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

{"title":"Clinical and Economic Assessment of Robot-Assisted Radical Prostatectomy With the Hinotori Surgical System: Insights From a Japanese Single-Centre Study","authors":"Kotaro Obayashi,&nbsp;Jun Akatsuka,&nbsp;Takuya Nishino,&nbsp;Mami Takadate,&nbsp;Hiroya Hasegawa,&nbsp;Hikaru Mikami,&nbsp;Hayato Takeda,&nbsp;Yuki Endo,&nbsp;Yuka Toyama,&nbsp;Takeshi Yamada,&nbsp;Yoichiro Yamamoto,&nbsp;Go Kimura,&nbsp;Yukihiro Kondo","doi":"10.1002/rcs.70084","DOIUrl":"https://doi.org/10.1002/rcs.70084","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We investigated the clinical and economic outcomes of robot-assisted radical prostatectomy (RARP) using the hinotori surgical system (H-RARP).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The analysis was conducted on 76 and 68 patients who underwent RARP using the da Vinci surgical system (D-RARP) and H-RARP, respectively. Safety, oncological, and functional outcomes were compared between H-RARP and D-RARP. Risk factors influencing medical costs in RARP were identified via linear regression analysis.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Except for longer operative time in H-RARP, clinical outcomes were comparable. The median medical costs per case were $12,426.8 for D-RARP and $12,548.9 for H-RARP. Operative time (coefficient: 0.0002, <i>p</i> &lt; 0.001), pathological T stage (coefficient: 0.023, <i>p</i> = 0.030), and postoperative hospital stay (coefficient: 0.028, <i>p</i> &lt; 0.001) were significant factors affecting medical costs; in contrast, the type of robot-assisted surgical system was not a significant factor.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>H-RARP offers clinical outcomes comparable to those of D-RARP while maintaining equivalent medical costs.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70084","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144336066","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":"Paediatric Robotic Transperitoneal Heminephroureterectomy in Complete Duplicated Systems: Early and Long-Term Outcomes","authors":"Donatella Di Fabrizio,&nbsp;Thomas P. Cundy,&nbsp;Azad S. Najmaldin","doi":"10.1002/rcs.70082","DOIUrl":"https://doi.org/10.1002/rcs.70082","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We present outcomes for paediatric robotic heminephroureterectomy from a prospective single-surgeon series.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Children who underwent this operation between July 2007 and March 2017 were reviewed from a prospective database.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>There were 32 heminephroureterectomy (28 upper, 4 lower) for ureterocele (13), reflux (7), ectopic ureter (11), ureteric atresia (1). Co-morbidities (urological anomalies, recurrent infection, previous abdominal scarring) were common. Concomitant non-robotic procedures took place in 50%. Mean console time was 101 ± 30.2 min, hospital stay 29.5 ± 10.3 h. There were no conversions, intraoperative complications, and no remnant moiety function loss. Excision of diseased moiety calyces was complete in 30 (94%), incomplete in 2 (6%) who subsequently developed asymptomatic small marginal cysts. Eleven (34%) had total-ureterectomy, the remaining 21 (66%) were left with a ureteric stump. Postoperatively 3 (9%) females with residual stump (2 ureterocele, 1 bladder neck ectopia) and other urological anomalies underwent surgery (stump excision + reimplant refluxing remnant moiety ureter) for recurrent infection.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>In children, heminephroureterectomy is well suited to a robotic approach with favourable outcomes in our experience.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144323606","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 Submesocolic Left Adrenalectomy: The Evolution of Delbet Approach","authors":"Monica Ortenzi,&nbsp;Andrea Santini,&nbsp;Andrea Balla,&nbsp;Diletta Corallino,&nbsp;Giovanni Lezoche,&nbsp;Mario Guerrieri,&nbsp;Danila Azzolina","doi":"10.1002/rcs.70080","DOIUrl":"https://doi.org/10.1002/rcs.70080","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Introduction</h3>\u0000 \u0000 <p>The left adrenal gland is prone to being approached with several access points. This study presents a series of robotic submesocolic left adrenalectomies.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>Intraoperative and post-operative outcomes of robotic (RB) and laparoscopic (LP) submesocolic (SM) access to the adrenal gland were compared. Subsequently, these were compared to left adrenalectomy performed using the anterior approach (AT).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Operative time was statistically longer in the LP group (<i>p</i> &lt; 0.001). There was no statistical difference for postoperative complications. After the propensity matching, there was a correlation between the BMI and the onset of post-operative complications (OR = 1.01). The operative time was significantly longer in the AT group both overall (<i>p</i> = 0.023) and within the LP procedures (<i>p</i> &lt; 0.001), but not in the RB procedures (<i>p</i> = 0.386). Length of stay was shorter in the SM group (<i>p</i> = 0.024).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The RB SM approach to the left adrenal gland is a safe and feasible.