Daehwan Ko, Yeonkyoung Kim, Hongseok Lim, Sungmin Kim
Background
Laparoscopic robotic surgery requires intraoperative tool replacement owing to the limited number of surgical tools that can be used simultaneously. Currently, this process is performed by a surgical assistant. However, automatic tool replacement is essential for surgeons when operating alone.
Methods
An initial design was constructed by analysing the FAST diagram of the surgical tool replacement process. It was then modified to arrive at the final design by considering the driving range of the robot arm.
Results
Based on the final design, both simulation and robot arm manufacturing were performed and validated. The results showed that the posture could be maintained during tool replacement, and the entire tool replacement process could be performed in 15 s.
Conclusions
The mechanism developed for the automatic replacement of surgical tools is expected to address the shortage of surgical staff and skill level of surgical assistants.
{"title":"Design of Automatic Tool Replacement Mechanism for Laparoscopic Surgical Robot Arm for Solo Surgery","authors":"Daehwan Ko, Yeonkyoung Kim, Hongseok Lim, Sungmin Kim","doi":"10.1002/rcs.70106","DOIUrl":"https://doi.org/10.1002/rcs.70106","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Laparoscopic robotic surgery requires intraoperative tool replacement owing to the limited number of surgical tools that can be used simultaneously. Currently, this process is performed by a surgical assistant. However, automatic tool replacement is essential for surgeons when operating alone.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>An initial design was constructed by analysing the FAST diagram of the surgical tool replacement process. It was then modified to arrive at the final design by considering the driving range of the robot arm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Based on the final design, both simulation and robot arm manufacturing were performed and validated. The results showed that the posture could be maintained during tool replacement, and the entire tool replacement process could be performed in 15 s.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The mechanism developed for the automatic replacement of surgical tools is expected to address the shortage of surgical staff and skill level of surgical assistants.</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":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70106","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144935270","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}
Robotic camera holders in laparoscopic surgery improve surgical efficiency and reduce the burden on medical specialists.
Methods
We propose a multi-task compliant control framework that integrates deep learning methods with robot kinematics. This framework addresses key challenges in surgical procedures, such as maintaining the remote center of motion (RCM) constraint and achieving autonomous field of view (FOV) adjustment.
Results
Experimental results demonstrate that our framework follows various trajectories with mean response time of less than 2 s, maximum RCM constraint error of less than 5 mm, mean tracking error of less than 20 pixels, and mean depth error of less than 2.5 mm. Additionally, its scalability enabled successful integration of a virtual fixture to prevent tissue collisions.
Conclusion
Our framework enables autonomous, rapid, and safe laparoscope manipulation, enhancing the continuity and efficiency of surgical procedures while conserving specialist healthcare resources.
{"title":"Hands-Free Camera Assistant: Autonomous Laparoscope Manipulation in Robot-Assisted Surgery","authors":"Jinze Shi, Chunlin Zhou, Luming Wang, Wenhan Lin, Song Zhou, Zhehao He, Honghai Ma, Jian Hu, Dongqin Feng","doi":"10.1002/rcs.70103","DOIUrl":"https://doi.org/10.1002/rcs.70103","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic camera holders in laparoscopic surgery improve surgical efficiency and reduce the burden on medical specialists.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose a multi-task compliant control framework that integrates deep learning methods with robot kinematics. This framework addresses key challenges in surgical procedures, such as maintaining the remote center of motion (RCM) constraint and achieving autonomous field of view (FOV) adjustment.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimental results demonstrate that our framework follows various trajectories with mean response time of less than 2 s, maximum RCM constraint error of less than 5 mm, mean tracking error of less than 20 pixels, and mean depth error of less than 2.5 mm. Additionally, its scalability enabled successful integration of a virtual fixture to prevent tissue collisions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our framework enables autonomous, rapid, and safe laparoscope manipulation, enhancing the continuity and efficiency of surgical procedures while conserving specialist healthcare resources.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144894276","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}
Xuquan Ji, Yonghong Zhang, Yuanyuan Zhu, Biao Yang, Lei Hu, Yu Zhao, Wenyong Liu
Background
Robotic-assisted unilateral biportal endoscopic surgery (UBE) is a more accurate and safer technique than traditional open surgical operations. The penetration recognition of ultrasonic drilling remains one of the challenging techniques of robotic-assisted UBE surgery.
