Chongan Zhang, Xiaoyue Liu, Zuoming Fu, Guoqing Ding, Liping Qin, Peng Wang, Hong Zhang, Xuesong Ye
Background
Robot and navigation systems can relieve surgeon's difficulties in delicate and safe operation in tortuous lumens in traditional intraluminal procedures (IP). This paper aims to review the three key components of these systems: registration, path planning and shape reconstruction and highlight their limitations and future perspectives.
Methods
An electronic search for relevant studies was performed in Web of Science and Google scholar databases until 2024.
Results
As for 2D–3D registration in IP, we focused on analysing feature extraction. For path planning, this paper proposed a new classification method and focused on selection of planning space and the establishment of path cost. Regarding shape reconstruction, the pros and cons of existing methods are analysed and methods based on fibre optic sensors and electromagnetic (EM) tracking are focused on.
Conclusion
These three technologies in IP have made great progress, but there are still challenges that require further research.
机器人和导航系统可以减轻传统腔内手术中外科医生在弯曲腔内进行精细和安全操作的困难。本文旨在回顾这些系统的三个关键组成部分：配准、路径规划和形状重建，并强调它们的局限性和未来的展望。方法电子检索Web of Science和谷歌学者数据库至2024年的相关研究。结果对于IP的2D-3D配准，我们重点分析了特征提取。对于路径规划，本文提出了一种新的分类方法，重点关注规划空间的选择和路径成本的建立。在形状重建方面，分析了现有方法的优缺点，重点介绍了基于光纤传感器和电磁跟踪的形状重建方法。这三种技术在IP领域取得了很大的进步，但仍存在需要进一步研究的挑战。
{"title":"Registration, Path Planning and Shape Reconstruction for Soft Tools in Robot-Assisted Intraluminal Procedures: A Review","authors":"Chongan Zhang, Xiaoyue Liu, Zuoming Fu, Guoqing Ding, Liping Qin, Peng Wang, Hong Zhang, Xuesong Ye","doi":"10.1002/rcs.70066","DOIUrl":"https://doi.org/10.1002/rcs.70066","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robot and navigation systems can relieve surgeon's difficulties in delicate and safe operation in tortuous lumens in traditional intraluminal procedures (IP). This paper aims to review the three key components of these systems: registration, path planning and shape reconstruction and highlight their limitations and future perspectives.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>An electronic search for relevant studies was performed in Web of Science and Google scholar databases until 2024.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>As for 2D–3D registration in IP, we focused on analysing feature extraction. For path planning, this paper proposed a new classification method and focused on selection of planning space and the establishment of path cost. Regarding shape reconstruction, the pros and cons of existing methods are analysed and methods based on fibre optic sensors and electromagnetic (EM) tracking are focused on.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>These three technologies in IP have made great progress, but there are still challenges that require further research.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143836398","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}
Due to the joint characteristics and friction, continuum surgical instruments based on hinge joints suffer from issues such as slack and hysteresis, which affect the control precision.
Methods
This study introduces cam-based surgical instruments. The variation in cable length during hinge joint rotation was analysed, prompting a redesign of the cam's outer contour. An experimental platform was built to compare the precision of the traditional circular wheel and the cam mechanism. A prototype of surgical instrument with the proposed design was constructed, which was also put into precision testing.
Results
According to the experimental results, the backlash of the cam mechanism was 82% lower than that of the circular wheel. The backlash of our surgical instrument was reduced by 60% at a 20-degree rotation.
Conclusions
This study shows great potential for improving the control precision of continuum surgical instruments with multiple pairs of hinge joints.
{"title":"Development of a Cam-Based Minimally Invasive Surgical Instrument With Reduced Backlash","authors":"Jinhua Li, Yue Yu, Yuteng Bai, Chengcheng Cai, Xinquan Hao, Jianchang Zhao","doi":"10.1002/rcs.70063","DOIUrl":"https://doi.org/10.1002/rcs.70063","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Due to the joint characteristics and friction, continuum surgical instruments based on hinge joints suffer from issues such as slack and hysteresis, which affect the control precision.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study introduces cam-based surgical instruments. The variation in cable length during hinge joint rotation was analysed, prompting a redesign of the cam's outer contour. An experimental platform was built to compare the precision of the traditional circular wheel and the cam mechanism. A prototype of surgical instrument with the proposed design was constructed, which was also put into precision testing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>According to the experimental results, the backlash of the cam mechanism was 82% lower than that of the circular wheel. The backlash of our surgical instrument was reduced by 60% at a 20-degree rotation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This study shows great potential for improving the control precision of continuum surgical instruments with multiple pairs of hinge joints.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143824728","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}
Yulan Wang, Weimin Liu, Peng Yu, Xin Huang, Junjun Pan
Background
Pancreatic diseases such as cancer and pancreatitis pose significant health risks. Early detection requires precise segmentation results. Fully automatic segmentation algorithms cannot integrate clinical expertise and correct output errors, while interactive methods can offer a better chance for higher accuracy and reliability.
