International Journal of Medical Robotics and Computer Assisted Surgery最新文献

{"title":"Short-Term Surgical Outcomes After Robotic Liver Surgery: A Propensity-Score Matched Analysis With Conventional Open Liver Surgery at a High-Volume Centre in Denmark","authors":"Daisuke Fukumori,&nbsp;Christoph Tschuor,&nbsp;Takashi Hamada,&nbsp;Nicolai Aagaard Schultz,&nbsp;Paul Suno Krohn,&nbsp;Stefan Burgdorf,&nbsp;Luit Penninga,&nbsp;Jan Henrik Storkholm,&nbsp;Christian Ross Pedersen,&nbsp;Jens Hillingsø,&nbsp;Lars Bo Svendsen,&nbsp;Peter Nørgaard Larsen","doi":"10.1002/rcs.70003","DOIUrl":"https://doi.org/10.1002/rcs.70003","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The aim of this study was to investigate the perioperative outcomes of robotic liver surgery (RLS) and Open liver surgery (OLS) in a centre with a high number of operations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A 1:1 propensity score matched (PSM) analysis of a retrospective database of RLS and OLS was performed. Cumulative sum (CUSUM) analysis was performed to identify learning curves.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Result</h3>\u0000 \u0000 <p>After PSM analysis, operative time was significantly longer in the RLS group (<i>p</i> &lt; 0.001). Estimated blood loss was significantly lower in the RLS group (<i>p</i> &lt; 0.001). Transfusion rates were significantly lower in the RLS group. The length of hospital stay was shorter in the RLS group (3.5vs6.3 days, <i>p</i> &lt; 0.001). Readmission rates were significantly lower in the RLS group (<i>p</i> &lt; 0.049). CUSUM analysis showed a learning curve for at least 8 low—intermediate RLS procedures and 27 advanced—Expert RLS procedures.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>RLS has many advantages, including being safe to perform, less blood loss and faster postoperative recovery compared with OLS.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70003","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451745","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}

{"title":"Subxiphoid Uniportal Robotic Assisted Right Upper Lobectomy in Swine: A Novel Technology","authors":"Lei Lin,&nbsp;Zhao An,&nbsp;Xiaodong Yang,&nbsp;Yuming Zhu,&nbsp;Xiao Zhou","doi":"10.1002/rcs.70000","DOIUrl":"https://doi.org/10.1002/rcs.70000","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Uniportal video assisted thoracoscopic surgery has become widely accepted with increasing subxiphoid approach for major pulmonary resections. The purpose of this study was to verify the safety and feasibility of a SHURUI single port (SP) Robotic Surgical System in subxiphoid right upper lobectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Five swine models were used to perform subxiphoid right upper lobectomy with SHURUI SP Robotic Surgical System. Operation details were recorded to assess the safety and feasibility of the SHURUI system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Results showed that the operation success was 100%. The time from anaesthesia to complete docking of the robotic system was 30.0 (20.0, 36.0) minutes and the total operation time was 125.0 (62.0, 142.5) minutes. Blood loss during operation was 30.0 (25.0, 125.0) mL. No death or complications occurred during the operation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Uniportal robotics assisted right upper lobectomy via subxiphoid approach with SHURUI system performed in this study preliminary showed its safety and feasibility.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451742","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}

{"title":"Minimally Invasive Pelvic and Acetabular Surgery: Case Report of a Robot-Assisted Osteosynthesis of an Open-Book Injury of the Pelvic Ring","authors":"Markus A. Küper,&nbsp;Jonas Johannink,&nbsp;Bastian Amend,&nbsp;Tina Histing,&nbsp;Steven C. Herath","doi":"10.1002/rcs.70002","DOIUrl":"https://doi.org/10.1002/rcs.70002","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In recent years, endoscopic treatment of pelvic ring injuries has emerged. In addition to the complex 3D anatomy of the bony pelvis, a particular challenge is its embedding in the surrounding soft tissue structures. It is known from other surgical specialties that the preparation can be facilitated by using surgical robot systems.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>In a patient with an open-book injury of the pelvic ring, a symphysis plate was performed using the DaVinci system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>We describe the robotic-assisted osteosynthesis on the anterior pelvic ring with available instruments.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The further development of minimally invasive surgical techniques is always linked to the development of new instruments. For trauma surgery, this means in particular the reduction of dislocated fractures. If appropriate techniques and instruments are developed here, minimally invasive treatment of injuries to the pelvic ring or acetabulum may represent an alternative to open procedures in the future.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Contemporary Applications and Future Perspectives of Robots in Endodontics: A Scoping Review","authors":"Ahmed Yaseen Alqutaibi,&nbsp;Hatem Hazzaa Hamadallah,&nbsp;Aseel Mohammed Aloufi,&nbsp;Hatim A. Qurban,&nbsp;Muhannad M. Hakeem,&nbsp;Mohammed Ahmed Alghauli","doi":"10.1002/rcs.70001","DOIUrl":"https://doi.org/10.1002/rcs.70001","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In the era of modern advanced endodontics, the reduction of reliance on human hands and shifting towards robotics could benefit the precision and accuracy of endodontic treatment. This scoping review aims to describe current and emerging trends in the applications of robots in endodontics and highlight their limitations and future perspectives.