Methods
We propose a force and VAE-MLP-based method for real-time penetration recognition. During the ultrasonic drilling procedure, the force signals are collected and denoised via Kalman filtering first. The pre-processed data are then used to extract hidden features and perform classification by Variational Autoencoder (VAE) and Multilayer Perceptron (MLP), respectively, ultimately achieving real-time penetration recognition.
Results
Our method achieves superior accuracy (99.32% vs. 95.90%) and faster inference speed (17 vs. 33 ms) compared to the classic time-series classification algorithm. Robotic ex vivo bone experiments further validated its efficacy.
Conclusion
The force and VAE-MLP framework enables fast and accurate penetration detection, which offers a reliable and efficient solution for minimizing nerve damage in UBE surgery.
机器人辅助单侧双门静脉内窥镜手术（UBE）是一种比传统开放手术更准确、更安全的技术。超声钻孔的穿透识别仍然是机器人辅助UBE手术的挑战性技术之一。方法提出一种基于力和ae - mlp的实时穿透识别方法。在超声钻孔过程中，首先采集力信号并进行卡尔曼滤波去噪。然后利用预处理后的数据提取隐藏特征，分别通过变分自编码器（VAE）和多层感知器（MLP）进行分类，最终实现实时渗透识别。结果与经典时间序列分类算法相比，该方法的准确率（99.32% vs. 95.90%）更高，推理速度（17 ms vs. 33 ms）更快。机器人离体骨实验进一步验证了其有效性。结论力和VAE-MLP框架能够快速、准确地进行穿透检测，为减少UBE手术中神经损伤提供了可靠、高效的解决方案。
{"title":"Breakthrough Recognition in Robotic-Assisted UBE Surgery Based on Force Sensing and VAE-MLP","authors":"Xuquan Ji, Yonghong Zhang, Yuanyuan Zhu, Biao Yang, Lei Hu, Yu Zhao, Wenyong Liu","doi":"10.1002/rcs.70100","DOIUrl":"https://doi.org/10.1002/rcs.70100","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic-assisted unilateral biportal endoscopic surgery (UBE) is a more accurate and safer technique than traditional open surgical operations. The penetration recognition of ultrasonic drilling remains one of the challenging techniques of robotic-assisted UBE surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose a force and VAE-MLP-based method for real-time penetration recognition. During the ultrasonic drilling procedure, the force signals are collected and denoised via Kalman filtering first. The pre-processed data are then used to extract hidden features and perform classification by Variational Autoencoder (VAE) and Multilayer Perceptron (MLP), respectively, ultimately achieving real-time penetration recognition.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Our method achieves superior accuracy (99.32% vs. 95.90%) and faster inference speed (17 vs. 33 ms) compared to the classic time-series classification algorithm. Robotic ex vivo bone experiments further validated its efficacy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The force and VAE-MLP framework enables fast and accurate penetration detection, which offers a reliable and efficient solution for minimizing nerve damage in UBE surgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891726","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 preclinical study evaluated the safety and technical feasibility of robot-assisted partial gastrectomy (RPG) using the Carina Platform in a porcine model to accumulate evidence for clinical translation.
Methods
Six pigs underwent RPG (4 with Plan A, 2 with Plan B setups). The acute group (n = 3) were euthanised 1-h postoperation, while the chronic group (n = 3) survived 28 days for recovery assessment. Operative parameters (time, blood loss), complications, and ergonomics (NASA-TLX) were recorded. Necropsy evaluated surgical site healing.
Results
All procedures were successfully completed. Mean operative time was 109 ± 34 min. One intraoperative liver injury was controlled without complications. The chronic group showed no infections, with necropsy confirming recovery. Surgeons reported favourable ergonomic scores.
Conclusion
RPG using the Carina Platform is safe and technically feasible in porcine models, supporting future clinical trials.