Methods
We proposed a new network—RRM-TransUNet for the interactive pancreas segmentation task in CT images aiming to provide more reliable and precise results. The network incorporates Rotary Position Embedding, Root Mean Square Normalisation, and a Mixture of Experts mechanism. An intuitive interface is constructed for user-aided pancreas segmentation.
Results
RRM-TransUNet achieves outstanding performance on multiple datasets, with a Dice Similarity Coefficient (DSC) of 93.82% and an Average Symmetric Surface Distance error (ASSD) of 1.12 mm on MSD, 93.79%/1.15 mm on AMOS, and 93.68%/1.18 mm on AbdomenCT-1K.
Conclusion
Our method outperforms previous methods and provides doctors with an efficient and user-friendly interactive pancreas segmentation experience through the intuitive interface.
{"title":"RRM-TransUNet: Deep-Learning Driven Interactive Model for Precise Pancreas Segmentation in CT Images","authors":"Yulan Wang, Weimin Liu, Peng Yu, Xin Huang, Junjun Pan","doi":"10.1002/rcs.70065","DOIUrl":"https://doi.org/10.1002/rcs.70065","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Pancreatic diseases such as cancer and pancreatitis pose significant health risks. Early detection requires precise segmentation results. Fully automatic segmentation algorithms cannot integrate clinical expertise and correct output errors, while interactive methods can offer a better chance for higher accuracy and reliability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We proposed a new network—RRM-TransUNet for the interactive pancreas segmentation task in CT images aiming to provide more reliable and precise results. The network incorporates Rotary Position Embedding, Root Mean Square Normalisation, and a Mixture of Experts mechanism. An intuitive interface is constructed for user-aided pancreas segmentation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>RRM-TransUNet achieves outstanding performance on multiple datasets, with a Dice Similarity Coefficient (DSC) of 93.82% and an Average Symmetric Surface Distance error (ASSD) of 1.12 mm on MSD, 93.79%/1.15 mm on AMOS, and 93.68%/1.18 mm on AbdomenCT-1K.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our method outperforms previous methods and provides doctors with an efficient and user-friendly interactive pancreas segmentation experience through the intuitive interface.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143818363","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}
In prostate brachytherapy, oblique-tip needles are frequently used to deliver radioactive seeds to the target area. These needles often experience deflection during insertion, leading to deviations from the planned trajectory and compromising treatment accuracy.
Method
This study did not involve human participants or animals, and therefore, ethics review and approval were not required. The proposed method combines preoperative needle trajectory planning with real-time intraoperative corrections, using an adaptive PID controller enhanced by reinforcement learning to adjust corrective forces during needle insertion.
Results
Experimental results demonstrated that the proposed method reduced the average seed implantation error to 1.92 mm, with a standard error of 0.56 mm. These findings indicate that the method minimises needle deflection and improves precision in seed implantation.
Conclusion
The proposed modular robotic system and puncture control method enhance the precision of seed implantation and show promise for improving treatment outcomes in prostate cancer therapy.
{"title":"Research on Prostate Brachytherapy Robot Design and Puncture Control Strategy","authors":"Xuesong Dai, Yongde Zhang, Yue Sun","doi":"10.1002/rcs.70059","DOIUrl":"https://doi.org/10.1002/rcs.70059","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In prostate brachytherapy, oblique-tip needles are frequently used to deliver radioactive seeds to the target area. These needles often experience deflection during insertion, leading to deviations from the planned trajectory and compromising treatment accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Method</h3>\u0000 \u0000 <p>This study did not involve human participants or animals, and therefore, ethics review and approval were not required. The proposed method combines preoperative needle trajectory planning with real-time intraoperative corrections, using an adaptive PID controller enhanced by reinforcement learning to adjust corrective forces during needle insertion.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimental results demonstrated that the proposed method reduced the average seed implantation error to 1.92 mm, with a standard error of 0.56 mm. These findings indicate that the method minimises needle deflection and improves precision in seed implantation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The proposed modular robotic system and puncture control method enhance the precision of seed implantation and show promise for improving treatment outcomes in prostate cancer therapy.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143690008","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}
Traditional robot-assisted hysterectomy port placement causes visible scarring. We developed a novel diamond-shaped lower abdominal port placement technique using the Hugo RAS System, designed to minimise scarring while maintaining surgical efficacy through the system's modular design.