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This review followed the PRISMA Extension for Scoping Reviews (PRISMA-ScR) standards. A comprehensive search of internet databases was conducted until February 2024. Studies that specifically examined robots in the field of endodontics were included.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The studies focused on root canal cleaning, shaping, surgical procedures, and other applications. Robotic systems demonstrated improved accuracy, precision, reduced errors, and time savings compared with manual techniques.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Robotics in endodontics show promise, especially in surgical procedures, with AI integration enhancing accuracy and efficiency. Challenges such as cost, physical limitations, and absence of tactile feedback require further research and investment.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142451747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Surgical Strategies and Perioperative Outcomes of Robot-Assisted Vena Cava Reconstruction","authors":"Gong Cheng,&nbsp;Yifei Xing,&nbsp;Guosong Jiang,&nbsp;Huageng Liang,&nbsp;Zhaohui Chen,&nbsp;Xiaoping Zhang","doi":"10.1002/rcs.2671","DOIUrl":"10.1002/rcs.2671","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aimed to describe robot-assisted vena cava reconstruction by summarising surgical strategies and perioperative outcomes.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective review was performed on all robotic surgeries involving dissection and repair of the inferior vena cava (IVC) at our institution. Patient characteristics, operative reports, and follow-up visits were analysed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Thirty-nine patients underwent robot assisted surgery of the vena cava from 2016 to 2023. The median postoperative hospital stay of all patients was 7 days, and the median estimated blood loss (EBL) was 550 mL. The median IVC clamping time was 23 min, and IVC wall invasion was pathologically identified in five cases. No patients had liver or kidney dysfunction at the last follow-up.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our initial experiences demonstrate that it is safe and feasible for experienced surgeons to perform robot-assisted vena cava reconstruction in highly selected patients.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142395860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Classification of Shoulder Implant Manufacturer Using Pre-Trained DenseNet201 Combined With Capsule Network","authors":"Xianzhong Jian,&nbsp;Zhenling Zhou,&nbsp;Wuwen Zhang","doi":"10.1002/rcs.2672","DOIUrl":"10.1002/rcs.2672","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aims to accelerate revision surgery and treatment using X-ray imaging and deep learning to identify shoulder implant manufacturers in advance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A feature engineering approach based on principal component analysis and a k-means algorithm was used to cluster shoulder implant data. In addition, a pre-trained DenseNet201 combined with a capsule network (DenseNet201-Caps) shoulder implant classification model was proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>DenseNet201-Caps was the most effective classification model on the clustered dataset with an accuracy of 94.25% and an <i>F</i>1 score of 96.30%. Notably, clustering the dataset in advance improved the accuracy and the Caps implementations successfully enhanced the performance of all convolutional neural network models. The analysed results indicate that DenseNet201-Caps struggled to distinguish between the Cofield and Depuy manufacturers. Hence, a multistage classification approach was developed with an improved accuracy of 96.55% achieved.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The DenseNet201-Caps method enables the accurate identification of shoulder implant manufacturers.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142334065","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robotic Left Hepatectomy Using the Glissonean Approach and Saline-Linked Bipolar Clamp-Crush Technique","authors":"Masatoshi Kajiwara,&nbsp;Shigetoshi Naito,&nbsp;Takahide Sasaki,&nbsp;Ryo Nakashima,&nbsp;Suguru Hasegawa","doi":"10.1002/rcs.2674","DOIUrl":"10.1002/rcs.2674","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We have previously reported a saline-linked bipolar clamp-crush technique as a novel robotic liver resection method. Herein, we present the surgical techniques and outcomes of robotic left hepatectomy using the Glissonean approach and our liver transection technique.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The key procedures included the following: (1) encircling the left Glissonean pedicle using the Tip-Up fenestrated grasper, (2) dissecting the liver parenchyma using the saline-linked bipolar clamp-crush technique, (3) moving the endoscope one trocar to the right to facilitate visualisation of the liver transection plane, and (4) stapling the left pedicle and left hepatic vein. Seven robotic left hepatectomies were performed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The median operative time and estimated blood loss were 395 min and 50 mL, respectively. The median length of postoperative hospital stay was 9 days. Pneumothorax was the only severe postoperative complication.