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70080","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300256","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":"A Miniature Flexible Scanning Device for Gastrointestinal Endomicroscopy","authors":"Xingfeng Xu,&nbsp;Jianshuo Liu,&nbsp;Siyang Zuo","doi":"10.1002/rcs.70081","DOIUrl":"https://doi.org/10.1002/rcs.70081","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Probe-based confocal laser endomicroscopy (pCLE) offers real-time optical biopsy of the gastrointestinal mucosa, promising early detection of gastrointestinal cancer. However, its limited field-of-view necessitates a flexible device for expansive scanning and mosaicking of cancerous regions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This work presents a novel 4 degree-of-freedom flexible scanning device with a 3 mm outer diameter and a 2.2 mm working channel. The positioning accuracy of the scanning mechanism was recorded as 3.94° in yaw, 4.23° in pitch, 0.17 mm in linear, and 0.69 mm in rotational motions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Ex vivo tissue scanning achieved an area of 11.4 mm². In vivo animal experimental results revealed the device's capacity to scan and mosaic an area of 5.05 mm².</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This design is compatible with endomicroscopic probes and optimises the endoscope deployment. Comprehensive mechanical evaluations and scanning experiments demonstrated the device's clinical potential in gastrointestinal cancer diagnosis.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144281624","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":"Dimensional Synthesis of 6-DOF Parallel Robot for Intra-Operative Radiation Therapy","authors":"Baoying Peng,&nbsp;Yushuo Zhu,&nbsp;Chuanmeng Niu","doi":"10.1002/rcs.70076","DOIUrl":"https://doi.org/10.1002/rcs.70076","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In order to meet the kinematic requirements of large range of motion, payload, and stiffness of Intra-Operative Radiation Therapy robots, a 6-degree-of-freedom (DOF) parallel platform (Stewart-Gough mechanism) is introduced and a dimensional synthesis study is carried out.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The kinematic and static stiffness models of the 6-DOF parallel robot for Intra-Operative Radiation Therapy are derived around a virtual isocentric control point. Under the premise of ensuring the positional accuracy, the optimal dimensions of the initial rod length, the radius of the fixed base and movable platform, and the circumferential angle of the 6-DOF parallel platform are obtained by using the multi-objective optimization method combining the non-dominated sorting genetic algorithm and the global 4criterion with the working space, stiffness, and load as the optimization objectives.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>A full-size prototype was built, and experiments on payload, range of motion, modality, and harmonic response were carried out.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The results show that the theoretical stiffness model has high accuracy, and the dimensional synthesised 6-DOF parallel platform can meet the clinical requirements of Intra-Operative Radiation Therapy in terms of workspace, stiffness and payload, as well as position accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Trial Registration</h3>\u0000 \u0000 <p>The equipment in this study has not yet obtained a medical device registration certificate, and the 6-DOF parallel robot for Intra-Operative Radiation Therapy experiments were conducted using a self-developed model, which has not yet been subjected to clinical trials.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206937","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":"Robot-Assisted Colectomy for Left-Sided Colon Cancer: Comparison of da Vinci SP and Single-Site Platforms","authors":"Kyeong Eui Kim,&nbsp;Woon Kyung Jeong,&nbsp;Seong Kyu Baek,&nbsp;Sung Uk Bae","doi":"10.1002/rcs.70079","DOIUrl":"https://doi.org/10.1002/rcs.70079","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>To compare the clinicopathological and cosmetic outcomes of robotic colectomy using the da Vinci SP and Single-Site for left-sided colon cancer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The study included 31 and 52 patients who underwent robotic colectomy using the SP and Single-Site, respectively, between July 2011 and July 2023. The Patient Scar Assessment Questionnaire (PSAQ) was used to assess cosmetic outcomes.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Patients who underwent colectomy using the SP had a shorter wound length, less bleeding, and fewer port usages compared with those who underwent colectomy using the Single-Site. The SP group required fewer analgesics on post-operative day 2, showed a shorter time to flatulence, sip water and soft diet, and a shorter hospital stay. Total PSAQ scores for the SP group were superior to those of the Single-Site group.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Robotic colectomy for left-sided colon cancer using the SP presents better short-term recovery, requires fewer analgesics and has better cosmetic outcomes than Single-Site.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70079","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144171527","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":"Retroperitoneal Versus Transperitoneal Robot Assisted Partial Nephrectomy: A Prospective Controlled Non-Randomized Single Centre Study Non-Inferiority Design","authors":"Rene Mager,&nbsp;Igor Tsaur,&nbsp;Thomas Höfner,&nbsp;Mohamed Kamal Gheith,&nbsp;Gregor Duwe,&nbsp;Maximilian Haack,&nbsp;Jonathan Azar,&nbsp;Brahim Aboulmaouahib,&nbsp;Stefanie Ziewers,&nbsp;Peter Sparwasser,&nbsp;Lisa Frey,&nbsp;Anita Thomas,&nbsp;Axel Haferkamp","doi":"10.1002/rcs.70077","DOIUrl":"https://doi.org/10.1002/rcs.70077","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The value of the retroperitoneal (R-RAPN) compared with the conventional transperitoneal (T-RAPN) approach in robot-assisted partial nephrectomy has not been finally clarified. The current work's objective was to prospectively investigate R-RAPN versus T-RAPN.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The study was designed as a prospective, controlled, non-randomized study with a non-inferiority design. The primary endpoint was Trifecta achievement. The sample size calculation required 141 T-RAPN and 94 R-RAPN.