Methods
We analysed records of 72 robot-assisted hysterectomies performed between November 2023 and August 2024, including six cases using diamond port placement. We evaluated demographics, operative metrics, complications, and pain scores.
Results
Median operative time was 70 min, with minimal blood loss and no complications. Postoperative pain scores at 24 h (median 2.5) were significantly lower than preoperative expectations (median 7.0, p = 0.00409).
Conclusions
The lower abdominal diamond port placement technique for Hugo RAS System hysterectomy appears safe and effective, potentially improving cosmetic outcomes while maintaining surgical efficiency.
{"title":"First Case Series of Robotic-Assisted Hysterectomy Below the Bikini Line: ‘Diamond’ Port Placement Using the Hugo RAS System","authors":"Ikuko Sakamoto, Yoshihiko Ito, Kosuke Matsuda, Takahiro Nozaki, Keiko Kagami","doi":"10.1002/rcs.70061","DOIUrl":"https://doi.org/10.1002/rcs.70061","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Traditional robot-assisted hysterectomy port placement causes visible scarring. We developed a novel diamond-shaped lower abdominal port placement technique using the Hugo RAS System, designed to minimise scarring while maintaining surgical efficacy through the system's modular design.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We analysed records of 72 robot-assisted hysterectomies performed between November 2023 and August 2024, including six cases using diamond port placement. We evaluated demographics, operative metrics, complications, and pain scores.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Median operative time was 70 min, with minimal blood loss and no complications. Postoperative pain scores at 24 h (median 2.5) were significantly lower than preoperative expectations (median 7.0, <i>p</i> = 0.00409).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The lower abdominal diamond port placement technique for Hugo RAS System hysterectomy appears safe and effective, potentially improving cosmetic outcomes while maintaining surgical efficiency.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143632990","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}
Compared with traditional open surgery, robotic-assisted minimally invasive surgery lacks force sensing ability.
Methods
A sensorless transparency optimised force safety mechanism is put forward to improve the external force safety of the surgical robot in this paper. An improved fixed-time indirect adaptive fuzzy controller is proposed to approximate the unknown uncertainties in the dynamics of the patient-side manipulator. An online force simulation controller is designed based on the hierarchical force.
Results
Simulations and experiments demonstrate that the designed fixed-time indirect adaptive fuzzy controller exhibits excellent performance in trajectory tracking, fixed-time convergence, fuzzy approximation, and smooth control input. In addition, the online force simulation controller effectively decreases the force in the potentially unsafe area, thereby inhibiting the unsafe force.
Conclusions
This mechanism offers potential applications to improve the safety of external forces for the sensorless surgical robots.
{"title":"Sensorless Transparency Optimised Force Safety Guarantee Mechanism for Robot-Assisted Minimally Invasive Surgery","authors":"Fang Huang, Hongqiang Sang, Fen Liu, Rui Han","doi":"10.1002/rcs.70060","DOIUrl":"https://doi.org/10.1002/rcs.70060","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Compared with traditional open surgery, robotic-assisted minimally invasive surgery lacks force sensing ability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A sensorless transparency optimised force safety mechanism is put forward to improve the external force safety of the surgical robot in this paper. An improved fixed-time indirect adaptive fuzzy controller is proposed to approximate the unknown uncertainties in the dynamics of the patient-side manipulator. An online force simulation controller is designed based on the hierarchical force.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Simulations and experiments demonstrate that the designed fixed-time indirect adaptive fuzzy controller exhibits excellent performance in trajectory tracking, fixed-time convergence, fuzzy approximation, and smooth control input. In addition, the online force simulation controller effectively decreases the force in the potentially unsafe area, thereby inhibiting the unsafe force.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This mechanism offers potential applications to improve the safety of external forces for the sensorless surgical robots.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143602474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Robotic systems are increasingly utilised to improve clinical outcomes in prostate interventions.
Methods
We enroled 20 patients to verify the clinical feasibility of transrectal ultrasound (TRUS)-guided robot-assisted prostate biopsy (PBx). For each patient, controlled trials of systematic 12-core PBx were initially conducted manually using a biopsy gun, followed by a 3-core cognitive fusion targeted biopsy performed by the hand-held robot.
Results
The targeting errors for robot-assisted biopsy and freehand biopsy were 3.71 ± 1.41 mm and 3.94 ± 1.49 mm, respectively. Their cancer core rates were 19.1% and 12.6%, and the average duration of each biopsy was 6.94 min and 1.62 min, respectively.
