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}
Ahmed Yaseen Alqutaibi, Hatem Hazzaa Hamadallah, Aseel Mohammed Aloufi, Hatim A. Qurban, Muhannad M. Hakeem, Mohammed Ahmed Alghauli
Background
In the era of modern advanced endodontics, the reduction of reliance on human hands and shifting towards robotics could benefit the precision and accuracy of endodontic treatment. This scoping review aims to describe current and emerging trends in the applications of robots in endodontics and highlight their limitations and future perspectives.
Methods
This review followed the PRISMA Extension for Scoping Reviews (PRISMA-ScR) standards. A comprehensive search of internet databases was conducted until February 2024. Studies that specifically examined robots in the field of endodontics were included.
Results
The studies focused on root canal cleaning, shaping, surgical procedures, and other applications. Robotic systems demonstrated improved accuracy, precision, reduced errors, and time savings compared with manual techniques.
Conclusion
Robotics in endodontics show promise, especially in surgical procedures, with AI integration enhancing accuracy and efficiency. Challenges such as cost, physical limitations, and absence of tactile feedback require further research and investment.
{"title":"Contemporary Applications and Future Perspectives of Robots in Endodontics: A Scoping Review","authors":"Ahmed Yaseen Alqutaibi, Hatem Hazzaa Hamadallah, Aseel Mohammed Aloufi, Hatim A. Qurban, Muhannad M. Hakeem, Mohammed Ahmed Alghauli","doi":"10.1002/rcs.70001","DOIUrl":"https://doi.org/10.1002/rcs.70001","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In the era of modern advanced endodontics, the reduction of reliance on human hands and shifting towards robotics could benefit the precision and accuracy of endodontic treatment. This scoping review aims to describe current and emerging trends in the applications of robots in endodontics and highlight their limitations and future perspectives.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This review followed the PRISMA Extension for Scoping Reviews (PRISMA-ScR) standards. A comprehensive search of internet databases was conducted until February 2024. Studies that specifically examined robots in the field of endodontics were included.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The studies focused on root canal cleaning, shaping, surgical procedures, and other applications. Robotic systems demonstrated improved accuracy, precision, reduced errors, and time savings compared with manual techniques.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Robotics in endodontics show promise, especially in surgical procedures, with AI integration enhancing accuracy and efficiency. Challenges such as cost, physical limitations, and absence of tactile feedback require further research and investment.</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":"142451747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This study aimed to describe robot-assisted vena cava reconstruction by summarising surgical strategies and perioperative outcomes.
Methods
A retrospective review was performed on all robotic surgeries involving dissection and repair of the inferior vena cava (IVC) at our institution. Patient characteristics, operative reports, and follow-up visits were analysed.
Results
Thirty-nine patients underwent robot assisted surgery of the vena cava from 2016 to 2023. The median postoperative hospital stay of all patients was 7 days, and the median estimated blood loss (EBL) was 550 mL. The median IVC clamping time was 23 min, and IVC wall invasion was pathologically identified in five cases. No patients had liver or kidney dysfunction at the last follow-up.
Conclusion
Our initial experiences demonstrate that it is safe and feasible for experienced surgeons to perform robot-assisted vena cava reconstruction in highly selected patients.
{"title":"Surgical Strategies and Perioperative Outcomes of Robot-Assisted Vena Cava Reconstruction","authors":"Gong Cheng, Yifei Xing, Guosong Jiang, Huageng Liang, Zhaohui Chen, Xiaoping Zhang","doi":"10.1002/rcs.2671","DOIUrl":"10.1002/rcs.2671","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aimed to describe robot-assisted vena cava reconstruction by summarising surgical strategies and perioperative outcomes.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective review was performed on all robotic surgeries involving dissection and repair of the inferior vena cava (IVC) at our institution. Patient characteristics, operative reports, and follow-up visits were analysed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Thirty-nine patients underwent robot assisted surgery of the vena cava from 2016 to 2023. The median postoperative hospital stay of all patients was 7 days, and the median estimated blood loss (EBL) was 550 mL. The median IVC clamping time was 23 min, and IVC wall invasion was pathologically identified in five cases. No patients had liver or kidney dysfunction at the last follow-up.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our initial experiences demonstrate that it is safe and feasible for experienced surgeons to perform robot-assisted vena cava reconstruction in highly selected patients.</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":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142395860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This study aims to accelerate revision surgery and treatment using X-ray imaging and deep learning to identify shoulder implant manufacturers in advance.
Methods
A feature engineering approach based on principal component analysis and a k-means algorithm was used to cluster shoulder implant data. In addition, a pre-trained DenseNet201 combined with a capsule network (DenseNet201-Caps) shoulder implant classification model was proposed.
