The international journal of medical robotics + computer assisted surgery : MRCAS最新文献

Comparison of robotic and open central pancreatectomy. 机器人与开放式中央胰切除术的比较。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2023-06-08 DOI: 10.14701/ahbps.2023s1.bp-pp-4-7

Man-Ling Wang, Bor-Shiuan Shyr, Shih-Chin Chen, Shin-E Wang, Y. Shyr, B. Shyr

引用次数: 0

Full coverage path planning algorithm for MRgFUS therapy MRgFUS治疗全覆盖路径规划算法

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2022-03-07 DOI: 10.1002/rcs.2389

A. Antoniou, A. Georgiou, N. Evripidou, C. Damianou

引用次数: 3

A deep learning framework for real‐time 3D model registration in robot‐assisted laparoscopic surgery 机器人辅助腹腔镜手术中实时3D模型注册的深度学习框架

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2022-03-04 DOI: 10.1002/rcs.2387

Erica Padovan, Giorgia Marullo, L. Tanzi, P. Piazzolla, Sandro Moos, F. Porpiglia, E. Vezzetti

引用次数: 9

A Novel Solution of Using Mixed Reality in Bowel and Oral and Maxillofacial Surgical Telepresence: 3D Mean Value Cloning algorithm. 在肠道和口腔颌面外科远程呈现中使用混合现实技术的新方案：三维平均值克隆算法。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2020-09-04 DOI: 10.1002/rcs.2161

Arjina Maharjan, Abeer Alsadoon, P W C Prasad, Nada AlSallami, Tarik A Rashid, Ahmad Alrubaie, Sami Haddad

{"title":"A Novel Solution of Using Mixed Reality in Bowel and Oral and Maxillofacial Surgical Telepresence: 3D Mean Value Cloning algorithm.","authors":"Arjina Maharjan, Abeer Alsadoon, P W C Prasad, Nada AlSallami, Tarik A Rashid, Ahmad Alrubaie, Sami Haddad","doi":"10.1002/rcs.2161","DOIUrl":"10.1002/rcs.2161","url":null,"abstract":"Background and aim: Most of the Mixed Reality models used in the surgical telepresence are suffering from the discrepancies in the boundary area and spatial-temporal inconsistency due to the illumination variation in the video frames. The aim behind this work is to propose a new solution that helps produce the composite video by merging the augmented video of the surgery site and virtual hand of the remote expertise surgeon. The purpose of the proposed solution is to decrease the processing time and enhance the accuracy of merged video by decreasing the overlay and visualization error and removing occlusion and artefacts.Methodology: The proposed system enhanced the mean value cloning algorithm that helps to maintain the spatial-temporal consistency of the final composite video. The enhanced algorithm includes the 3D mean value coordinates and improvised mean value interpolant in the image cloning process, which helps to reduce the sawtooth, smudging and discoloration artefacts around the blending region RESULTS: As compared to the state of art solution, the accuracy in terms of overlay error of the proposed solution is improved from 1.01mm to 0.80mm whereas the accuracy in terms of visualization error is improved from 98.8% to 99.4%. The processing time is reduced to 0.173 seconds from 0.211 seconds CONCLUSION: Our solution helps make the object of interest consistent with the light intensity of the target image by adding the space distance that helps maintain the spatial consistency in the final merged video. This article is protected by copyright. All rights reserved.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":" ","pages":"e2161"},"PeriodicalIF":0.0,"publicationDate":"2020-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38440926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Novel Visualization System of Using Augmented Reality in Knee Replacement Surgery: Enhanced Bidirectional Maximum CorrentropyAlgorithm. 在膝关节置换手术中使用增强现实技术的新型可视化系统：增强型双向最大熵算法

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2020-09-01 DOI: 10.1002/rcs.2154

