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

{"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}

{"title":"DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy With Dynamic Time Wrapping-Based Locally Weighted Regression","authors":"Wenda Xu,&nbsp;Zhihang Tan,&nbsp;Zexin Cao,&nbsp;Haofei Ma,&nbsp;Gongcheng Wang,&nbsp;Han Wang,&nbsp;Weidong Wang,&nbsp;Zhijiang Du","doi":"10.1002/rcs.70072","DOIUrl":"https://doi.org/10.1002/rcs.70072","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Emerging imitation learning (IL) approaches have provided innovative solutions for completing surgical robotic suturing autonomously, significantly aiding surgeons in their manipulations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We introduce Diffusion Policy for Autonomous Suturing (DP4AuSu), a novel framework that leverages diffusion policy (DP) and dynamic time wrapping-based locally weighted regression to achieve autonomous robotic suturing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In simulation, DP4AuSu achieved a 94% success rate for insertion subtasks over 50 trials. In a real-world setting, it achieves 85% success rate over 20 trials for suturing manipulations in 390.55–41.59s faster than conventional diffusion policy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Our novel framework can capture the multimodality in demonstrations and successfully learn the suturing policy and reduce the suturing time. To the best of our knowledge, this work represents the first application of diffusion policy for robotic suturing. We hope this research paves the way for the automation of more complex surgical tasks.</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":"144085186","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 of a Rigid-Flex Coupling Flexible Manipulator for Endoscopic Sinus Surgery","authors":"Hongyu Cheng,&nbsp;Zheng Liu,&nbsp;Shuang Wang,&nbsp;Le Xie","doi":"10.1002/rcs.70075","DOIUrl":"https://doi.org/10.1002/rcs.70075","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Current instruments used in tight spaces face challenges. Additionally, accessing the endoscopic sinus pathway is complex due to its curved and narrow nature, requiring intricate manual manoeuvres. Therefore, there is a demand for the development of a flexible instrument.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this study, a rigid-flex coupling flexible manipulator was designed specifically for endoscopic sinus surgery. The investigation includes various theoretical analyses such as clinical requirements, stiffness, kinematics, statics and master–slave control strategy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The manipulator is fabricated and its properties is evaluated. The experimental results demonstrate that the proposed theoretical model accurately describes the motion of the manipulator. Furthermore, the feasibility of the manipulator was verified using both 3D-printed sinus models and human head models.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Based on our findings, the proposed flexible manipulator successfully meets the basic requirements of endoscopic sinus surgery.</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":"2025-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144074584","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 Radical Cystectomy With Intracorporeal Ileal Conduit Using the Hinotori Surgical Robot System: A Single Surgeon's Initial Experience of 20 Cases","authors":"Hiromitsu Watanabe,&nbsp;Yuto Matsushita,&nbsp;Keita Tamura,&nbsp;Daisuke Motoyama,&nbsp;Atsushi Otsuka,&nbsp;Hideaki Miyake","doi":"10.1002/rcs.70074","DOIUrl":"https://doi.org/10.1002/rcs.70074","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The objective of this study was to assess the perioperative outcomes of robot-assisted radical cystectomy (RARC) with intracorporeal ileal conduit (ICIC) using the hinotori surgical robot system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This retrospective study included 20 consecutive patients with bladder cancer who underwent RARC with ICIC using hinotori from October 2023 to July 2024. Major perioperative outcomes were comprehensively analysed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The median operative time, time using the robotic system, bowel reconstruction and urinary diversion time, and estimated blood loss were 435.0, 330.0, 122.5 min, and 175.0 mL, respectively. No marked intraoperative complications were observed. Perioperative, 30-day, and 90-day complications occurred at rates of 25%, 10%, and 0%, respectively. The learning curve tended to decrease in a case volume-dependent manner.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>RARC using hinotori was successfully completed, and favourable perioperative outcomes were achieved without severe complications. This suggests that RARC using hinotori provides a potentially comparable alternative to conventional surgical systems.