Results
DenseNet201-Caps was the most effective classification model on the clustered dataset with an accuracy of 94.25% and an F1 score of 96.30%. Notably, clustering the dataset in advance improved the accuracy and the Caps implementations successfully enhanced the performance of all convolutional neural network models. The analysed results indicate that DenseNet201-Caps struggled to distinguish between the Cofield and Depuy manufacturers. Hence, a multistage classification approach was developed with an improved accuracy of 96.55% achieved.
Conclusions
The DenseNet201-Caps method enables the accurate identification of shoulder implant manufacturers.
{"title":"Classification of Shoulder Implant Manufacturer Using Pre-Trained DenseNet201 Combined With Capsule Network","authors":"Xianzhong Jian, Zhenling Zhou, Wuwen Zhang","doi":"10.1002/rcs.2672","DOIUrl":"10.1002/rcs.2672","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aims to accelerate revision surgery and treatment using X-ray imaging and deep learning to identify shoulder implant manufacturers in advance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A feature engineering approach based on principal component analysis and a k-means algorithm was used to cluster shoulder implant data. In addition, a pre-trained DenseNet201 combined with a capsule network (DenseNet201-Caps) shoulder implant classification model was proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>DenseNet201-Caps was the most effective classification model on the clustered dataset with an accuracy of 94.25% and an <i>F</i>1 score of 96.30%. Notably, clustering the dataset in advance improved the accuracy and the Caps implementations successfully enhanced the performance of all convolutional neural network models. The analysed results indicate that DenseNet201-Caps struggled to distinguish between the Cofield and Depuy manufacturers. Hence, a multistage classification approach was developed with an improved accuracy of 96.55% achieved.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The DenseNet201-Caps method enables the accurate identification of shoulder implant manufacturers.</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":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142334065","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 have previously reported a saline-linked bipolar clamp-crush technique as a novel robotic liver resection method. Herein, we present the surgical techniques and outcomes of robotic left hepatectomy using the Glissonean approach and our liver transection technique.
Methods
The key procedures included the following: (1) encircling the left Glissonean pedicle using the Tip-Up fenestrated grasper, (2) dissecting the liver parenchyma using the saline-linked bipolar clamp-crush technique, (3) moving the endoscope one trocar to the right to facilitate visualisation of the liver transection plane, and (4) stapling the left pedicle and left hepatic vein. Seven robotic left hepatectomies were performed.
Results
The median operative time and estimated blood loss were 395 min and 50 mL, respectively. The median length of postoperative hospital stay was 9 days. Pneumothorax was the only severe postoperative complication.
Conclusions
Robotics left hepatectomy using the Glissonean approach and the saline-linked bipolar clamp-crush technique appears safe and feasible.
{"title":"Robotic Left Hepatectomy Using the Glissonean Approach and Saline-Linked Bipolar Clamp-Crush Technique","authors":"Masatoshi Kajiwara, Shigetoshi Naito, Takahide Sasaki, Ryo Nakashima, Suguru Hasegawa","doi":"10.1002/rcs.2674","DOIUrl":"10.1002/rcs.2674","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We have previously reported a saline-linked bipolar clamp-crush technique as a novel robotic liver resection method. Herein, we present the surgical techniques and outcomes of robotic left hepatectomy using the Glissonean approach and our liver transection technique.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The key procedures included the following: (1) encircling the left Glissonean pedicle using the Tip-Up fenestrated grasper, (2) dissecting the liver parenchyma using the saline-linked bipolar clamp-crush technique, (3) moving the endoscope one trocar to the right to facilitate visualisation of the liver transection plane, and (4) stapling the left pedicle and left hepatic vein. Seven robotic left hepatectomies were performed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The median operative time and estimated blood loss were 395 min and 50 mL, respectively. The median length of postoperative hospital stay was 9 days. Pneumothorax was the only severe postoperative complication.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Robotics left hepatectomy using the Glissonean approach and the saline-linked bipolar clamp-crush technique appears safe and feasible.</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":"2024-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142309724","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}
The Shurui® system (SR-ENS-600) is a novel fully integrated single-port robotic system with bioinspired serpentine surgical manipulators and a camera.
Methods
This was a single-centre prospective case-series study according to the IDEAL stage 2a guidelines to evaluate the feasibility, safety and potential efficacy of the Shurui® system for gynaecological surgeries and to improve the operating process.
Results
Ten patients with a gradient of surgical difficulty who had indications for laparoscopic surgery and who volunteered to participate in a clinical trial were enrolled in the study. All 10 subjects successfully completed the procedure without converting to other procedures. No serious complications were reported at the 3-month follow-up. Subjects recover faster after surgery and are highly satisfied with the incision.
Conclusions
Gynaecological single-site laparoscopic surgery with the Shurui® system was technically feasible for well-selected patients with minimal alterations in technique. Further prospective multicenter large-sample studies are necessary.