{"title":"Feasibility of a Novel Robotic Surgical System for Partial Gastrectomy in a Porcine Model","authors":"Xiang Xia, Zihang Liu, Fengrong Yu, Jiayi Gu, Yeqian Zhang, Chunchao Zhu, Zheng Wang, Zizhen Zhang","doi":"10.1002/rcs.70097","DOIUrl":"https://doi.org/10.1002/rcs.70097","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This preclinical study evaluated the safety and technical feasibility of robot-assisted partial gastrectomy (RPG) using the Carina Platform in a porcine model to accumulate evidence for clinical translation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Six pigs underwent RPG (4 with Plan A, 2 with Plan B setups). The acute group (<i>n</i> = 3) were euthanised 1-h postoperation, while the chronic group (<i>n</i> = 3) survived 28 days for recovery assessment. Operative parameters (time, blood loss), complications, and ergonomics (NASA-TLX) were recorded. Necropsy evaluated surgical site healing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>All procedures were successfully completed. Mean operative time was 109 ± 34 min. One intraoperative liver injury was controlled without complications. The chronic group showed no infections, with necropsy confirming recovery. Surgeons reported favourable ergonomic scores.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>RPG using the Carina Platform is safe and technically feasible in porcine models, supporting future clinical trials.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891746","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}
Laparoscopic surgical instruments detection is necessary in computer-aided minimally invasive surgery. Most current methods suffer from unsatisfied performance and low detection speed.
Methods
In this paper, a framework called MCPD-YOLOv3 is proposed to balance the efficiency and effectiveness of laparoscopic surgical instruments detection. It effectively fuses feature maps using a parallel manner, and adopts various lightweight strategies to design a lightweight model. Besides, DIoU is employed to improve the recall performance.
Results
The proposed method achieved the mAP of 99.47% and 97.65% at 49.81 FPS for the ATLAS Dione and m2cai16-tool-locations datasets, respectively, with a compact model size of 12.4M and a low FLOPs count of 7.44G.
Conclusion
These results highlight that MCPD-YOLOv3 excels in high detection performance and rapid response. The model's efficiency in parameter size and FLOPs demonstrates its suitability for applications requiring rapid processing and precise detection, making it a valuable tool for real-time surgical instrument detection in challenging environments.
{"title":"MCPD-YOLOv3: A Novel Lightweight Detection Model for Surgical Instruments in Laparoscopic Images","authors":"Yuqin Li, Chuqi Li, Ke Zhang, Yu Miao, Weili Shi, Zhengang Jiang","doi":"10.1002/rcs.70104","DOIUrl":"https://doi.org/10.1002/rcs.70104","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Laparoscopic surgical instruments detection is necessary in computer-aided minimally invasive surgery. Most current methods suffer from unsatisfied performance and low detection speed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this paper, a framework called MCPD-YOLOv3 is proposed to balance the efficiency and effectiveness of laparoscopic surgical instruments detection. It effectively fuses feature maps using a parallel manner, and adopts various lightweight strategies to design a lightweight model. Besides, DIoU is employed to improve the recall performance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The proposed method achieved the mAP of 99.47% and 97.65% at 49.81 FPS for the ATLAS Dione and m2cai16-tool-locations datasets, respectively, with a compact model size of 12.4M and a low FLOPs count of 7.44G.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>These results highlight that MCPD-YOLOv3 excels in high detection performance and rapid response. The model's efficiency in parameter size and FLOPs demonstrates its suitability for applications requiring rapid processing and precise detection, making it a valuable tool for real-time surgical instrument detection in challenging environments.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891727","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}
Surgery in morbidly obese patients is technically challenging; however, this can be mitigated using robotic surgery. We present 13-years’ experience of robotic hysterectomy in patients with Class-III obesity (BMI≥ 40 kg/m) and endometrial cancer.
Materials and Methods
This retrospective cohort study included 236 women with Class-III obesity who underwent robotic hysterectomy for endometrial cancer between 2010 and 2023. Key outcomes include, completion rates and peri-operative events. Comparative analysis evaluated outcomes following technological upgrades, introduction of sentinel lymph-node assessment and surgeons' learning curve. Statistical analysis used Fisher's exact test and Chi-squared for categorical variables, and ANOVA and Kruskall-Wallis tests for continuous variables.
Results
Robotic hysterectomy was completed in 91.5% (216/236), with conversion to laparotomy in 2.5% (6/236). Median inpatient admission was 1 day. Infection occurred in 6.9% (15/216). A statistically significant decrease in laparotomies from 11% (9/236) (2010–2015) to 0% (2020–2023) (p = 0.004) was observed.