</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":"2025-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144074585","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 Evaluation of an Omnidirectional Wheel-Driven Endoscope-Assisted Robotic System Based on Motion Capture Control","authors":"Xinyi Yu,&nbsp;Yinkai Chen,&nbsp;Baiming Shi,&nbsp;Hao Zhuo,&nbsp;Libo Zhou,&nbsp;Yuye Ma,&nbsp;Yan Wei,&nbsp;Linlin Ou","doi":"10.1002/rcs.70070","DOIUrl":"https://doi.org/10.1002/rcs.70070","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In endoscopic surgery, surgeons collaborate with assistants to manipulate the endoscope and instruments, making it impossible to perform the surgery independently.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose an endoscopic assistive robot based on motion capture control, enabling surgeons to control the endoscope with one hand. The system uses cameras at the master end to capture real-time motion information from the marker accessory, determining the surgeon's intent. It then controls the robot at the slave end to simulate surgical delivery actions, enabling precise endoscopic positioning through master-slave mapping. The omnidirectional wheel design addresses coupling issues of traditional friction wheels, significantly improving control accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Testing demonstrated a maximum delivery error of 3.99% and 45.77% improvement in rotational precision. The system received positive feedback in both simulated and animal trials.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The system empowers surgeons to perform endoscopic procedures independently, establishing a foundation for advancing diagnosis and treatment of gastric diseases.</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":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143944607","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":"A Master-Follower Teleoperation System for Robotic Catheterisation: Design, Characterisation and Tracking Control","authors":"Ali A. Nazari,&nbsp;Jeremy Catania,&nbsp;Soroush Sadeghian,&nbsp;Amir Jalali,&nbsp;Houman Masnavi,&nbsp;Farrokh Janabi-Sharifi,&nbsp;Kourosh Zareinia","doi":"10.1002/rcs.70073","DOIUrl":"https://doi.org/10.1002/rcs.70073","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Over the past 2 decades, telerobotic systems with robot-mediated, minimally invasive techniques, have mitigated radiation exposure for medical staff and extended medical services to remote areas. To enhance these services, master-follower telerobotic systems should offer transparency, enabling surgeons and clinicians to feel force interactions similar to those the follower device experiences with patients' bodies.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We present a three-degree-of-freedom master-follower teleoperated system for robotic catheterisation. The follower device uses a grip-insert-release mechanism to prevent catheter buckling and torsion, mimicking real-world manual intervention. Performance is evaluated through open-loop path tracking on circular, infinity-like and spiral paths.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Path tracking errors, mean Euclidean error (MEE) and mean absolute error (MAE), range from 0.64 to 1.53 cm (MEE) and 0.81–1.92 cm (MAE) for different paths.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>While the system meets precision and accuracy targets with an open-loop controller, closed-loop control is needed to address catheter hysteresis, dead zones and nonlinearities.</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":"2025-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70073","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914530","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":"Robotic Assisted Minimally Invasive Coronary Revascularisation: Midterm Results","authors":"Gökhan Arslanhan,&nbsp;Zeynep Sıla Özcan,&nbsp;Şahin Şenay,&nbsp;Murat Baştopçu,&nbsp;Anıl Karaağaç,&nbsp;Muharrem Koçyiğit,&nbsp;Aleks Değirmencioğlu,&nbsp;Deniz Alis,&nbsp;Cem Alhan","doi":"10.1002/rcs.70071","DOIUrl":"https://doi.org/10.1002/rcs.70071","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic assistance has many advantages in minimally invasive coronary bypass surgery, such as the harvest of a longer portion of the LIMA in addition to the avoidance of sternotomy, thus offering a less invasive approach for multivessel revascularisation. We present the midterm clinical outcomes of robotic-assisted minimally invasive coronary bypass (RA-CABG) cases at our centre.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>One hundred and fifty consecutive patients who underwent RA-CABG with preoperative computed tomography angiography guidance were studied. Robotic LIMA harvesting was performed. The main outcome measure of the study was the midterm survival and incidence of major adverse cardiovascular events (MACE) up to 5 years.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The median follow-up was 19.8 months. In the Kaplan–Meier survival analysis, 1-year survival was 99.1% and 5-year survival was 97.5%. 1-year freedom from MACE was 97.3% and 5-year freedom from MACE was 95%.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Robotic-assisted minimally invasive coronary bypass surgery has safe midterm outcomes and can be performed with excellent results.</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":"2025-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70071","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143904973","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}