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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/29125206/a-comparative-analysis-and-guide-to-virtual-reality-robotic-surgical-simulators
#1
Danielle Julian, Alyssa Tanaka, Patricia Mattingly, Mireille Truong, Manuela Perez, Roger Smith
BACKGROUND: Since the US Food and Drug Administration approved robotically assisted surgical devices for human surgery in 2000, the number of surgeries utilizing this innovative technology has risen. In 2015, approximately 650 000 robot-assisted procedures were performed worldwide. Surgeons must be properly trained to safely transition to using such innovative technology. Multiple virtual reality robotic simulators are now commercially available for educational and training purposes. There is a need for comparative evaluations of these simulators to aid users in selecting an appropriate device for their purposes...
November 10, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29105982/trends-in-the-diffusion-of-robotic-surgery-a-retrospective-observational-study
#2
Hani J Marcus, Archie Hughes-Hallett, Christopher J Payne, Thomas P Cundy, Dipankar Nandi, Guang-Zhong Yang, Ara Darzi
BACKGROUND: Recent studies have suggested that the use of robotic surgery for prostatectomy has been increasing, but characterization of the diffusion of robotic surgery in other procedures has not been available. METHODS: Data were analysed for the years 2006-2014 using hospital episode statistics (HES), a database of all admissions to National Health Service (NHS) hospitals in England. OPCS codes were used to determine the annual number of prostatectomy, partial nephrectomy, and total abdominal hysterectomy procedures...
November 6, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29105281/semi-autonomous-image-guided-brain-tumour-resection-using-an-integrated-robotic-system-a-bench-top-study
#3
Danying Hu, Yuanzheng Gong, Eric J Seibel, Laligam N Sekhar, Blake Hannaford
BACKGROUND: Complete brain tumour resection is an extremely critical factor for patients' survival rate and long-term quality of life. This paper introduces a prototype medical robotic system that aims to automatically detect and clean up brain tumour residues after the removal of tumour bulk through conventional surgery. METHODS: We focus on the development of an integrated surgical robotic system for image-guided robotic brain surgery. The Behavior Tree framework is explored to coordinate cross-platform medical subtasks...
November 3, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29063680/development-of-a-physical-shoulder-simulator-for-the-training-of-basic-arthroscopic-skills
#4
Laura C McCracken, Ana Luisa Trejos, Marie-Eve LeBel, Behnaz Poursartip, Abelardo Escoto, Rajni V Patel, Michael D Naish
BACKGROUND: Orthopaedic training programs are incorporating arthroscopic simulations into their residency curricula. There is a need for a physical shoulder simulator that accommodates lateral decubitus and beach chair positions, has realistic anatomy, allows for an objective measure of performance and provides feedback to trainees. METHODS: A physical shoulder simulator was developed for training basic arthroscopic skills. Sensors were embedded in the simulator to provide a means to assess performance...
October 23, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29063675/feasibility-of-infrared-tracking-of-beating-heart-motion-for-robotic-assisted-beating-heart-surgery
#5
Saeed Mansouri, Farzam Farahmand, Gholamreza Vossoughi, Alireza Alizadeh Ghavidel, Mostafa Rezayat
BACKGROUND: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. METHOD: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. RESULTS: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance...
October 23, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29052314/modeling-the-convergence-accommodation-of-stereo-vision-for-binocular-endoscopy
#6
Yuanqian Gao, Jinhua Li, Jianmin Li, Shuxin Wang
BACKGROUND: The stereo laparoscope is an important tool for achieving depth perception in robot-assisted minimally invasive surgery (MIS). METHODS: A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established. The imaging plane pair is rectified to ensure that the two rectified virtual optical axes intersect at the fixation target to provide immersive depth perception...
October 19, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29027359/a-master-manipulator-with-a-remote-center-of-motion-kinematic-structure-for-a-minimally-invasive-robotic-surgical-system
#7
Hyunyoung Lee, Byungsik Cheon, Minho Hwang, Donghoon Kang, Dong-Soo Kwon
BACKGROUND: In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote-center-of-motion (RCM) master manipulator was proposed. METHODS: The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni...
October 12, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29027351/robotic-assisted-versus-open-radical-cystectomy-in-bladder-cancer-a-meta-analysis-of-four-randomized-controlled-trails
#8
Jin-Qiu Tang, Zhihong Zhao, Yiwen Liang, Guixiang Liao
BACKGROUND: Robot-assisted radical cystectomy (RARC) is increasing annually for treatment of bladder cancer. The objective of this meta-analysis was to compare the safety and efficacy of RARC and open radical cystectomy (ORC) for bladder cancer. METHODS: Our meta-analysis searches were conducted using PubMed, Web of Science, and Cochrane Library databases to identify randomized controlled trials (RCT) assessing the two techniques. RESULTS: Four RCT studies were identified, including 239 cases...
