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

{"title":"Dynamic Force Sensing for Continuous Scraping Towards Endometrium Repair Surgery","authors":"Jie Li,&nbsp;Zhenguo Yang,&nbsp;Dingjia Li,&nbsp;Chongyang Wang,&nbsp;Ji Shen,&nbsp;Chao Han,&nbsp;Xing Xin,&nbsp;Weiqun Wang,&nbsp;Jichun Tan,&nbsp;Hao Liu","doi":"10.1002/rcs.70045","DOIUrl":"10.1002/rcs.70045","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>A surgical robot with force feedback can guarantee precise and gentle manipulation for endometrial repair, ensuring the effectiveness and safety of the manipulation. However, the design of force sensors for surgical robots is challenging due to the limited anatomical space and the requirement for continuous rotation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper presents a novel force-sensing surgical instrument for endometrial repair, including an inner scraping instrument and an outer force sensing sheath. It utilises the actuation force of the outer flexible sheath to predict real-time tangential and normal forces of the scraping to the endometrium surface. Experiments are conducted to test its force sensing accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>This paper simulated three types of operations with different tangential force thresholds and obtained the mean error with the standard deviation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Discussion</h3>\u0000 \u0000 <p>This sensing method enables real-time and accurate measurement of the dynamic scraping force between the rotating instrument and the tissue.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143049026","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":"The Impact of Learning Curve on Robotic Living Donor Nephrectomy Outcomes: Retrospective Analysis","authors":"Sarah Papa,&nbsp;Aleksandar Popovic,&nbsp;Reut Hod Dvorai,&nbsp;Rauf Shahbazov","doi":"10.1002/rcs.70041","DOIUrl":"10.1002/rcs.70041","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We aimed to investigate the outcome of patients after RDN at different time points.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We studied the outcomes of 77 living robotic living donor nephrectomies (RDN). Donors were separated into three groups: learning curve period (LCP), stabilisation period (SP), and teaching period (TP).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>There were significant differences in blood loss and hospitalisation times between the three groups. Operative time was significantly shorter in the LCP group compared with the SP and TP groups (282 ± 51.6 min vs. 308 ± 38.7 min vs. 314 ± 28.7, <i>p</i> = 0.02). However, warm ischaemia time was shorter in the TP group compared with the LCP and SP groups (5.0 ± 3.6 min vs. 3.4 ± 3.2 min vs. 1.5 ± 1.3 min, <i>p</i> &lt; 0.01). Complication rates were higher in the LCP group compared with the SP and TP groups (<i>p</i> = 0.04).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This study demonstrated that RDN outcomes improve after the learning period.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143018038","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":"Effect of Laminectomy Methods on the Surgical Safety of Automatic Laminectomy Robot","authors":"Ya Li,&nbsp;Da Lu,&nbsp;Xueqing Wu,&nbsp;Jiahao Lu,&nbsp;Yangyang Xu,&nbsp;Shijia Zhang,&nbsp;Le Zhang,&nbsp;Baoqing Pei","doi":"10.1002/rcs.70031","DOIUrl":"10.1002/rcs.70031","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The efficacy of laminectomy procedures is contingent on the method of resection. The objective of this study was to investigate the impact of different methods of resection on the surgical safety of automated laminectomy robots, an area that remains uncharted.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Lamina resection surgeries using both drilling and layer-by-layer methods, are performed on ovine spinal samples. An analysis of the force and lateral deviation at the end of the robotic arm is conducted.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>For the drilling and layer-by-layer lamina resection methods, the average peak force for the drilling method is 1.21 N, and deviations are within 1 mm. For the layer-by-layer resection method, the peak force reaches 2.39 N, and deviations are within 1.6 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>During the drilling resection, the ultrasonic osteotome experiences less force and minimal lateral deviation. This method demonstrates higher precision and safety in laminar resection surgeries. The drilling method should be the primary choice for robot manufacturers.