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

{"title":"Computer-Guided Navigation System Efficiency Evaluation Using Surgical Instruments for Spinal Fusion","authors":"Evgenii O. Lopukhov,&nbsp;Ilya A. Frolov,&nbsp;Mikhail A. Solovyev,&nbsp;Leonid S. Prokhorenko,&nbsp;Denis. S. Mishchenkov,&nbsp;Daniil D. Klimov,&nbsp;Andrei A. Vorotnikov,&nbsp;Yuri V. Poduraev,&nbsp;Andrei A. Grin,&nbsp;Oleg V. Levchenko","doi":"10.1002/rcs.70033","DOIUrl":"10.1002/rcs.70033","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Navigation surgical systems have been widely used in spinal fusion to ensure accuracy and safety during pedicle screw insertion.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The research was performed under laboratory conditions, using stereotactic navigation, surgical instruments for spinal fusion, development of additional devices and software. During the experiments, all stages of the computed tomography-guided navigation system use were performed—preoperative preparation of patient data and planning to provide visual control of the navigation of surgical instruments during the insertion of screws.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The 20 screws were inserted into the vertebrae of the lumbar spine phantom with an average pedicle width of 12.6 ± 1.29 mm with 100% clinical accuracy. The 30 screws were inserted into cadaveric sheep vertebrae with an average pedicle width of 6.56 ± 0.58 mm with 96.67% efficiency.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed navigation technique of the CT-guided navigation system is highly effective in the navigation process of surgical instruments and pedicle screws during spinal fusion.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883735","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 Spatial Registration Method Based on Point Cloud and Deep Learning for Augmented Reality Neurosurgical Navigation","authors":"Zifeng Liu,&nbsp;Zhiyong Yang,&nbsp;Shan Jiang,&nbsp;Zeyang Zhou","doi":"10.1002/rcs.70030","DOIUrl":"10.1002/rcs.70030","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In order to achieve spatial registration for surgical navigation, a spatial registration method based on point cloud and deep learning is proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Neural networks are used to register medical image point clouds and patient surface point clouds to complete spatial registration of surgical navigation. An image processing method is designed to convert medical images into point clouds, and a structured light robot is used to extract patient surface point clouds.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Coarse registration was conducted through a neural network, followed by fine registration using the ICP algorithm, achieving a rotational registration error (RRE) of 0.961° and a translational registration error (TRE) of 0.118 mm. In phantom experiments, the surface registration error was 0.622 mm, and the target registration error was 0.748 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed spatial registration method based on point cloud and deep learning improves the accuracy and efficiency of neurosurgical navigation.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883308","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":"Colorectal Robotic-Assisted Surgery in Children. Long-Term Outcomes and Pitfalls","authors":"Carlos Delgado-Miguel,&nbsp;Laura Reparaz,&nbsp;Wright Clarkson,&nbsp;Karina Desai,&nbsp;Juan I. Camps","doi":"10.1002/rcs.70032","DOIUrl":"10.1002/rcs.70032","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Colorectal surgical procedures may benefit from a minimally invasive approach in children, although there are few studies.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective, single-centre observational study was conducted on paediatric patients who underwent colorectal robotic-assisted surgery between 2011 and 2022.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>A total of 50 patients (33 male; 17 female) were included, with a median age of 4.8 years (IQR:2.5–6.3 years). The main indication was robotic Soave pull-through for Hirschsprung's disease in 21 cases. No conversions or intraoperative complications were reported. Operative time varied depending on the procedure, with a median of 183 min (IQR:151–224 min). Median hospital stay was 4 days (IQR:3–5 days). Four postoperative complications were observed, two of them Clavien-Dindo IIIb (one colo-anal partial dehiscence and one anastomotic leak after megasigmoid resection). Regarding long-term follow-up (median 7.6 years; IQR:4.8–10.6 years), 4 patients (8%) required surgical reintervention.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Colorectal robotic-assisted surgery encompasses several procedures with low complication rates and satisfactory long-term outcomes.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142857202","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":"Impact of Obesity on Perioperative Outcomes in Robotic Pancreaticoduodenectomy: A Propensity Score-Matched Study","authors":"Bor-Uei Shyr,&nbsp;Bor-Shiuan Shyr,&nbsp;Shih-Chin Chen,&nbsp;Shin-E Wang,&nbsp;Yi-Ming Shyr","doi":"10.1002/rcs.70034","DOIUrl":"10.1002/rcs.70034","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The aim of this study is to assess the impact of obesity on the perioperative outcomes in robotic pancreaticoduodenectomy (RPD), rarely documented.