October 12, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28948678/improving-the-human-robot-interface-for-telemanipulated-robotic-long-bone-fracture-reduction-joystick-device-vs-haptic-manipulator
#9
Eduardo M Suero, Tristan Hartung, Ralf Westphal, Nael Hawi, Emmanouil Liodakis, Musa Citak, Christian Krettek, Timo Stuebig
OBJECTIVES: Intramedullary nailing is the treatment of choice for femoral shaft fractures. However, there are several problems associated with the technique, e.g. high radiation exposure and rotational malalignment. Experimental robotic assistance has been introduced to improve the quality of the reduction and to reduce the incidence of rotational malalignment. In the current study, we compare two devices for control of the fracture fragments during telemanipulated reduction. METHODS: Ten male and ten female subjects were asked to participate as examiners in this experiment...
September 25, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28944618/comparison-of-algorithms-for-automated-femur-fracture-reduction
#10
Eduardo M Suero, Ralf Westphal, Musa Citak, Nael Hawi, Emmanouil Liodakis, Mohamed Omar, Christian Krettek, Timo Stuebig
PURPOSE: We designed an experiment to determine the comparative effectiveness of computer algorithms for performing automated long bone fracture reduction. METHODS: Automated reduction of 10 3D fracture models was performed using two computer algorithms, random sample matching (RANSAM) and Z-buffering (Z-Buffer), and one of five options of post-processing: none; iterative closest point algorithm (ICP); ICP-X1; ICP-X2; and ICP-X3. We measured the final alignment between the two fragments for each algorithm and post-processing option...
September 24, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28944574/a-novel-approach-for-intra-operative-shape-acquisition-of-the-tibio-femoral-joints-using-3d-laser-scanning-in-computer-assisted-orthopaedic-surgery
#11
Shailesh V Joshi, Philip J Rowe
BACKGROUND: Image registration (IR) is an important process of developing a spatial relationship between pre-operative data and the physical patient in the operation theatre. Current IR techniques for Computer Assisted Orthopaedic Surgery (CAOS) are time consuming and costly. There is a need to automate and accelerate this process. METHODS: Bespoke quick, cost effective, contactless and automated 3D laser scanning techniques based on the DAVID Laserscanner method were designed...
September 24, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28875529/single-incision-robotic-cholecystectomy-is-associated-with-a-high-rate-of-trocar-site-infection
#12
Chetana Lim, Georges Bou Nassif, Eylon Lahat, Mohamad Hayek, Michael Osseis, Concepcion Gomez Gavara, Toufic Moussalem, Daniel Azoulay, Chady Salloum
BACKGROUND: Single-incision robotic cholecystectomy has been developed to decrease post-operative pain and improve cosmetic results. METHODS: Thirty-seven patients underwent single-site robotic cholecystectomy between 2014 and 2015. Postoperative outcomes and costs were compared to reported outcomes for laparoscopic cholecystectomy using the configuration of suprapubic trocars. RESULTS: The median age was comparable between the two groups (46 years in the robotic group vs...
September 6, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28868631/finite-element-analysis-of-customized-implant-in-mandibular-reconstruction-after-tumor-resection-with-and-without-using-customized-surgical-osteotomy-guide
#13
Sandeep Dahake, Abhaykumar Kuthe, Sanket Kulkarni, Mahesh Mawale
OBJECTIVES: The aim of this work was to compare different 12 cases (3 patients * 4 cases = 12 cases) with varying gaps between implant and bone by analyzing the effect of these gaps on implant and screws using FEM. METHODS: In each patient's case 1 using CSOG and in case 2, 3, and 4 without using CSOG tumor cutting was done. Hence in each patient zero gaps at case 1 and overcutting at case 2, 3, and 4 have obtained at different locations. RESULTS: FEM results reveal that in each patient's case 4 (maximum gap) was more susceptible to loosening of the screws due to higher strains (37%) and implant failure due to higher stress (28%) concentration under the same loading conditions when compared with case 1 (zero gap)...