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>When the recruitment target of 141 was reached in the T-RAPN arm, only 34 R-RAPN had been performed, so the study was terminated early. Trifecta as the main outcome parameter was achieved in 82% of the R-RAPN and 76% of the T-RAPN groups, so no sign for inferiority could be detected (<i>p</i> = 0.6).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>In this prospective study, there was no evidence of inferiority of R-RAPN compared to T-RAPN for the Trifecta endpoint. R-RAPN may be an individually advantageous alternative to T-RAPN for selected patients.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Trial Registration</h3>\u0000 \u0000 <p>The study was registered in the German Clinical Trials Register (DRKS00028619).</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70077","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144140600","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":"Stereo Endoscopic Camera Pose Optimal Estimation by Structure Similarity Index Measure Integration","authors":"Ruoqi Lian,&nbsp;Wei Li,&nbsp;Junchen Hao,&nbsp;Yanfang Zhang,&nbsp;Fucang Jia","doi":"10.1002/rcs.70078","DOIUrl":"https://doi.org/10.1002/rcs.70078","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Accurate endoscopic camera pose estimation is crucial for real-time AR navigation systems. While current methods primarily use depth and optical flow, they often ignore structural inconsistencies between images.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Leveraging the RAFT framework, we process sequential stereo RGB pairs to extract optical flow and depth features for pose estimation. To address structural inconsistencies, we refine the weights for both 2D and 3D residuals by computing SSIM indices for the left and right views, as well as pre- and post-optical flow transformations. The SSIM metric is also used in the loss function.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experiments on the StereoMIS dataset demonstrate our method's improved pose estimation accuracy compared to rigid SLAM methods, showing a lower accumulated trajectory error (ATE-RMSE: 18.5 mm). Additionally, ablation experiments achieved an 11.49% reduction in average error.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The pose estimation accuracy has been improved by incorporating SSIM. The code is available at: https://github.com/lianrq/pose-estimation-by-SSIM-Integration.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144135582","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":"MF-ResUnet: A 3D Liver Image Segmentation Method Based on Multi-Scale Feature Fusion","authors":"Jun Qin,&nbsp;Yang Li,&nbsp;Guihe Qin","doi":"10.1002/rcs.70068","DOIUrl":"https://doi.org/10.1002/rcs.70068","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Due to the variable shapes of the liver parenchyma, minimal voxel intensity differences with adjacent organs, and discontinuous liver boundaries, automatic liver segmentation from computerised tomography images poses significant challenges.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this study, we propose a 3D liver segmentation method based on multiscale feature fusion. This network employs SE channel attention to recalibrate liver features. Additionally, it utilises an AMF module for multiscale feature fusion to obtain rich spatial information. Furthermore, we introduce the NGAB module to address the deteriorating effects of dilated convolutions as the dilation rate increases, contributing to enhanced feature representation and improving accuracy in liver segmentation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimental results on the publicly available LiTS2017 dataset and 3DIRCADb dataset show that our proposed framework achieves a DSC of 0.977 and 0.967 in liver segmentation, respectively.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed method can adequately capture multiscale characteristics, showing promising prospects for automatic liver segmentation.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144108803","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":"An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot-Assisted Surgical Manipulation","authors":"Hao Ren,&nbsp;Li Zhichao,&nbsp;Qingyuan Wu,&nbsp;Xiaodong Ma,&nbsp;Dan Wu","doi":"10.1002/rcs.70069","DOIUrl":"https://doi.org/10.1002/rcs.70069","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In an unstructured environment where real-time human decision is essential, shared control allows collaboration between humans and robotic systems, combining advantages of both. However, existing control methods are challenged with precision loss, inconsistency and interference from unconscious human inputs.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>An adaptive anisotropic control frame is presented, enabling interaction both operational and tactical levels. Using predefined trajectory, a dynamic weight function is proposed to allow the human operator to override. Movement along preferred direction is encouraged and compensated, providing accurate real-time tracking performance. Haptic feedback during shared control is evaluated and optimised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experiments validate that the raised method can achieve a tracking precision of <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>±</mo>\u0000 <mn>0.17</mn>\u0000 <mi>m</mi>\u0000 <mi>m</mi>\u0000 </mrow>\u0000 <annotation> $pm 0.17mm$</annotation>\u0000 </semantics></math> under milling payload, with sensible feedback to the operator. The override manipulation can be rapidly made within 0.4 s as the tactical level interaction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The proposed approach provides both stability and flexibility in interactive surgical manipulations, maintaining similar precision with autonomous execution.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144085196","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}