Conclusion
Robotic Hysterectomy can be safely completed in majority of morbidly obese patients with endometrial cancer with minimal perioperative complications.
{"title":"Robotic Hysterectomy for Endometrial Cancer in Class III Obesity: 13 Years of Experience From a UK Epicentre in Guildford","authors":"Konstantinos Palaiologos, Nana-Oye Bosompra, Alkim Arikan, Radwa Hablase, Anil Tailor, Hersha Patel, Patricia Ellis, Jayanta Chatterjee, Simon Butler-Manuel","doi":"10.1002/rcs.70101","DOIUrl":"https://doi.org/10.1002/rcs.70101","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Surgery in morbidly obese patients is technically challenging; however, this can be mitigated using robotic surgery. We present 13-years’ experience of robotic hysterectomy in patients with Class-III obesity (BMI≥ 40 kg/m) and endometrial cancer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>This retrospective cohort study included 236 women with Class-III obesity who underwent robotic hysterectomy for endometrial cancer between 2010 and 2023. Key outcomes include, completion rates and peri-operative events. Comparative analysis evaluated outcomes following technological upgrades, introduction of sentinel lymph-node assessment and surgeons' learning curve. Statistical analysis used Fisher's exact test and Chi-squared for categorical variables, and ANOVA and Kruskall-Wallis tests for continuous variables.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Robotic hysterectomy was completed in 91.5% (216/236), with conversion to laparotomy in 2.5% (6/236). Median inpatient admission was 1 day. Infection occurred in 6.9% (15/216). A statistically significant decrease in laparotomies from 11% (9/236) (2010–2015) to 0% (2020–2023) (<i>p</i> = 0.004) was observed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Robotic Hysterectomy can be safely completed in majority of morbidly obese patients with endometrial cancer with minimal perioperative complications.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144885048","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 assess the ability of a 5G-based telerobotic system to generate required images of diagnostic quality in multi-organ US examinations.
Materials and Methods
This prospective study involved participants in Shenzhen and Tibet, which are 106 and 4000 km, respectively, from the tele-radiologist's hospital. Participants underwent telerobotic US examinations from September 2020 to March 2021. A total of 127 participants were enrolled. The required image quality was evaluated by the required image adequacy, image quality, the observer reliability and the consistency of the conventional US. The safety assessments were assessed by complications and questionnaires.
Results
A total of 1790/2032 (88.1%) required images were considered adequate, and 167/2032 (8.2%) were considered adequate with some reservations. The mean image quality score was 2.83 ± 0.47 on a three-point Likert scale and did not differ between the districts or sexes. Telerobotic US detected 15 out of 18 abnormalities (83.3%) in 10 patients who underwent both telerobotic US and conventional US. There was good consistency between the two methods (k = 0.7–1.0). Furthermore, nearly 86.0% of patients accepted and would be willing to undergo another telerobotic US examination in the future. Teleradiologists accepted almost all US examinations as adequate for diagnosis and were satisfied with them.
Conclusions
The 5G-based telerobotic US(MGIUS-R3) can acquire required images with adequacy and quality in multiple organ examination procedures, with high safety and customer satisfaction in this limited group of patients. Further studies with larger samples and more centres are needed to validate this potential new technology.