Nitish Maharjan, Abeer Alsadoon, P W C Prasad, Salma Abdullah, Tarik A Rashid

{"title":"A Novel Visualization System of Using Augmented Reality in Knee Replacement Surgery: Enhanced Bidirectional Maximum CorrentropyAlgorithm.","authors":"Nitish Maharjan, Abeer Alsadoon, P W C Prasad, Salma Abdullah, Tarik A Rashid","doi":"10.1002/rcs.2154","DOIUrl":"10.1002/rcs.2154","url":null,"abstract":"Background and aim: Image registration and alignment are the main limitations of augmented reality-based knee replacement surgery. This research aims to decrease the registration error, eliminate outcomes that are trapped in local minima to improve the alignment problems, handle the occlusion and maximize the overlapping parts.Methodology: markerless image registration method was used for Augmented reality-based knee replacement surgery to guide and visualize the surgical operation. While weight least square algorithm was used to enhance stereo camera-based tracking by filling border occlusion in right to left direction and non-border occlusion from left to right direction.Results: This study has improved video precision to 0.57 mm ∼ 0.61 mm alignment error. Furthermore, with the use of bidirectional points, i.e. Forwards and backwards directional cloud point, the iteration on image registration was decreased. This has led to improved the processing time as well. The processing time of video frames was improved to 7.4 ∼11.74 fps.Conclusions: It seems clear that this proposed system has focused on overcoming the misalignment difficulty caused by movement of patient and enhancing the AR visualization during knee replacement surgery. The proposed system was reliable and favourable which helps in eliminating alignment error by ascertaining the optimal rigid transformation between two cloud points and removing the outliers and non-Gaussian noise. The proposed augmented reality system helps in accurate visualization and navigation of anatomy of knee such as femur, tibia, cartilage, blood vessels, etc. This article is protected by copyright. All rights reserved.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":" ","pages":"e2154"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38335714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Indirect visual guided fracture reduction robot based on external markers. 基于外部标记的间接视觉引导骨折复位机器人。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2020-08-19 DOI: 10.1002/rcs.2153

Zhuoxin Fu, Hao Sun, Xinyu Dong, Jianwen Chen, Hongtao Rong, Yue Guo, Shenxin Lin

{"title":"Indirect visual guided fracture reduction robot based on external markers.","authors":"Zhuoxin Fu, Hao Sun, Xinyu Dong, Jianwen Chen, Hongtao Rong, Yue Guo, Shenxin Lin","doi":"10.1002/rcs.2153","DOIUrl":"10.1002/rcs.2153","url":null,"abstract":"Background: Traditional fracture reduction surgery cannot ensure the accuracy of the reduction while consuming the physical strength of the surgeon. Although monitoring the fracture reduction process through radiography can improve the accuracy of the reduction, it will bring radiation harm to both patients and surgeons.Methods: We proposed a novel fracture reduction solution that parallel robot is used for fracture reduction surgery. The binocular camera indirectly obtains the position and posture of the fragment wrapped by the tissue by measuring the posture of the external markers. According to the clinical experience of fracture reduction, a path is designed for fracture reduction. Then using position-based visual serving control the robot to fracture reduction surgery. The study is approved by the Rehabilitation Hospital, National Research Center for Rehabilitation Technical Aids, Beijing , China.Results: 10 virtual cases of fracture were used for fracture reduction experiments. The simulation and model bone experiments are designed respectively. In model bone experiments, the fragments are reduction without collision. The angulation error after the reduction of this method is:3.3°±1.8°, and the axial rotation error is 0.8°±0.3°, the transverse stagger error and the axial direction error after reduction is 2mm±0.5mm and 2.5mm±1mm. After the reduction surgery, the external fixator is used to assist the fixing, and the deformity will be completely corrected.Conclusions: The solution can perform fracture reduction surgery with certain accuracy and effectively reduce the number of radiographic uses during surgery, and the collision between fragments is avoided during surgery. This article is protected by copyright. All rights reserved.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":" ","pages":"e2153"},"PeriodicalIF":0.0,"publicationDate":"2020-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38279536","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Initial experience of robot-assisted thoracoscopic surgery in China. 机器人辅助胸腔镜手术在中国的初步经验。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2014-04-29 DOI: 10.1002/rcs.1589

Jia Huang, Qingquan Luo, Qiang Tan, Hao Lin, Liqiang Qian, Xu Lin

引用次数: 11

Accuracy of a computer-assisted planning and placement system for anatomical femoral tunnel positioning in anterior cruciate ligament reconstruction. 前交叉韧带重建中股骨隧道解剖定位的计算机辅助规划与放置系统的准确性。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2013-10-24 DOI: 10.1002/rcs.1548