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143018036","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":"Evaluation of (Shared) Autonomy in Robot-Assisted Vitreoretinal Surgery Using a Surgical Model","authors":"Murilo M. Marinho,&nbsp;Yuki Koyama,&nbsp;Yuta Taniguchi,&nbsp;Toshiro Yamanaka,&nbsp;Fumihito Arai,&nbsp;Seiji Omata,&nbsp;Koichiro Sugimoto,&nbsp;Takashi Ueta,&nbsp;Kiyohito Totsuka,&nbsp;Tomoyasu Shiraya,&nbsp;Fumiyuki Araki,&nbsp;Muneyuki Takao,&nbsp;Mamoru Mitsuishi,&nbsp;Kanako Harada","doi":"10.1002/rcs.70040","DOIUrl":"10.1002/rcs.70040","url":null,"abstract":"&lt;div&gt;\u0000 \u0000 \u0000 &lt;section&gt;\u0000 \u0000 &lt;h3&gt; Background&lt;/h3&gt;\u0000 \u0000 &lt;p&gt;Robot-assisted vitreoretinal surgery makes it easier for the surgeons to perform precise and dexterous manipulations required in vitreoretinal procedures.&lt;/p&gt;\u0000 &lt;/section&gt;\u0000 \u0000 &lt;section&gt;\u0000 \u0000 &lt;h3&gt; Methods&lt;/h3&gt;\u0000 \u0000 &lt;p&gt;We systematically evaluated manual surgery, conventional two-hand teleoperation, a novel one-hand teleoperation, and automation in a needle positioning task using a realistic surgical eye model, measuring the expert surgeon's performances and the novice's learning curves.&lt;/p&gt;\u0000 &lt;/section&gt;\u0000 \u0000 &lt;section&gt;\u0000 \u0000 &lt;h3&gt; Results&lt;/h3&gt;\u0000 \u0000 &lt;p&gt;The proposed one-hand teleoperation improved the positioning accuracy of expert surgeons &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mo&gt;(&lt;/mo&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;p&lt;/mi&gt;\u0000 &lt;mo&gt;&lt;&lt;/mo&gt;\u0000 &lt;mn&gt;0.05&lt;/mn&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;mo&gt;)&lt;/mo&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt; $(p&lt; 0.05)$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt;, enabled novices to achieve a consistent accuracy more quickly &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mo&gt;(&lt;/mo&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;p&lt;/mi&gt;\u0000 &lt;mo&gt;&lt;&lt;/mo&gt;\u0000 &lt;mn&gt;0.05&lt;/mn&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;mo&gt;)&lt;/mo&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt; $(p&lt; 0.05)$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt;, decreased the novice's workload more quickly &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mo&gt;(&lt;/mo&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;p&lt;/mi&gt;\u0000 &lt;mo&gt;&lt;&lt;/mo&gt;\u0000 &lt;mn&gt;0.05&lt;/mn&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;mo&gt;)&lt;/mo&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt; $(p&lt; 0.05)$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt;, and made it easier for novices to learn to conduct the task quickly &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mo&gt;(&lt;/mo&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;p&lt;/mi&gt;\u0000 &lt;mo&gt;&lt;&lt;/mo&gt;\u0000 &lt;mn&gt;0.05&lt;/mn&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;mo&gt;)&lt;/mo&gt;\u0000 ","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11717677/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142960190","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":"Innovative Integration of Robotic-Assisted Laparoscopic Telesurgery and Quantum Cryptography Communication in Urology: Clinical Application and Initial Experience","authors":"Guangdi Chu,&nbsp;Xuecheng Yang,&nbsp;Xin Zhang,&nbsp;Bo Guan,&nbsp;Jianchang Zhao,&nbsp;Yuan Gao,&nbsp;Yi Yuan,&nbsp;Yuxuan Cao,&nbsp;Shuxin Wang,&nbsp;Jianmin Li,&nbsp;Haitao Niu","doi":"10.1002/rcs.70028","DOIUrl":"https://doi.org/10.1002/rcs.70028","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The emergence of telesurgery has received global interest, with secure network transmission identified as a crucial determinant of its success. This study aimed to evaluate the safety and viability of employing quantum cryptography communication in remote partial nephrectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The surgeon operated on the patient from a distance of over 260 km using remote control of a surgical robot. Key evaluation metrics for the telesurgery procedure included success rate, incidence of complications, network latency, and packet loss.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average BMI of these patients was 29.4 kg/m², the average warm ischaemia time was 26 min, and the packet loss rate was 0%. Postoperative patient recovery, as indicated by follow-up results, was favourable.