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Robotics left hepatectomy using the Glissonean approach and the saline-linked bipolar clamp-crush technique appears safe and feasible.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142309724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"This is the first in-human trial and prospective case series of a novel single-port robotic system for gynaecological surgery: An IDEAL stage 2a study","authors":"Xueli Hu,&nbsp;Mengjia Ruan,&nbsp;Luoyi Zhu,&nbsp;Menghan Huang,&nbsp;Lifang Qi,&nbsp;Min Huang,&nbsp;Shuangwei Zou,&nbsp;Lili Lin,&nbsp;Wenwen Zheng,&nbsp;Lizhi Wang,&nbsp;Ping Duan","doi":"10.1002/rcs.2657","DOIUrl":"https://doi.org/10.1002/rcs.2657","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The Shurui® system (SR-ENS-600) is a novel fully integrated single-port robotic system with bioinspired serpentine surgical manipulators and a camera.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This was a single-centre prospective case-series study according to the IDEAL stage 2a guidelines to evaluate the feasibility, safety and potential efficacy of the Shurui® system for gynaecological surgeries and to improve the operating process.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Ten patients with a gradient of surgical difficulty who had indications for laparoscopic surgery and who volunteered to participate in a clinical trial were enrolled in the study. All 10 subjects successfully completed the procedure without converting to other procedures. No serious complications were reported at the 3-month follow-up. Subjects recover faster after surgery and are highly satisfied with the incision.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Gynaecological single-site laparoscopic surgery with the Shurui® system was technically feasible for well-selected patients with minimal alterations in technique. Further prospective multicenter large-sample studies are necessary.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Registration number</h3>\u0000 \u0000 <p>ChiCTR2300075431. URL: https://www.chictr.org.cn/showproj.html?proj=189995.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142275034","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Initial Experience of Robot Assisted Laparoscopic Pyeloplasty for Ureteropelvic Junction Obstruction Using the Hinotori Surgical Robot System","authors":"Taisuke Tobe,&nbsp;Tomoaki Terakawa,&nbsp;Hideto Ueki,&nbsp;Takuto Hara,&nbsp;Yusuke Shiraishi,&nbsp;Naoto Wakita,&nbsp;Yasuyoshi Okamura,&nbsp;Kotaro Suzuki,&nbsp;Yukari Bando,&nbsp;Koji Chiba,&nbsp;Jun Teishima,&nbsp;Yuzo Nakano,&nbsp;Hideaki Miyake","doi":"10.1002/rcs.2673","DOIUrl":"https://doi.org/10.1002/rcs.2673","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aimed to investigate the perioperative outcomes of robot-assisted laparoscopic pyeloplasty (RLP) using the recently launched hinotori surgical robot system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This retrospective study compared the perioperative outcomes of 11 consecutive patients who underwent RLP with the hinotori surgical robot system from October 2022 to March 2024 (hinotori group) and 30 consecutive patients who underwent RLP with the da Vinci system from March 2019 to September 2022 (da Vinci group).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The patient characteristics of the groups were similar. The median operative times in the hinotori and da Vinci groups were 236.0 and 231.5 min, respectively (<i>p</i> = 0.480). The success rates were 100.0% and 96.7%, respectively (<i>p</i> = 1.000). Clavien-Dindo grade ≥ 3 complications occurred in one patient (9.1%) in the hinotori group and one patient (3.3%) in the da Vinci group (<i>p</i> = 0.470).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The perioperative outcomes in the hinotori group were not inferior to those in the da Vinci group.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142244881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and Modelling of Continuum Robot for Endoscopic Submucosal Dissection Surgery With Lifting Force Estimation","authors":"Xingyao Zhang,&nbsp;Fuxin Du,&nbsp;Gang Zhang,&nbsp;Ke Wu,&nbsp;Gang Zheng,&nbsp;Yibin Li,&nbsp;Rui Song","doi":"10.1002/rcs.2670","DOIUrl":"https://doi.org/10.1002/rcs.2670","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Endoscopic submucosal dissection (ESD) is an effective treatment for early-stage gastrointestinal cancers. However, traditional surgical instruments lack accuracy and force-sensing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A new type of continuum robot for ESD is designed. An accurate static model of the proposed continuum robot is established, considering cases where the robot bends into C-shapes and S-shapes. A force estimation method based on an accurate static model is proposed. Then, the accuracy of the static model and force estimation is verified through experiments. Finally, an ex-organ experiment is carried out.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average position error of the proposed static model is 0.72 mm, accounting for 2.57% of the total robot length. The average error of force estimation is 19.53 mN. By gripping and cutting ex-porcine gastric mucosa, the robot's functionality is validated.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This paper contributes to precise control and safe interaction of continuum robots.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142170253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}