Conclusions
The robot's sampling success rate was lower than that of freehand with a biopsy gun in the clinical trial. However, robot-assisted PBx has shown improved cancer core rate, slightly enhanced surgical accuracy, and the capability to reach clinically significant tumours' 5 mm error range, all demonstrating its clinical value.
{"title":"Safety and Efficacy Clinical Trial of Robot-Assisted Prostate Biopsy Using a Hand-Held Robotic System","authors":"Wenhe Jiang, Yongzhuo Gao, Mingwei Wen, Qiangqiang Huang, Hui Dong, Huageng Liang, Dongmei Wu, Wei Dong","doi":"10.1002/rcs.70062","DOIUrl":"https://doi.org/10.1002/rcs.70062","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic systems are increasingly utilised to improve clinical outcomes in prostate interventions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We enroled 20 patients to verify the clinical feasibility of transrectal ultrasound (TRUS)-guided robot-assisted prostate biopsy (PBx). For each patient, controlled trials of systematic 12-core PBx were initially conducted manually using a biopsy gun, followed by a 3-core cognitive fusion targeted biopsy performed by the hand-held robot.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The targeting errors for robot-assisted biopsy and freehand biopsy were 3.71 ± 1.41 mm and 3.94 ± 1.49 mm, respectively. Their cancer core rates were 19.1% and 12.6%, and the average duration of each biopsy was 6.94 min and 1.62 min, respectively.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The robot's sampling success rate was lower than that of freehand with a biopsy gun in the clinical trial. However, robot-assisted PBx has shown improved cancer core rate, slightly enhanced surgical accuracy, and the capability to reach clinically significant tumours' 5 mm error range, all demonstrating its clinical value.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143581824","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}
Haiyan Du, Zhongwen Wang, Yongde Zhang, Xun Huang, Xilei Wang
Background
At present, breast cancer has become the cancer with the highest incidence rate in the world. Breast intervention robot is an important biopsy or targeted therapy method for breast diseases.
Method
According to the robot's work requirements, the structure, actuation method, auxiliary device, and puncture planning method for the breast intervention robot are summarised. Based on the research status of intervention breast robots, the limitations of current research are discussed and the future development trends are proposed.
Results
The structure, actuation method, auxiliary device, and puncture planning method of breast robots have been widely studied. They significantly impact robotic intervention accuracy, stability, efficiency, and patient satisfaction.
Conclusions
The development of breast intervention robots faces many challenges. With the continuous progress of science and technology, these challenges are expected to be addressed through multidisciplinary research. Breast intervention robots have adequate potential for treating and diagnosing breast diseases.
{"title":"System and Technology of Breast Intervention Robot: A Review","authors":"Haiyan Du, Zhongwen Wang, Yongde Zhang, Xun Huang, Xilei Wang","doi":"10.1002/rcs.70055","DOIUrl":"https://doi.org/10.1002/rcs.70055","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>At present, breast cancer has become the cancer with the highest incidence rate in the world. Breast intervention robot is an important biopsy or targeted therapy method for breast diseases.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Method</h3>\u0000 \u0000 <p>According to the robot's work requirements, the structure, actuation method, auxiliary device, and puncture planning method for the breast intervention robot are summarised. Based on the research status of intervention breast robots, the limitations of current research are discussed and the future development trends are proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The structure, actuation method, auxiliary device, and puncture planning method of breast robots have been widely studied. They significantly impact robotic intervention accuracy, stability, efficiency, and patient satisfaction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The development of breast intervention robots faces many challenges. With the continuous progress of science and technology, these challenges are expected to be addressed through multidisciplinary research. Breast intervention robots have adequate potential for treating and diagnosing breast diseases.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143571229","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 advantages of robotic-assisted pancreatoduodenectomy (RPD) in comparison with open pancreatoduodenectomy (OPD) have not been well-established. We aimed to compare their short-term outcomes by inverse probability of treatment weighting (IPTW) analysis.
Methods
Patients who underwent RPD/OPD at our hospital were recruited. Stabilised IPTW were performed to adjust observed covariates. Short-term outcomes were compared.
Results
After IPTW, the effective sample comprised 807 patients (199 RPD, 608 OPD) with balanced clinicopathological characteristics. RPD had a longer operation time, fewer intraoperative blood loss (IBL), and lower blood transfusion rate than OPD. RPD was associated with a lower incidence of clinically relevant postoperative pancreatic fistula and reoperation but did not reach statistical significance. In pancreatic adenocarcinoma, RPD had a significantly higher number of lymph nodes examined. There were no significant differences in postoperative morbidities and length-of-stay.