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A total of 886 patients undergoing RPD or open pancreaticoduodenectomy (OPD) were enroled. These patients were categorised into the obese RPD, non-obese RPD and obese OPD groups.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Operation time was longer in obese RPD compared with non-obese RPD and obese OPD (median: 9.5 vs. 7.5 and 8.0 h). Blood loss was lower in both RPD groups than in the obese OPD group (median: 200 and 120 vs. 500 c.c.). Surgical mortality and morbidity were comparable between these three groups. Delayed gastric emptying (DGE) occurred less frequently in both RPD groups than obese OPD (7.5% and 4.4% vs. 19.1%).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Obesity does not exert a negative impact on the perioperative outcomes in RPD, except for longer operation times. RPD has emerged as a safe and viable surgical approach for obese patients.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70034","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142857205","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 Versus Open Distal Pancreatectomy: A Propensity Score Matching Analysis","authors":"Lapo Bencini,&nbsp;Luca Moraldi,&nbsp;Elisangela Miceli,&nbsp;Matteo Risaliti,&nbsp;Lorenzo Tofani,&nbsp;Simone Buccianti,&nbsp;Luca Tirloni,&nbsp;Chiara Gatto,&nbsp;Alessio Minuzzo,&nbsp;William Tyler Bianchi,&nbsp;Andrea Coratti,&nbsp;Antonio Taddei,&nbsp;Ilenia Bartolini","doi":"10.1002/rcs.70025","DOIUrl":"10.1002/rcs.70025","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Minimally invasive distal pancreatectomy offers recognised benefits over open surgery. Robotic surgery, with its shorter learning curve and technical advancements, presents a promising alternative to laparoscopy in managing pancreatic diseases.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study enrolled consecutive patients undergoing distal pancreatectomy between January 2013 and May 2022. After propensity score matching, perioperative and medium-term outcomes were compared between robotic and open procedures.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Among 79 patients analysed, 50 were eligible after matching. Both groups showed similar demographics, with 11% experiencing grade III-IV complications, and one patient died within 90 days after surgery. Robotic surgery exhibited longer operating times but allowed for earlier refeeding, drain removal, canalisation, and shorter hospital stays compared with open surgery. Spleen preservation rates, postoperative pancreatic fistula occurrences and survival were comparable between the groups.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Overall, robotic and open distal pancreatectomy demonstrated similar outcomes, with robotic surgery offering advantages in certain postoperative parameters despite longer operation times.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142848529","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":"State of the Art and Development Trend of Laparoscopic Surgical Robot and Master Manipulator","authors":"Rui Han,&nbsp;Hongqiang Sang,&nbsp;Fen Liu,&nbsp;Fang Huang","doi":"10.1002/rcs.70020","DOIUrl":"10.1002/rcs.70020","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In recent years, laparoscopic surgical robots have rapidly developed. However, most focus on the overall robotic systems, with few summaries on the laparoscopic surgical robots and the master manipulators.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper provides a summary and analysis of typical laparoscopic surgical robots, including the strengths and limitations of existing laparoscopic surgical robots. Additionally, the master manipulators are analysed and summarised from four aspects: structural design and optimization, time-varying delays, tremor suppression and force feedback. Further classification and summary are made based on the different methods used in each study.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Laparoscopic surgical robots and the master manipulators still have some limitations. Therefore, the development trends of the laparoscopic surgical robots and the master manipulators are discussed from four aspects: structural materials, remote surgery, intelligence and human–machine interaction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>With the continuous advancement of technology, laparoscopic surgical robots will play an increasingly important role in the field of surgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142824973","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":"SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-Time Hysteresis Compensation Control Algorithm","authors":"Junhyun Park,&nbsp;Seonghyeok Jang,&nbsp;Myeongbo Park,&nbsp;Hyojae Park,&nbsp;Jeonghyeon Yoon,&nbsp;Minho Hwang","doi":"10.1002/rcs.70014","DOIUrl":"10.1002/rcs.70014","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Cable-driven continuum manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We introduce an extensible CDCM with a semi-active mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN) based on data collected from fiducial markers and RGBD sensing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behaviour and minimises position and joint angle errors in real-time, which has the potential to enhance surgical task performance.