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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/28387448/an-adaptive-and-fully-automatic-method-for-estimating-the-3d-position-of-bendable-instruments-using-endoscopic-images
#1
Paolo Cabras, Florent Nageotte, Philippe Zanne, Christophe Doignon
BACKGROUND: Flexible bendable instruments are key tools for performing surgical endoscopy. Being able to measure the 3D position of such instruments can be useful for various tasks, such as controlling automatically robotized instruments and analyzing motions. METHODS: An automatic method is proposed to infer the 3D pose of a single bending section instrument, using only the images provided by a monocular camera embedded at the tip of the endoscope. The proposed method relies on colored markers attached onto the bending section...
April 7, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28387436/2d-3d-reconstruction-of-the-distal-femur-using-statistical-shape-models-addressing-personalized-surgical-instruments-in-knee-arthroplasty-a-feasibility-analysis
#2
Pietro Cerveri, Costanza Sacco, Gianluca Olgiati, Alfonso Manzotti, Guido Baroni
BACKGROUND: Personalized surgical instruments (PSI) have gained success in the domain of total knee replacement, demonstrating clinical outcomes similar or even superior to both traditional and navigated surgeries. The key requirement for prototyping PSI is the availability of the digital bony surface. In this paper, we aim at verifying whether the 2D/3D reconstruction of the distal femur, based on statistical shape models (SSM), grants sufficient accuracy, especially in the condylar regions, to support a PSI technique...
April 7, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28371219/a-single-port-surgical-robot-system-with-novel-elbow-joint-mechanism-for-high-force-transmission
#3
Minho Hwang, Un-Je Yang, Deokyoo Kong, Deok Gyoon Chung, June-Gi Lim, Dong-Ho Lee, Daniel H Kim, Dongsuk Shin, Taeho Jang, Jeong-Whun Kim, Dong-Soo Kwon
BACKGROUND: Despite its evident clinical benefits, single-incision laparoscopic surgery (SILS) imposes inherent limitations of collision between external arms and inadequate triangulation because multiple instruments are inserted through a single port at the same time. METHODS: A robot platform appropriate for SILS was developed wherein an elbowed instrument can be equipped to easily create surgical triangulation without the interference of robot arms. A novel joint mechanism for a surgical instrument actuated by a rigid link was designed for high torque transmission capability...
April 3, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28371198/evaluation-of-the-new-c-arm-guiding-system-clearguide%C3%A2-in-an-orthopaedic-and-trauma-operating-theatre
#4
Marcus Christian Müller, Sophie Frege, Andreas Christian Strauss, Martin Gathen, Michael Windemuth, Eva Nadine Striepens
BACKGROUND: The objective was to evaluate whether the new intraoperative C-arm guiding system ClearGuide® (CG) reduces radiation exposure of the staff in an Orthopaedic and Trauma operation theatre. METHODS: Data of 95 patients CG was used were retrospectively compared using matched-pair analysis with controls without CG. Radiation dose (RD), fluoroscopic time (FT) and operation time (OT) were analysed in ten types of operative procedures. RESULTS: Use of CG led to a significant reduction (p ≤ 0...
April 3, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28371360/the-application-of-a-blunt-tip-needle-to-suture-the-dorsal-venous-complex-in-robot-assisted-laparoscopic-radical-prostatectomy
#5
Chao Zhang, Huiqing Wang, Chen Ye, Fei Guo, Bo Yang, Chuanliang Xu, Yinghao Sun
OBJECTIVES: Complete haemostasis of the dorsal venous complex (DVC) is of great importance in robot-assisted radical prostatectomy. In this study, we investigated the efficacy of blunt-tip needles in the surgery. METHODS: Cases of robot-assisted laparoscopic radical prostatectomy were reviewed. If a blunt-tip needle had been used to suture the DVC, the patient was recruited to the blunt-tip group. If a regular needle was used, the patient was recruited to the control group...
March 31, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28370840/effect-of-femoral-tunnel-positions-on-graft-stress-in-outside-in-acl-reconstruction-surgery-during-continuous-knee-motion-a-simulation-study
#6
Kyungmin Kang, Tae Soo Bae
BACKGROUND: Previous studies regarding the optimal femoral tunnel location for an anterior cruciate ligament (ACL) reconstruction were based on static experiments at specific angles, and did not consider continuous motion of the knee. METHODS: Twenty-four surgical sites were set and continuous kinematic data, obtained from motion analysis, was used to describe knee movement. The bending angle and stress of the ACL graft as well as the length of the femoral tunnel was calculated through multi-flexible body dynamics analysis...