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>We introduced a novel telesurgical paradigm for partial nephrectomy based on quantum cryptography communication. The application of pioneering technology provides patients with a safer choice for telemedical treatment and promotes the application of telesurgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143112843","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":"Controlling of Applied Force and Cornea Displacement Estimation in Robotic Corneal Surgery With a Gripper Surgical Instrument","authors":"Ali Soltani Sharif Abadi,&nbsp;Andrew Ordys,&nbsp;Barbara Pierscionek","doi":"10.1002/rcs.70038","DOIUrl":"10.1002/rcs.70038","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The human eye consists of highly sensitive, hydrated, and relatively thin tissues, making precise control and accurate force estimation crucial in robotic eye surgery. This paper introduces a novel control method and state observer designed for a gripper surgical instrument used on the external ocular surface during robotic eye surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A novel state observer, operating in tandem with the controller, estimates the applied force. The proposed control approach, termed the Fixed-time Observer-based Sliding Mode Control (FOSMC), estimates the applied force by determining the gripper states and uses an eye model to calculate its displacement.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The performance of the proposed control method was compared with two other finite-time and asymptotic techniques across two scenarios. The results demonstrated excellent performance using the proposed method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The FOSMC control technique effectively estimates the applied force during robotic eye surgery, making it a reliable solution for controlling the gripper surgical instrument.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11713865/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142960189","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":"5G Remote Robot-Assisted Hepatobiliary and Pancreatic Surgery: A Report of Five Cases and a Literature Review","authors":"Yuxin Fan,&nbsp;Chao Ma,&nbsp;Xinyu Wu,&nbsp;Tianyong Cai,&nbsp;Xiao Liang,&nbsp;Zheyong Li,&nbsp;Xiujun Cai","doi":"10.1002/rcs.70027","DOIUrl":"10.1002/rcs.70027","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aimed to explore the feasibility and safety of using 5G communication technology for domestic surgical robots to perform ultra-remote hepatobiliary and pancreatic surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective analysis was conducted on the clinical data of five cases of ultra-remote domestic robot-assisted laparoscopic hepatobiliary and pancreatic surgery completed at Sir Run Run Shaw Hospital, Zhejiang University School of Medicine (referred to as Hangzhou, Zhejiang) and Sir Run Run Shaw Hospital, Alaer Hospital, Zhejiang University School of Medicine (referred to as Alaer city, Xinjiang) from February to September 2023. The main system of the operating desk at Hangzhou, Zhejiang, uses 5G network signal transmission to remotely control the bedside operating system at Alaer City, Xinjiang. The physical distance between the two locations is 4670.2 km, and the network communication distance is 5031.2 km. The operators and assistants are immobilised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The operations were successful. The number of network image frames was 50, the median delay was 73 (70.25–126.1) ms, and the median operation time was 39 (31–128) min. The median intraoperative blood loss was 2 (2–30) mL. No occurrence of network disruption or data packet loss was observed. One case of instrument adverse event occurred, and the patient returned to normal after replacement. The median times taken to get out of bed, ventilation, and hospitalisation were 19 (15–46) h, 2 (2–4) d, and 3 (3–13) d, respectively. According to the Clavien–Dindo classification, the postoperative complications in one patient were Grade I; no other surgical complications were observed. No abnormalities were observed in the patients after a 30-day re-examination. All patients successfully recovered after a 2-month follow-up.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>It is safe and feasible for domestic robots to perform 5G remote robot-assisted hepatobiliary and pancreatic surgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11694231/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142916377","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":"Integrated Design and Prototyping of a Robotic Head for Ocular and Craniofacial Trauma Simulators","authors":"Marcello Gallerani,&nbsp;Roberto F. Pitzalis,&nbsp;Gianluca De Novi,&nbsp;Mark P. Ottensmeyer,&nbsp;Giovanni Berselli","doi":"10.1002/rcs.70039","DOIUrl":"10.1002/rcs.70039","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Medical simulation is relevant for training medical personnel in the delivery of medical and trauma care, with benefits including quantitative evaluation and increased patient safety through reduced need to train on patients.