September 4, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28371283/outcomes-in-patients-undergoing-robotic-reconstructive-uterovaginal-anastomosis-of-congenital-cervical-and-vaginal-atresia
#14
Ying Zhang, Yisong Chen, Keqin Hua
OBJECTIVE: To introduce our experience of robotic surgery of reconstructive uterovaginal anastomosis and operative outcomes in congenital cervical and vaginal atresia patients. METHODS: Clinical observation and follow-up of four patients with congenital cervical and vaginal atresia who underwent robotic reconstruction of cervix and vagina by SIS (small intestinal submucosa, SIS) graft. RESULTS: Average patient age was 13.8 ± 2.2. Patients complained of severe periodic abdominal pain...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27868345/conosurf-open-source-3d-scanning-system-based-on-a-conoscopic-holography-device-for-acquiring-surgical-surfaces
#15
Mikael Brudfors, Verónica García-Vázquez, Begoña Sesé-Lucio, Eugenio Marinetto, Manuel Desco, Javier Pascau
BACKGROUND: A difficulty in computer-assisted interventions is acquiring the patient's anatomy intraoperatively. Standard modalities have several limitations: low image quality (ultrasound), radiation exposure (computed tomography) or high costs (magnetic resonance imaging). An alternative approach uses a tracked pointer; however, the pointer causes tissue deformation and requires sterilizing. Recent proposals, utilizing a tracked conoscopic holography device, have shown promising results without the previously mentioned drawbacks...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27672000/a-prospective-randomized-controlled-trial-of-robot-assisted-vs-freehand-pedicle-screw-fixation-in-spine-surgery
#16
Ho-Joong Kim, Whan-Ik Jung, Bong-Soon Chang, Choon-Ki Lee, Kyoung-Tak Kang, Jin S Yeom
BACKGROUND: The purpose of this study was to compare the accuracy and safety of an instrumented posterior lumbar interbody fusion (PLIF) using a robot-assisted minimally invasive (Robot-PLIF) or a conventional open approach (Freehand-PLIF). METHODS: Patients undergoing an instrumented PLIF were randomly assigned to be treated using a Robot-PLIF (37 patients) and a Freehand-PLIF (41 patients). RESULTS: For intrapedicular accuracy, there was no significant difference between the groups (P = 0...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27671920/smartsim-a-virtual-reality-simulator-for-laparoscopy-training-using-a-generic-physics-engine
#17
Zohaib Amjad Khan, Nabeel Kamal, Asad Hameed, Amama Mahmood, Rida Zainab, Bushra Sadia, Shamyl Bin Mansoor, Osman Hasan
Virtual reality (VR) training simulators have started playing a vital role in enhancing surgical skills, such as hand-eye coordination in laparoscopy, and practicing surgical scenarios that cannot be easily created using physical models. We describe a new VR simulator for basic training in laparoscopy, i.e. SmartSIM, which has been developed using a generic open-source physics engine called the simulation open framework architecture (SOFA). This paper describes the systems perspective of SmartSIM including design details of both hardware and software components, while highlighting the critical design decisions...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27669679/a-prognostic-model-for-predicting-urinary-incontinence-after-robot-assisted-radical-prostatectomy
#18
Masashi Honda, Bunya Kawamoto, Shuichi Morizane, Katsuya Hikita, Kuniyasu Muraoka, Takehiro Sejima, Atsushi Takenaka
BACKGROUND: The aim of this study is to develop a novel prognostic model for estimating the risk of postoperative urinary incontinence (UI) after robot-assisted radical prostatectomy (RARP). METHODS: Participants comprised 131 men who underwent RARP at our hospital from 2011 to 2013. Cox regression analyses were performed to evaluate associations between UI and preoperative factors including filling cystometry and pressure-flow study results and magnetic resonance imaging...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27650366/safety-margins-in-robotic-bone-milling-from-registration-uncertainty-to-statistically-safe-surgeries
#19
Michael A Siebold, Neal P Dillon, Loris Fichera, Robert F Labadie, Robert J Webster, J Michael Fitzpatrick
BACKGROUND: When robots mill bone near critical structures, safety margins are used to reduce the risk of accidental damage due to inaccurate registration. These margins are typically set heuristically with uniform thickness, which does not reflect the anisotropy and spatial variance of registration error. METHODS: A method is described to generate spatially varying safety margins around vital anatomy using statistical models of registration uncertainty. Numerical simulations are used to determine the margin geometry that matches a safety threshold specified by the surgeon...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27647806/data-driven-methods-towards-learning-the-highly-nonlinear-inverse-kinematics-of-tendon-driven-surgical-manipulators
#20
Wenjun Xu, Jie Chen, Henry Y K Lau, Hongliang Ren
BACKGROUND: Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. METHODS: To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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