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}
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}
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