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper presents a prototype medical simulator focusing on ocular and craniofacial trauma (OCF), for training in management of facial and upper airway injuries. It consists of a physical, electromechanical representation of head and neck structures, including the mandible, maxillary region, neck, orbit and peri-orbital regions to replicate different craniofacial traumas. Actuation and hydraulic systems are designed to control animatronic features and flow of simulated blood, tears, and cerebrospinal fluid.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimentally validated, the OCF simulator achieves structural and functional characteristics as close as possible to those of a human body.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The OCF Simulator can be used as a stand-alone active simulator, it can be transported and used to train surgeons in simulated real-life scenarios.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Clinical Trial Registration</h3>\u0000 \u0000 <p>The authors declare that this statement is not applicable since no clinical tests have been performed.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11694338/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142916400","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":"Clinical Feasibility and Technical Aspects of Single Port Robotic TransAnal Minimally Invasive Surgery (SP–rTAMIS) for Rectal Neoplasm","authors":"In Kyeong Kim,&nbsp;Jung Hoon Bae,&nbsp;Yoon Suk Lee,&nbsp;In Kyu Lee","doi":"10.1002/rcs.70026","DOIUrl":"10.1002/rcs.70026","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Single port robotic platform offers articulation and 360° camera rotation for anorectal tumour excision in a narrow pelvic space. This study assesses the clinical usefulness and outcomes of SP robotic transanal surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Nine patients who underwent transanal excision using the SP robotic platform were included. A GelPOINT path Transanal Access channel with insufflation stabilisation bag was used to maintain rectal inflation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>All patients underwent full-thickness excision without intraoperative complications. The mean distance from anal verge was 6.41 cm. Prone position was used regardless of the direction of the tumour due to the 360° rotation. The mean operative time was 66.1 min. The mean docking time was 8.7 min with only one docking. All oncologic resection margins were negative, and recurrence was not observed during follow-up.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>SP robotic transanal surgery allows flexible vision and meticulous procedures in narrow spaces; therefore, this method has greater feasibility and oncologic safety.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142900775","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":"Increasing Reachability in Robotic Ultrasound Through Base Placement and Tool Design","authors":"Jonas Osburg,&nbsp;Ngoc Thinh Nguyen,&nbsp;Floris Ernst","doi":"10.1002/rcs.70037","DOIUrl":"10.1002/rcs.70037","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic ultrasound visualises internal organs in real-time for various medical applications without the harm of X-rays. The ultrasound probe is attached to the robot's end effector using custom-developed probe holders. This paper analyzes the impact of different probe holder geometries on the robot's base placement and reachability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose a method to improve probe holder geometries and robot base placements to enhance reachability, validated using a 7-DoF serial manipulator (KUKA iiwa 7) for ultrasound scans of multiple subcutaneous body parts.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Without additional space restrictions, the number of robot base positions with high reachability could be strongly increased with an improved probe holder geometry. Under space constraints, previously unreachable target poses became accessible by adapting the probe holder geometry.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Our method provides an automated solution for determining improved probe holder geometries, enhancing reachability to target areas, especially when the robot's placing area is limited.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11677544/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142900891","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}