measuring Abdominal Skin-Surface Distances Using Photos for Perforator Mapping Analysis—A Validation Study on 3D-Printed DIEP-Flap Models","authors":"Fabian N. Necker, David J. Cholok, Marc J. Fischer, Kyle Gifford, Chris Le Castillo, Michael Scholz, Michael Januszyk, Christoph W. Leuze, Bruce L. Daniel, Arash Momeni","doi":"10.1002/rcs.70108","DOIUrl":"10.1002/rcs.70108","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We present a novel method for accurately measuring skin-surface distances using standard smartphone photos and Photoshop, validated on 3D-printed DIEP-flap models and on calibration grid-patterns.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>Distance measurements are acquired in Photoshop in a calibration plane between dots on a grid-pattern as well as between perforators on photos of 3D-printed models and compared against ground-truth. Margins of errors are calculated from fitted linear models.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Submillimeter accuracy can be achieved within errors of ±0.45 mm (80% probability) and ±0.8 mm (95% probability) for measuring distances on the dot-grid. On the 3D-printed DIEP-models, distance measurements are accurate within ±1.75 mm (80% probability) and ±3.1 mm (95% probability).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>We introduce a simple yet highly accurate technique to measure skin-surface distances using normal photos. Depending on the scenario, submillimeter or conservatively very low millimetre errors can be achieved, sufficiently accurate for clinical use, whilst maintaining topographic relationships of the measurements.</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":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12444031/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145082689","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}
To compare surgical outcomes of robotic single-port (RSPH) versus single-site (RSSH) hysterectomy in early-stage endometrial cancer.
Methods
This is a retrospective case-control study, comparing surgical outcomes of RSPH (Cases) and RSSH (Controls) in early-stage endometrial cancer.
Results
Twenty-five women who underwent RSPH from June 2024 to November 2024 were matched with 50 historical RSSH controls treated at the same institution by the same surgical team between December 2011 and September 2014. Operation time was similar: 110 min in RSPH and 99 min in RSSH (p = 0.76). Blood loss was 50 mL in RSPH and 60 mL in RSSH (p = 0.14). Hospital stay was shorter in RSSH (3.5 days in RSPH and 3 days in RSSH, p = 0.001).
Conclusions
Our study confirms the safety and feasibility of RSPH for endometrial cancer without major differences from the RSSH in terms of surgical outcomes.
目的比较机器人单孔（RSPH）与单部位（RSSH）子宫切除术治疗早期子宫内膜癌的效果。方法采用回顾性病例对照研究，比较早期子宫内膜癌RSPH（病例）和RSSH（对照组）的手术效果。结果25例于2024年6月至2024年11月接受RSPH手术的女性与50例于2011年12月至2014年9月在同一机构由同一外科团队治疗的历史RSSH对照组进行匹配。手术时间相似：RSPH组为110 min， RSSH组为99 min （p = 0.76）。RSPH组失血量50 mL， RSSH组失血量60 mL （p = 0.14）。RSSH组住院时间较短（RSPH组为3.5 d， RSSH组为3 d， p = 0.001）。结论本研究证实了RSPH治疗子宫内膜癌的安全性和可行性，在手术结果方面与RSSH无明显差异。
{"title":"Robotic Single-Port Versus Robotic Single-Site Hysterectomy in Early Endometrial Cancer: A Case Control Study","authors":"Riccardo Vizza, Giacomo Corrado, Valentina Bruno, Ermelinda Baiocco, Pier Carlo Zorzato, Stefano Uccella, Enrico Vizza","doi":"10.1002/rcs.70107","DOIUrl":"https://doi.org/10.1002/rcs.70107","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Objective</h3>\u0000 \u0000 <p>To compare surgical outcomes of robotic single-port (RSPH) versus single-site (RSSH) hysterectomy in early-stage endometrial cancer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This is a retrospective case-control study, comparing surgical outcomes of RSPH (Cases) and RSSH (Controls) in early-stage endometrial cancer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Twenty-five women who underwent RSPH from June 2024 to November 2024 were matched with 50 historical RSSH controls treated at the same institution by the same surgical team between December 2011 and September 2014. Operation time was similar: 110 min in RSPH and 99 min in RSSH (<i>p</i> = 0.76). Blood loss was 50 mL in RSPH and 60 mL in RSSH (<i>p</i> = 0.14). Hospital stay was shorter in RSSH (3.5 days in RSPH and 3 days in RSSH, <i>p</i> = 0.001).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Our study confirms the safety and feasibility of RSPH for endometrial cancer without major differences from the RSSH in terms of surgical 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":"2025-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70107","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145058006","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}
The limited workspace and strong magnetic field inside MRI challenge the design of the prostate puncture robot. Simplifying the robot's structure is crucial.
Methods
This paper proposes a parallel cable-driven (PCD) prostate puncture robot, and conducts a preliminary material design. The kinematics, statics and stiffness models of the robot are established. The wrench-feasible workspace is also verified. Multibody simulation is used to analyse the robot's performance.
Results
Motion accuracy experiments were conducted in both planar and spatial configurations, followed by stiffness performance evaluation. During the phantom puncture experiment, the insertion point exhibited horizontal position errors of 0.35 mm and 0.4 mm.
Conclusion
The non-parallel cable-driven design not only simplifies the robotic structure for prostate puncture surgery but also ensures compatibility with strong magnetic fields. Furthermore, the robot exhibits high motion accuracy and superior stiffness performance.
{"title":"Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation","authors":"Yupeng Zou, Tianyu Lan, Yanxing Zhang, Xiaojing Lai, Zhishen Zhou, Changsheng Li","doi":"10.1002/rcs.70102","DOIUrl":"https://doi.org/10.1002/rcs.70102","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The limited workspace and strong magnetic field inside MRI challenge the design of the prostate puncture robot. Simplifying the robot's structure is crucial.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper proposes a parallel cable-driven (PCD) prostate puncture robot, and conducts a preliminary material design. The kinematics, statics and stiffness models of the robot are established. The wrench-feasible workspace is also verified. Multibody simulation is used to analyse the robot's performance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Motion accuracy experiments were conducted in both planar and spatial configurations, followed by stiffness performance evaluation. During the phantom puncture experiment, the insertion point exhibited horizontal position errors of 0.35 mm and 0.4 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The non-parallel cable-driven design not only simplifies the robotic structure for prostate puncture surgery but also ensures compatibility with strong magnetic fields. Furthermore, the robot exhibits high motion accuracy and superior stiffness performance.</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":"2025-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145012289","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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