The international journal of medical robotics + computer assisted surgery : MRCAS最新文献_第4页

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

Preliminary study on a miniature laser manipulation robotic device for tooth crown preparation. 小型激光操作机器人牙冠预备装置的初步研究。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2014-01-06 DOI: 10.1002/rcs.1560

Dangxiao Wang, Lei Wang, Yuru Zhang, Peijun Lv, Yuchun Sun, Jing Xiao

{"title":"Preliminary study on a miniature laser manipulation robotic device for tooth crown preparation.","authors":"Dangxiao Wang, Lei Wang, Yuru Zhang, Peijun Lv, Yuchun Sun, Jing Xiao","doi":"10.1002/rcs.1560","DOIUrl":"https://doi.org/10.1002/rcs.1560","url":null,"abstract":"Background: The existing methods in dental clinical operations for hard tissue removal have several drawbacks which affect the long-term success of the dental treatment.Methods: In this paper, we introduce a miniature robotic device called LaserBot, which can manipulate a femtosecond laser beam to drill/burr a decayed tooth to realize clinical tooth crown preparation. In order to control the 3D motion of the laser focal point on the surface of a tooth, three miniature voice-coil motors with optical grating rulers are utilized to drive the 2D pitch/yaw rotation of a vibration mirror and 1D translation of a protruding optical lens. This method can provide high-resolution control of the laser beam. In order to maintain the small size of the robot, a parallel five linkage mechanism combined with a slider-rocker mechanism is developed to realize 2D pitch/yaw rotation of the vibration mirror.Results: Experiment results show that the movement range and resolution of the laser beam point can meet the requirement of typical dental operations. The size of the working end of the device that enters the mouth is 25 × 22 × 57 mm (height × width × length), which is small enough to be mounted on any tooth. The average repeatability error of the laser focal point is about 40 µm. Ablation experiments on wax-resin material and on tooth validate that a femtosecond laser can be used for tooth ablation.Conclusions: The developed robotic device achieved precise 3D motion control of a laser focal point and is small enough to be used in the narrow workspace of the oral cavity. Limitations of the prototype have been identified, and quantified specifications are identified for designing the next generation prototype.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"482-94"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1560","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32001826","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: 17

In vitro simulator with numerical stress analysis for evaluation of stent-assisted coiling embolization in cerebral aneurysm treatments. 体外模拟数值应力分析评估支架辅助螺旋栓塞在脑动脉瘤治疗中的应用。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2013-12-27 DOI: 10.1002/rcs.1563

Chaoyang Shi, Masahiro Kojima, Carlos Tercero, Zoran Najdovski, Seiichi Ikeda, Toshio Fukuda, Fumihito Arai, Makoto Negoro

{"title":"In vitro simulator with numerical stress analysis for evaluation of stent-assisted coiling embolization in cerebral aneurysm treatments.","authors":"Chaoyang Shi, Masahiro Kojima, Carlos Tercero, Zoran Najdovski, Seiichi Ikeda, Toshio Fukuda, Fumihito Arai, Makoto Negoro","doi":"10.1002/rcs.1563","DOIUrl":"https://doi.org/10.1002/rcs.1563","url":null,"abstract":"Background: There are several complications associated with Stent-assisted Coil Embolization (SACE) in cerebral aneurysm treatments, due to damaging operations by surgeons and undesirable mechanical properties of stents. Therefore, it is necessary to develop an in vitro simulator that provides both training and research for evaluating the mechanical properties of stents.Methods: A new in vitro simulator for three-dimensional digital subtraction angiography was constructed, followed by aneurysm models fabricated with new materials. Next, this platform was used to provide training and to conduct photoelastic stress analysis to evaluate the SACE technique.Results: The average interaction stress increasingly varied for the two different stents. Improvements for the Maximum-Likelihood Expectation-Maximization method were developed to reconstruct cross-sections with both thickness and stress information.Conclusions: The technique presented can improve a surgeon's skills and quantify the performance of stents to improve mechanical design and classification. This method can contribute to three-dimensional stress and volume variation evaluation and assess a surgeon's skills.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"505-15"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1563","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"31988760","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: 3

Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system. 用于控制主从式手术机器人系统的工具式主控器的直接操作。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2013-10-11 DOI: 10.1002/rcs.1545

Linan Zhang, Ningxin Zhou, Shuxin Wang

{"title":"Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.","authors":"Linan Zhang, Ningxin Zhou, Shuxin Wang","doi":"10.1002/rcs.1545","DOIUrl":"https://doi.org/10.1002/rcs.1545","url":null,"abstract":"Background: Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system.Methods: In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system.Results: Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master.Conclusions: Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"427-37"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1545","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"31808823","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: 6

Volume-specific parameter optimization of 3D local phase features for improved extraction of bone surfaces in ultrasound. 三维局部相位特征的体特异性参数优化，以改进超声骨表面的提取。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2014-01-09 DOI: 10.1002/rcs.1552

Ilker Hacihaliloglu, Pierre Guy, Antony J Hodgson, Rafeef Abugharbieh

{"title":"Volume-specific parameter optimization of 3D local phase features for improved extraction of bone surfaces in ultrasound.","authors":"Ilker Hacihaliloglu, Pierre Guy, Antony J Hodgson, Rafeef Abugharbieh","doi":"10.1002/rcs.1552","DOIUrl":"https://doi.org/10.1002/rcs.1552","url":null,"abstract":"Background: Accurate localization of bone surfaces remains a challenge hampering adoption of ultrasound guidance in computer-assisted orthopaedic surgery. Local phase image features have recently been proven efficacious for segmenting bone surfaces from ultrasound images, but the quality of the processing depends on numerous filter parameters that are currently set through a trial and error process that is tedious, unintuitive and subject to large inter-user variability.Methods: A method is presented for automatically selecting parameters of Log-Gabor filters used to extract bone surfaces from 3D ultrasound volumes that is based on properties estimated directly from the specific image.Results: A 15% and 69% average improvement in bone surface localization accuracy on phantom and clinical data, respectively, is demonstrated compared with empirically-set parameters.Conclusions: These findings imply that Log-Gabor filter parameter optimization is necessary for accurate extraction of bone surfaces from ultrasound data.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"461-73"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1552","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32012645","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: 16

To assess the benefits of medical image three-dimensional visualization system assisted pancreaticoduodenctomy for patients with hepatic artery variance. 目的探讨医学影像三维可视化系统辅助胰十二指肠切除术治疗肝动脉病变的疗效。

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2014-04-08 DOI: 10.1002/rcs.1590

Jian Yang, Chi-Hua Fang, Ying-Fang Fan, Nan Xiang, Jun Liu, Wen Zhu, Su-Su Bao, Huai-Zhi Wang

{"title":"To assess the benefits of medical image three-dimensional visualization system assisted pancreaticoduodenctomy for patients with hepatic artery variance.","authors":"Jian Yang, Chi-Hua Fang, Ying-Fang Fan, Nan Xiang, Jun Liu, Wen Zhu, Su-Su Bao, Huai-Zhi Wang","doi":"10.1002/rcs.1590","DOIUrl":"https://doi.org/10.1002/rcs.1590","url":null,"abstract":"Background: Our main aim was to evaluate the value of medical image three-dimensional visualization system (MI-3DVS) in pancreaticoduodenctomy patients with hepatic artery variance.Methods: 114 patients who had undergone pancreatoduodenectomy were retrospectively summarized and analyzed. Clinical data of 64-slice multidetector CT angiography (64-MDCTA) scanning was introduced into MI-3DVS for procedural segmentation, registration and 3-dimensional (3D) reconstruction. The findings were compared with those found during the operation and by postoperative digital subtraction angiography (DSA) of coeliac artery.Results: The 3D model demonstrated the origination and bifurcations of blood vessels, and the relationships among neoplasms, organs and blood vessels efficiently. About (14/114 cases, 12.3%) had variant. The sensitivity, specificity and accuracy of MI-3DVS in variant hepatic artery diagnosis were 100%. It assisted in preoperative procedural planning that was consistent with intraoperative findings.Conclusions: MI-3DVS can be applied for accurate diagnosis of hepatic artery variance. It also provides detailed preoperative guidance for individualized procedural planning.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"410-7"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1590","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32243509","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: 17