{"title":"This is the first in-human trial and prospective case series of a novel single-port robotic system for gynaecological surgery: An IDEAL stage 2a study","authors":"Xueli Hu, Mengjia Ruan, Luoyi Zhu, Menghan Huang, Lifang Qi, Min Huang, Shuangwei Zou, Lili Lin, Wenwen Zheng, Lizhi Wang, Ping Duan","doi":"10.1002/rcs.2657","DOIUrl":"https://doi.org/10.1002/rcs.2657","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The Shurui® system (SR-ENS-600) is a novel fully integrated single-port robotic system with bioinspired serpentine surgical manipulators and a camera.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This was a single-centre prospective case-series study according to the IDEAL stage 2a guidelines to evaluate the feasibility, safety and potential efficacy of the Shurui® system for gynaecological surgeries and to improve the operating process.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Ten patients with a gradient of surgical difficulty who had indications for laparoscopic surgery and who volunteered to participate in a clinical trial were enrolled in the study. All 10 subjects successfully completed the procedure without converting to other procedures. No serious complications were reported at the 3-month follow-up. Subjects recover faster after surgery and are highly satisfied with the incision.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Gynaecological single-site laparoscopic surgery with the Shurui® system was technically feasible for well-selected patients with minimal alterations in technique. Further prospective multicenter large-sample studies are necessary.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Registration number</h3>\u0000 \u0000 <p>ChiCTR2300075431. URL: https://www.chictr.org.cn/showproj.html?proj=189995.</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":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142275034","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This study aimed to investigate the perioperative outcomes of robot-assisted laparoscopic pyeloplasty (RLP) using the recently launched hinotori surgical robot system.
Methods
This retrospective study compared the perioperative outcomes of 11 consecutive patients who underwent RLP with the hinotori surgical robot system from October 2022 to March 2024 (hinotori group) and 30 consecutive patients who underwent RLP with the da Vinci system from March 2019 to September 2022 (da Vinci group).
Results
The patient characteristics of the groups were similar. The median operative times in the hinotori and da Vinci groups were 236.0 and 231.5 min, respectively (p = 0.480). The success rates were 100.0% and 96.7%, respectively (p = 1.000). Clavien-Dindo grade ≥ 3 complications occurred in one patient (9.1%) in the hinotori group and one patient (3.3%) in the da Vinci group (p = 0.470).
Conclusions
The perioperative outcomes in the hinotori group were not inferior to those in the da Vinci group.
{"title":"Initial Experience of Robot Assisted Laparoscopic Pyeloplasty for Ureteropelvic Junction Obstruction Using the Hinotori Surgical Robot System","authors":"Taisuke Tobe, Tomoaki Terakawa, Hideto Ueki, Takuto Hara, Yusuke Shiraishi, Naoto Wakita, Yasuyoshi Okamura, Kotaro Suzuki, Yukari Bando, Koji Chiba, Jun Teishima, Yuzo Nakano, Hideaki Miyake","doi":"10.1002/rcs.2673","DOIUrl":"https://doi.org/10.1002/rcs.2673","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aimed to investigate the perioperative outcomes of robot-assisted laparoscopic pyeloplasty (RLP) using the recently launched hinotori surgical robot system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This retrospective study compared the perioperative outcomes of 11 consecutive patients who underwent RLP with the hinotori surgical robot system from October 2022 to March 2024 (hinotori group) and 30 consecutive patients who underwent RLP with the da Vinci system from March 2019 to September 2022 (da Vinci group).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The patient characteristics of the groups were similar. The median operative times in the hinotori and da Vinci groups were 236.0 and 231.5 min, respectively (<i>p</i> = 0.480). The success rates were 100.0% and 96.7%, respectively (<i>p</i> = 1.000). Clavien-Dindo grade ≥ 3 complications occurred in one patient (9.1%) in the hinotori group and one patient (3.3%) in the da Vinci group (<i>p</i> = 0.470).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The perioperative outcomes in the hinotori group were not inferior to those in the da Vinci group.</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":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142244881","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}
Xingyao Zhang, Fuxin Du, Gang Zhang, Ke Wu, Gang Zheng, Yibin Li, Rui Song
Background
Endoscopic submucosal dissection (ESD) is an effective treatment for early-stage gastrointestinal cancers. However, traditional surgical instruments lack accuracy and force-sensing.
Methods
A new type of continuum robot for ESD is designed. An accurate static model of the proposed continuum robot is established, considering cases where the robot bends into C-shapes and S-shapes. A force estimation method based on an accurate static model is proposed. Then, the accuracy of the static model and force estimation is verified through experiments. Finally, an ex-organ experiment is carried out.
Results
The average position error of the proposed static model is 0.72 mm, accounting for 2.57% of the total robot length. The average error of force estimation is 19.53 mN. By gripping and cutting ex-porcine gastric mucosa, the robot's functionality is validated.