Conclusions
RPD was associated with fewer IBL and transfusion rates than OPD. RPD can be considered feasible and safe.
{"title":"Comparison of Short-Term Outcomes Between Robotic-Assisted and Open Pancreatoduodenectomy: A Retrospective Cohort Study With Inverse Probability of Treatment Weighting (IPTW) Analysis","authors":"Xi-Tai Huang, Jin-Zhao Xie, Jian-Peng Cai, Qiong-Cong Xu, Wei Chen, Chen-Song Huang, Bin Li, Jia-Ming Lai, Li-Jian Liang, Xiao-Yu Yin","doi":"10.1002/rcs.70057","DOIUrl":"https://doi.org/10.1002/rcs.70057","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The advantages of robotic-assisted pancreatoduodenectomy (RPD) in comparison with open pancreatoduodenectomy (OPD) have not been well-established. We aimed to compare their short-term outcomes by inverse probability of treatment weighting (IPTW) analysis.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Patients who underwent RPD/OPD at our hospital were recruited. Stabilised IPTW were performed to adjust observed covariates. Short-term outcomes were compared.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>After IPTW, the effective sample comprised 807 patients (199 RPD, 608 OPD) with balanced clinicopathological characteristics. RPD had a longer operation time, fewer intraoperative blood loss (IBL), and lower blood transfusion rate than OPD. RPD was associated with a lower incidence of clinically relevant postoperative pancreatic fistula and reoperation but did not reach statistical significance. In pancreatic adenocarcinoma, RPD had a significantly higher number of lymph nodes examined. There were no significant differences in postoperative morbidities and length-of-stay.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>RPD was associated with fewer IBL and transfusion rates than OPD. RPD can be considered feasible and safe.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143571228","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}
RuiXiao Li, JianXin Ni, Xuelian Li, Bin Wu, Bo Li, RuiPing Su, Song Xue, YongPan An, GuoJun Wu
Background
To explore the preliminary safety and efficacy of domestic single-port robot-assisted pyeloplasty in ureteropelvic junction obstruction.
Methods
Data from patients undergoing single-port robotic-assisted pyeloplasty (November 2023—May 2024) using the ‘SHURUI’ SP system through a single-site approach were reviewed. Details included patient demographics, intraoperative and postoperative data, and surgical outcomes.
Results
The study included 20 patients, ages 13–39, with a male-to-female ratio of 4:1. Clinical presentations:abdominal pain (7cases), infection (2cases), and asymptomatic (11cases). All surgeries were successful, with an average operation time of 147(IQR, 125–175) minutes, blood loss of 35(IQR, 30–60) mL, and a hospital stay of 5(IQR, 3–6)days. The ureteral stent was removed 6–8 weeks post-surgery, with a subsequent CT scan at 4 months showing 100% success based on pain and obstruction resolution.
Conclusion
The ‘SHURUI’ single-port robotic-assisted pyeloplasty is a safe and feasible treatment for UPJO in both adults and paediatric patients.
{"title":"Functional Outcomes After ‘SHURUI’ Single-Port Robot-Assisted Pyeloplasty for Uretero Pelvic Junction Obstruction: Single-Centre Experience","authors":"RuiXiao Li, JianXin Ni, Xuelian Li, Bin Wu, Bo Li, RuiPing Su, Song Xue, YongPan An, GuoJun Wu","doi":"10.1002/rcs.70056","DOIUrl":"https://doi.org/10.1002/rcs.70056","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>To explore the preliminary safety and efficacy of domestic single-port robot-assisted pyeloplasty in ureteropelvic junction obstruction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Data from patients undergoing single-port robotic-assisted pyeloplasty (November 2023—May 2024) using the ‘SHURUI’ SP system through a single-site approach were reviewed. Details included patient demographics, intraoperative and postoperative data, and surgical outcomes.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The study included 20 patients, ages 13–39, with a male-to-female ratio of 4:1. Clinical presentations:abdominal pain (7cases), infection (2cases), and asymptomatic (11cases). All surgeries were successful, with an average operation time of 147(IQR, 125–175) minutes, blood loss of 35(IQR, 30–60) mL, and a hospital stay of 5(IQR, 3–6)days. The ureteral stent was removed 6–8 weeks post-surgery, with a subsequent CT scan at 4 months showing 100% success based on pain and obstruction resolution.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The ‘SHURUI’ single-port robotic-assisted pyeloplasty is a safe and feasible treatment for UPJO in both adults and paediatric patients.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70056","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143554366","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}
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