{"title":"Quality and Safety Assessments of 5G-Powered Telerobotic Ultrasound System for Multi-Organ Screening: A Prospective Pilot Study","authors":"Xue Lu, Jia Liu, Jinxiu Ju, Weiran Long, Zeping Huang, Jie Ren","doi":"10.1002/rcs.70099","DOIUrl":"https://doi.org/10.1002/rcs.70099","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Purpose</h3>\u0000 \u0000 <p>This study aims to assess the ability of a 5G-based telerobotic system to generate required images of diagnostic quality in multi-organ US examinations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>This prospective study involved participants in Shenzhen and Tibet, which are 106 and 4000 km, respectively, from the tele-radiologist's hospital. Participants underwent telerobotic US examinations from September 2020 to March 2021. A total of 127 participants were enrolled. The required image quality was evaluated by the required image adequacy, image quality, the observer reliability and the consistency of the conventional US. The safety assessments were assessed by complications and questionnaires.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>A total of 1790/2032 (88.1%) required images were considered adequate, and 167/2032 (8.2%) were considered adequate with some reservations. The mean image quality score was 2.83 ± 0.47 on a three-point Likert scale and did not differ between the districts or sexes. Telerobotic US detected 15 out of 18 abnormalities (83.3%) in 10 patients who underwent both telerobotic US and conventional US. There was good consistency between the two methods (<i>k</i> = 0.7–1.0). Furthermore, nearly 86.0% of patients accepted and would be willing to undergo another telerobotic US examination in the future. Teleradiologists accepted almost all US examinations as adequate for diagnosis and were satisfied with them.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The 5G-based telerobotic US(MGIUS-R3) can acquire required images with adequacy and quality in multiple organ examination procedures, with high safety and customer satisfaction in this limited group of patients. Further studies with larger samples and more centres are needed to validate this potential new technology.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144885095","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}
Passive microrobots offer great potential for minimally invasive brain interventions due to their cable-free actuation and reduced tissue damage. However, existing magnetic navigation systems (MNSs) often suffer from low energy efficiency and limited adaptability.
Methods
We propose a macro–micro collaborative MNS combining macro-scale mechanical positioning with local magnetic field modulation via coil arrays. A numerical model was developed to compare square and circular coils under different spatial configurations.
Results
A novel MNS structure employing square coils was optimized using multi-objective algorithms and evaluated using newly defined performance metrics. The optimized system achieved over 60% reduction in thermal power and produced an average magnetic field of 148.60 mT, improving both energy efficiency and dynamic performance.
Conclusions
The proposed system significantly enhances magnetic control capabilities, offering a promising solution for practical, minimally invasive brain interventions.
{"title":"Modelling and Optimization of Magnetic Navigation Systems for Passive Robots in Minimally Invasive Brain Surgery","authors":"Xu Tang, Ye Xia, Xingyu Liu","doi":"10.1002/rcs.70096","DOIUrl":"https://doi.org/10.1002/rcs.70096","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Passive microrobots offer great potential for minimally invasive brain interventions due to their cable-free actuation and reduced tissue damage. However, existing magnetic navigation systems (MNSs) often suffer from low energy efficiency and limited adaptability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose a macro–micro collaborative MNS combining macro-scale mechanical positioning with local magnetic field modulation via coil arrays. A numerical model was developed to compare square and circular coils under different spatial configurations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>A novel MNS structure employing square coils was optimized using multi-objective algorithms and evaluated using newly defined performance metrics. The optimized system achieved over 60% reduction in thermal power and produced an average magnetic field of 148.60 mT, improving both energy efficiency and dynamic performance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed system significantly enhances magnetic control capabilities, offering a promising solution for practical, minimally invasive brain interventions.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144869872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Igor Monsellato, Teresa Gatto, Maria Antonietta Alagia, Federico Sangiuolo, Marco Palucci, Celeste del Basso, Martina Girardi, Irene Gandini, Gabriela Del Angel-Millan, Marco Lodin, Fabio Giannone, Gianluca Cassese, Fabrizio Panaro
Background
Robotic total colectomy is a valuable approach for managing complex colorectal diseases. Its role in high-risk patients, especially those with significant comorbidities or synchronous malignancy, remains underreported.
Methods
Two high-risk male patients with familial adenomatous polyposis (FAP), one with synchronous colon cancer, underwent fully robotic total colectomy with intracorporeal ileo-pouch-rectal anastomosis and loop ileostomy using the da Vinci Xi system in 2024. A focused review of the recent literature on robotic colectomy was also conducted.
Results
The mean age was 68 years, and mean BMI was 33.05 kg/m2. One patient had cirrhosis and obesity; the other had severe obesity and psychiatric comorbidity. Both procedures were completed without conversions or complications. Mean console time was 315 min, and mean hospital stay was 11 days.
Conclusions
Fully robotic total colectomy is feasible and safe in high-risk patients. These findings support its expanded role in minimally invasive colorectal surgery.