Conclusion
This paper contributes to precise control and safe interaction of continuum robots.
背景内镜黏膜下剥离术（ESD）是治疗早期胃肠道癌症的有效方法。然而，传统手术器械缺乏精确性和力感应。 方法 设计了一种用于 ESD 的新型连续机器人。考虑到机器人弯曲成 C 形和 S 形的情况，建立了拟议连续机器人的精确静态模型。提出了一种基于精确静态模型的力估算方法。然后，通过实验验证了静态模型和力估算的准确性。最后，进行了外器官实验。 结果 所提出的静态模型的平均位置误差为 0.72 毫米，占机器人总长度的 2.57%。力估算的平均误差为 19.53 mN。通过抓取和切割猪胃粘膜，验证了机器人的功能。 结论 本文有助于连续机器人的精确控制和安全互动。
{"title":"Design and Modelling of Continuum Robot for Endoscopic Submucosal Dissection Surgery With Lifting Force Estimation","authors":"Xingyao Zhang, Fuxin Du, Gang Zhang, Ke Wu, Gang Zheng, Yibin Li, Rui Song","doi":"10.1002/rcs.2670","DOIUrl":"https://doi.org/10.1002/rcs.2670","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Endoscopic submucosal dissection (ESD) is an effective treatment for early-stage gastrointestinal cancers. However, traditional surgical instruments lack accuracy and force-sensing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A new type of continuum robot for ESD is designed. An accurate static model of the proposed continuum robot is established, considering cases where the robot bends into C-shapes and S-shapes. A force estimation method based on an accurate static model is proposed. Then, the accuracy of the static model and force estimation is verified through experiments. Finally, an ex-organ experiment is carried out.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average position error of the proposed static model is 0.72 mm, accounting for 2.57% of the total robot length. The average error of force estimation is 19.53 mN. By gripping and cutting ex-porcine gastric mucosa, the robot's functionality is validated.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This paper contributes to precise control and safe interaction of continuum robots.</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":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142170253","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}
Precise dose position distribution is crucial for ocular proton therapy.
Methods
A non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face.
Results
After all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01° (SD 0.02°). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability.
Conclusion
The system is expected to improve the safety and efficiency of ocular proton therapy.
{"title":"Robot-Assisted Ocular Tumour Radiotherapy Positioning and Tracking System","authors":"Xu Wang, Dequan Shi, Kundong Wang, Xue Ming, Xiangzi Shengyin, Shouqiang Jia","doi":"10.1002/rcs.2668","DOIUrl":"https://doi.org/10.1002/rcs.2668","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Precise dose position distribution is crucial for ocular proton therapy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>After all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01° (SD 0.02°). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The system is expected to improve the safety and efficiency of ocular proton therapy.</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":"2024-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142100039","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}
Qian Qi, Junqi Lv, Ke Sun, Yi Sun, Andong Jiang, Aihong Ji
Background
Master–slave remote control technology allows patients to be treated promptly during transport and also reduces the risk of contagious infections. Endotracheal intubation, guided by endoscopy and a master–slave system, enables doctors to perform the procedure efficiently and accurately.
Methods
In this paper, we present the development of a master–slave controlled endotracheal intubation robot (EIR). It is based on operation incremental mapping, a weighted recursive average filtering method to reduce vibration, and a virtual fixture designed to reduce mishandling in minimally invasive surgery.
Results
Simulation analysis of the master–slave control demonstrates that the weighted recursive average filtering method effectively reduces vibration, while the virtual fixture assists in confining the operator's movement within a delimited area. Experimental validation confirms the validity of the robot's structural design and control method.
Conclusions
The developed robot successfully achieves the necessary motion for endotracheal intubation surgery through master–slave control.
{"title":"Design and Motion Control of Master–Slave Control Endotracheal Intubation Robot","authors":"Qian Qi, Junqi Lv, Ke Sun, Yi Sun, Andong Jiang, Aihong Ji","doi":"10.1002/rcs.2669","DOIUrl":"10.1002/rcs.2669","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Master–slave remote control technology allows patients to be treated promptly during transport and also reduces the risk of contagious infections. Endotracheal intubation, guided by endoscopy and a master–slave system, enables doctors to perform the procedure efficiently and accurately.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this paper, we present the development of a master–slave controlled endotracheal intubation robot (EIR). It is based on operation incremental mapping, a weighted recursive average filtering method to reduce vibration, and a virtual fixture designed to reduce mishandling in minimally invasive surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Simulation analysis of the master–slave control demonstrates that the weighted recursive average filtering method effectively reduces vibration, while the virtual fixture assists in confining the operator's movement within a delimited area. Experimental validation confirms the validity of the robot's structural design and control method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The developed robot successfully achieves the necessary motion for endotracheal intubation surgery through master–slave control.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 4","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142057457","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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