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142819977","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":"Comparison of Robot-Assisted Laparoscopic Prostatectomy Using the Made-in-Japan Robotic System Hinotori Versus Da Vinci: A Propensity Score-Matched Analysis","authors":"Hiroki Tsujioka,&nbsp;Kiyoshi Setoguchi,&nbsp;Asumi Nirazuka,&nbsp;Kintaro Hasegawa,&nbsp;Keita Izumi,&nbsp;Akinori Nakayama,&nbsp;Kazutaka Saito","doi":"10.1002/rcs.70013","DOIUrl":"10.1002/rcs.70013","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We compared the surgical outcomes of patients who underwent robot-assisted radical prostatectomy (RARP) using hinotori with those of patients who underwent RARP using da Vinci Xi through propensity score matching to evaluate the potential benefits and efficacy of hinotori.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Perioperative data of patients who underwent RARP between 2017 and 2023 were retrospectively evaluated.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>After adjusting for preoperative risk factors, each group comprised 118 propensity score-matched patients. Both median total operative time and median console time were significantly longer in the hinotori group (median differences, 26 and 23 min, respectively). Although the hinotori group had lower estimated blood loss, no significant differences were noted between the groups in postoperative complications, positive surgical margin rates, 12-month biochemical recurrence rates, and urinary continence recovery rates.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Although RARP requires more time with hinotori, our study demonstrated that RARP can be performed safely and effectively immediately after the installation of hinotori.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142803818","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":"Tactile Feedback in Robot-Assisted Minimally Invasive Surgery: A Systematic Review","authors":"Jacinto Colan,&nbsp;Ana Davila,&nbsp;Yasuhisa Hasegawa","doi":"10.1002/rcs.70019","DOIUrl":"10.1002/rcs.70019","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robot-assisted systems have predominantly relied on teleoperation, where visual feedback is the primary source of information. However, advances in tactile sensing and displays offer new opportunities to enhance surgical transparency, efficiency, and safety.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A PRISMA-guided search was conducted across PubMed, IEEE Xplore, Scopus, and Web of Science databases to identify relevant studies.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Out of 645 screened articles, 98 met the inclusion criteria, and 33 were included in the final review. The review discusses various tactile feedback stimulus types, applications, and challenges in the context of robot-assisted minimally invasive surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>While kinaesthetic feedback has been extensively explored to restore the natural interaction between the surgeon and the surgical environment, tactile feedback remains largely confined to research settings. This is due to significant challenges in integrating tactile feedback into robotic systems and current limitations of sensing technologies.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11624840/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142792963","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":"Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy","authors":"Samuel Lafreniere,&nbsp;Blayton Padasdao,&nbsp;Bardia Konh","doi":"10.1002/rcs.70015","DOIUrl":"10.1002/rcs.70015","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In-bore MRI prostate biopsy offers improved visualisation and detection of significant prostate cancer; however, it is not widely practiced in cancer diagnosis due to its associated costs.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This work introduces the first prototype towards a 7-degrees-of-freedom (DOF) MRI-conditional piezoelectrically actuated robotic system for transperineal prostate biopsy. The robot enables needle insertions in the desired trajectories. Kinematic and static models of the active needle as well as automated control of the robot are presented.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>It is shown that the controller can force the needle to realize the reference sine and triangular bending angles with an accuracy of 1.78 and 1.88°, respectively, in air. The trajectory tracking capability of the system in free space is shown with an RMS error of 0.86 mm and a standard deviation of 0.36 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The robot's capability to steer the needle towards target inside a phantom and extract a sample was evaluated.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142788075","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}