{"title":"Fully Robotic Total Colectomy in High-Risk Patients and Review of Literature","authors":"Igor Monsellato, Teresa Gatto, Maria Antonietta Alagia, Federico Sangiuolo, Marco Palucci, Celeste del Basso, Martina Girardi, Irene Gandini, Gabriela Del Angel-Millan, Marco Lodin, Fabio Giannone, Gianluca Cassese, Fabrizio Panaro","doi":"10.1002/rcs.70098","DOIUrl":"https://doi.org/10.1002/rcs.70098","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic total colectomy is a valuable approach for managing complex colorectal diseases. Its role in high-risk patients, especially those with significant comorbidities or synchronous malignancy, remains underreported.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Two high-risk male patients with familial adenomatous polyposis (FAP), one with synchronous colon cancer, underwent fully robotic total colectomy with intracorporeal ileo-pouch-rectal anastomosis and loop ileostomy using the da Vinci Xi system in 2024. A focused review of the recent literature on robotic colectomy was also conducted.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The mean age was 68 years, and mean BMI was 33.05 kg/m<sup>2</sup>. One patient had cirrhosis and obesity; the other had severe obesity and psychiatric comorbidity. Both procedures were completed without conversions or complications. Mean console time was 315 min, and mean hospital stay was 11 days.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Fully robotic total colectomy is feasible and safe in high-risk patients. These findings support its expanded role in minimally invasive colorectal surgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144869416","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}
Wireless Capsule Endoscopy (WCE) is one of the most advanced medical instruments, which can be used for non-invasive imaging detection of the digestive tract by patients taking microcapsules orally. This advanced technology enables medical professionals to evaluate the abnormal situations in the gastrointestinal tract efficiently, analyse the potential problems strictly, discuss the diagnosis and evaluation comprehensively, and make well-founded treatment decisions.
Methods
A scoping review was undertaken, gathering the most relevant sources, utilising a detailed literature search of medical and academic databases including EMBASE, PubMed, Cochrane, IEEE, Google Scholar, and the Google search engine.
Results
Of the 39 articles reviewed, 12 focused on the mechanical structure of WCE, 17 on intestinal lesion detection, and 10 on intestinal 3D reconstruction techniques. We conducted a thorough analysis of the active mechanical structures specifically designed to meet physiological demands and adapt to the dynamic gastrointestinal environment. Furthermore, we performed a comprehensive comparison and evaluation of various detection algorithms, discussing the characteristics of relevant datasets that significantly impact the diagnostic performance of WCE technologies. Lastly, we reviewed the current state and progress of 3D reconstruction techniques.
Conclusions
WCE can greatly improve the defects of current gastrointestinal examination technology, reduce patient pain, and enrich medical means. However, a large number of software and hardware problems need to be solved before being applied to clinical practice.
{"title":"A Review on the Current Research Status of Key Areas in Wireless Capsule Endoscopy","authors":"Guangyuan Wang, Na Liu, Huili Zhang, Rongmin Zhang, Xiaofei Sheng, Jinwei Qiao","doi":"10.1002/rcs.70094","DOIUrl":"https://doi.org/10.1002/rcs.70094","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Wireless Capsule Endoscopy (WCE) is one of the most advanced medical instruments, which can be used for non-invasive imaging detection of the digestive tract by patients taking microcapsules orally. This advanced technology enables medical professionals to evaluate the abnormal situations in the gastrointestinal tract efficiently, analyse the potential problems strictly, discuss the diagnosis and evaluation comprehensively, and make well-founded treatment decisions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A scoping review was undertaken, gathering the most relevant sources, utilising a detailed literature search of medical and academic databases including EMBASE, PubMed, Cochrane, IEEE, Google Scholar, and the Google search engine.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Of the 39 articles reviewed, 12 focused on the mechanical structure of WCE, 17 on intestinal lesion detection, and 10 on intestinal 3D reconstruction techniques. We conducted a thorough analysis of the active mechanical structures specifically designed to meet physiological demands and adapt to the dynamic gastrointestinal environment. Furthermore, we performed a comprehensive comparison and evaluation of various detection algorithms, discussing the characteristics of relevant datasets that significantly impact the diagnostic performance of WCE technologies. Lastly, we reviewed the current state and progress of 3D reconstruction techniques.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>WCE can greatly improve the defects of current gastrointestinal examination technology, reduce patient pain, and enrich medical means. However, a large number of software and hardware problems need to be solved before being applied to clinical practice.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144716935","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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