March 31, 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
#7
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...
March 29, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28370919/an-automatic-and-accurate-registration-method-for-electro-anatomical-map-and-ct-surface
#8
Lixia Shu, Jin Wang, Deyong Long, Changyan Lin
BACKGROUND: Electro-anatomical maps (EAM) and CT surface registration are widely used for catheter navigation in atrial fibrillation ablations. However, few studies have investigated the registration algorithm. Moreover, some of them are semiautomatic, so that physicians must be proficient; some are inaccurate for catheter navigation. A both automatic and accurate registration method is needed. METHOD: A Hausdorff distance based approach (HD) was proposed for EAM/CT registration...
March 29, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28345294/compact-teleoperated-laparoendoscopic-single-site-robotic-surgical-system-kinematics-control-and-operation
#9
Oran Jacob Isaac-Lowry, Steele Okamoto, Sahba Aghajani Pedram, Russell Woo, Peter Berkelman
BACKGROUND: To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures...
March 27, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28276146/early-experience-of-laparoscopic-and-robotic-hybrid-pancreaticoduodenectomy
#10
Hongbeom Kim, Jae Ri Kim, Youngmin Han, Wooil Kwon, Sun-Whe Kim, Jin-Young Jang
BACKGROUND: Laparoscopic surgery and robotic surgery have their own merits and demerits. The aim of this study was to evaluate early experiences of hybrid pancreaticoduodenectomy (PD) and to identify the learning curve of robotic surgery. METHODS: Sixteen patients underwent hybrid PD from August 2015 to February 2016. The outcomes were compared with those of an open PD group by the same operator during the same period. The resection time and anastomosis time were analyzed...
March 9, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28271600/natural-orifice-transluminal-endoscopic-surgery-with-a-snake-mechanism-using-a-movable-pulley
#11
Hoyul Lee, Kwang Gi Kim, Jong Hyun Seo, Dae Kyung Sohn
BACKGROUND: Natural orifice transluminal endoscopic surgery is an emerging technique. We aimed to develop an advanced surgical robot mechanism for natural orifice surgery. METHODS: We propose the active-controlled overtube-type platform with multiple channels for an endoscopic camera and surgical tools. To make such a platform, we suggest an advanced snake mechanism comprising movable pulleys to make a snake mechanism with multiple degrees of freedom and high operating force...
March 7, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28260232/generative-anatomy-modeling-language-gaml
#12
Doga Demirel, Alexander Yu, Seth Baer-Cooper, Tansel Halic, Coskun Bayrak
BACKGROUND: This paper presents the Generative Anatomy Modeling Language (GAML) for generating variation of 3D virtual human anatomy in real-time. This framework provides a set of operators for modification of a reference base 3D anatomy. The perturbation of the 3D models is satisfied with nonlinear geometry constraints to create an authentic human anatomy. METHODS: GAML was used to create 3D difficult anatomical scenarios for virtual simulation of airway management techniques such as Endotracheal Intubation (ETI) and Cricothyroidotomy (CCT)...
March 5, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28251840/pose-optimization-and-port-placement-for-robot-assisted-minimally-invasive-surgery-in-cholecystectomy
#13
Mei Feng, Xingze Jin, Weihua Tong, Xiaoyu Guo, Ji Zhao, Yili Fu
BACKGROUND: Pose optimization and port placement are critical issues for preoperative preparation in robot-assisted minimally invasive surgery (RMIS), and affect the robot performance and surgery quality. METHODS: This paper proposes a method for pose optimization and port placement for RMIS in cholecystectomy that considers both the robot and surgery requirements. The robot pose optimization was divided into optimization of the positioning joint configuration and optimization of the end effector configuration...