J W H Luites, A B Wymenga, L Blankevoort, D Eygendaal, N Verdonschot

{"title":"Accuracy of a computer-assisted planning and placement system for anatomical femoral tunnel positioning in anterior cruciate ligament reconstruction.","authors":"J W H Luites, A B Wymenga, L Blankevoort, D Eygendaal, N Verdonschot","doi":"10.1002/rcs.1548","DOIUrl":"https://doi.org/10.1002/rcs.1548","url":null,"abstract":"Background: Femoral tunnel positioning is a difficult, but important factor in successful anterior cruciate ligament (ACL) reconstruction. Computer navigation can improve the anatomical planning procedure besides the tunnel placement procedure.Methods: The accuracy of the computer-assisted femoral tunnel positioning method for anatomical double bundle ACL-reconstruction with a three-dimensional template was determined with respect to both aspects for AM and PL bundles in 12 cadaveric knees.Results: The accuracy of the total tunnel positioning procedure was 2.7 mm (AM) and 3.2 mm (PL). These values consisted of the accuracies for planning (AM:2.9 mm; PL:3.2 mm) and for placement (about 0.4 mm). The template showed a systematic bias for the PL-position.Conclusions: The computer-assisted templating method showed high accuracy for tunnel placement and has promising capacity for application in anatomical tunnel planning. Improvement of the template will result in an accurate and robust navigation system for femoral tunnel positioning in ACL-reconstruction.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"438-46"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1548","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32216803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

A physics-based algorithm for real-time simulation of electrosurgery procedures in minimally invasive surgery. 一种用于微创外科电手术过程实时模拟的物理算法。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2013-12-19 DOI: 10.1002/rcs.1561

Zhonghua Lu, Venkata S Arikatla, Zhongqing Han, Brian F Allen, Suvranu De

{"title":"A physics-based algorithm for real-time simulation of electrosurgery procedures in minimally invasive surgery.","authors":"Zhonghua Lu, Venkata S Arikatla, Zhongqing Han, Brian F Allen, Suvranu De","doi":"10.1002/rcs.1561","DOIUrl":"https://doi.org/10.1002/rcs.1561","url":null,"abstract":"Background: High-frequency electricity is used in the majority of surgical interventions. However, modern computer-based training and simulation systems rely on physically unrealistic models that fail to capture the interplay of the electrical, mechanical and thermal properties of biological tissue.Methods: We present a real-time and physically realistic simulation of electrosurgery by modelling the electrical, thermal and mechanical properties as three iteratively solved finite element models. To provide subfinite-element graphical rendering of vaporized tissue, a dual-mesh dynamic triangulation algorithm based on isotherms is proposed. The block compressed row storage (BCRS) structure is shown to be critical in allowing computationally efficient changes in the tissue topology due to vaporization.Results: We have demonstrated our physics-based electrosurgery cutting algorithm through various examples. Our matrix manipulation algorithms designed for topology changes have shown low computational cost.Conclusions: Our simulator offers substantially greater physical fidelity compared to previous simulators that use simple geometry-based heat characterization.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"495-504"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1561","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"31972865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

Initial results of robot-assisted Ivor-Lewis oesophagectomy with intrathoracic hand-sewn anastomosis in the prone position. 俯卧位机器人辅助Ivor-Lewis食管切除术胸内手缝吻合术的初步结果。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2014-04-29 DOI: 10.1002/rcs.1587

S Trugeda, M J Fernández-Díaz, J C Rodríguez-Sanjuán, C M Palazuelos, C Fernández-Escalante, M Gómez-Fleitas

{"title":"Initial results of robot-assisted Ivor-Lewis oesophagectomy with intrathoracic hand-sewn anastomosis in the prone position.","authors":"S Trugeda, M J Fernández-Díaz, J C Rodríguez-Sanjuán, C M Palazuelos, C Fernández-Escalante, M Gómez-Fleitas","doi":"10.1002/rcs.1587","DOIUrl":"https://doi.org/10.1002/rcs.1587","url":null,"abstract":"Background: There is scanty experience concerning robot-assisted Ivor-Lewis oesophagectomy, so every new experience is helpful.Methods: We describe the techniques and short-term results of Ivor-Lewis oesophagectomy using a laparoscopic approach and robot-assisted thoracoscopy, and an observational study of prospective surveillance of the first 14 patients treated for oesophageal cancer. A gastric tube was created laparoscopically. Oesophagectomy was performed through a robot-assisted thoracoscopy followed by hand-sewn intrathoracic anastomosis.Results: There were no conversion cases. Mortality was zero. Six patients had a major complication. There were no cases of respiratory complication or recurrent laryngeal nerve palsy. Three patients had a radiological fistula (21.4%), successfully treated by endoscopic stenting, and one (7.1%) had an anastomosis leak needing reoperation. There were two cases of chylothorax (14.3%).Conclusions: Our initial results suggest that the reported technique is safe and satisfies the oncological principles. It provides the advantages of minimally invasive surgery by overcoming some limitations of conventional thoracoscopy.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"397-403"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1587","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32304184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 38