March 2, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28251793/preservation-of-replaced-left-hepatic-artery-during-robotic-assisted-minimally-invasive-esophagectomy-a-case-series
#14
Nicholas R Hess, Nabil P Rizk, James D Luketich, Inderpal S Sarkaria
OBJECTIVE: Finding of a significant replaced left hepatic artery (RLHA) during esophagectomy is relatively rare, with an incidence of approximately 5%. Sparing of the artery may be required to avoid complications of liver ischemia. Robotic assistance during esophagectomy may provide a technically superior method of artery preservation with minimally invasive approaches. METHODS: This is a retrospective case series of patients undergoing robotic-assisted minimally invasive esophagectomy (RAMIE) identified to have a significant RLHA at time of surgery...
March 2, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28251769/comparison-of-reaction-forces-on-the-anterior-cruciate-and-anterolateral-ligaments-during-internal-rotation-and-anterior-drawer-forces-at-different-flexion-angles-of-the-knee-joint
#15
Levent Uğur
BACKGROUND: Having a complicated anatomy, the knee joint has been further detailed and a new formation defined, the anterolateral ligament (ALL), in recent studies. While the importance of this ligament, which previously was associated with Segond fractures, was explained via clinical, radiologic and biomechanical studies, and basically, is thought to be a fixator structures for the tibia against internal rotation stress. Although in recent studies efficient surgical treatment was applied to patients who underwent anterior cruciate ligament (ACL) operation, some patients having a positive pivot test highlights the clinical importance of the ALL...
March 2, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28218495/design-and-evaluation-of-a-variable-stiffness-manual-operating-platform-for-laparoendoscopic-single-site-surgery-less
#16
Jinhua Li, Xuejie Li, Jianchen Wang, Yuan Xing, Shuxin Wang, Xiangyun Ren
BACKGROUND: Most of the existing robotic platforms for LESS have workspace and load capacity weaknesses, because of the limitation of one single incision. We have developed a LESS manual operating platform of which the stiffness of the insertion tube is controllable. METHODS: The system included two dexterous tool manipulators, a stereo-vision module and a variable stiffness insertion tube (VSIT), which was designed using phase-change material (mixed indium, gallium and stannum)...
February 20, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28218455/experimental-evaluation-of-magnified-haptic-feedback-for-robot-assisted-needle-insertion-and-palpation
#17
Leonardo Meli, Claudio Pacchierotti, Domenico Prattichizzo
BACKGROUND: Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic feedback. METHODS: This work presents the experimental evaluation of a teleoperation system for robot-assisted medical procedures able to provide magnified haptic feedback to the clinician. Forces registered at the operating table are magnified and provided to the clinician through a 7-DoF haptic interface...
February 20, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28211634/prediction-of-forearm-bone-shape-based-on-partial-least-squares-regression-from-partial-shape
#18
Keiichiro Oura, Yoshito Otake, Atsuo Shigi, Futoshi Yokota, Tsuyoshi Murase, Yoshinobu Sato
BACKGROUND: Computer-assisted corrective osteotomy using a mirror image of the normal contralateral shape as reference is increasingly used. Instead, we propose to use the shape predicted by statistical learning to deal with cases demonstrating bilateral abnormality, such as bilateral trauma, congenital disease, and metabolic disease. METHODS: Computed tomography (CT) scans of 100 normal forearms were used in this study. The whole bone shape was predicted from its partial shape based on statistical learning of the other 99 bones...
February 17, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28211622/mri-guided-focused-ultrasound-robotic-system-for-animal-experiments
#19
Marinos Yiannakou, Georgios Menikou, Christos Yiallouras, Cleanthis Ioannides, Christakis Damianou
BACKGROUND: In this paper an MRI-guided focused ultrasound (MRgFUS) robotic system was developed that can be used for conducting experiments in small animals.The target for this robotic system regarding motion was to move a therapeutic ultrasound transducer in two Cartesian axes. METHODS: A single element spherically focused transducer of 3 cm diameter, focusing at 7 cm and operating at 0.4 MHz was used. The positioning device incorporates only MRI compatible materials...
February 17, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28211607/physiological-motion-modeling-for-organ-mounted-robots
#20
Nathan A Wood, David Schwartzman, Marco A Zenati, Cameron N Riviere
BACKGROUND: Organ-mounted robots passively compensate heartbeat and respiratory motion. In model-guided procedures, this motion can be a significant source of information that can be used to aid in localization or to add dynamic information to static preoperative maps. METHODS: Models for estimating periodic motion are proposed for both position and orientation. These models are then tested on animal data and optimal orders are identified. Finally, methods for online identification are demonstrated...
February 17, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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