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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/28090746/development-of-an-in-vivo-visual-robot-system-with-a-magnetic-anchoring-mechanism-and-a-lens-cleaning-mechanism-for-laparoendoscopic-single-site-surgery-less
#1
Haibo Feng, Dinghui Dong, Tengfei Ma, Jinlei Zhuang, Yili Fu, Yi Lv, Liyi Li
BACKGROUND: Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems. METHODS: In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes...
January 16, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28078822/development-and-testing-of-a-grasper-for-notes-powered-by-variable-stiffness-pneumatic-actuation
#2
Michele Gabrio Antonelli, Pierluigi Beomonte Zobel, Francesco Durante, Fabio Gaj
BACKGROUND: In natural orifice transluminal endoscopic surgery (NOTES) the peritoneal cavity is reached through natural orifices (mouth, rectus and transvaginal duct), by means of little cuttings in the walls of hollow organs. Due to narrow spaces, NOTES needs robotic systems to assure operation/movement precision and patient safety. Variable stiffness actuation (VSA) assures both requirements. METHODS: The authors developed a grasper for NOTES, provided with VSA, to use as an end-effector for snail robot devices...
January 12, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28058770/robotic-versus-open-liver-resections-a-case-matched-comparison
#3
Philippe Morel, Minoa Jung, Sorina Cornateanu, Leo Buehler, Pietro Majno, Christian Toso, Nicolas C Buchs, Laura Rubbia-Brandt, Monika E Hagen
BACKGROUND: Most hepatic resections are currently performed using an open approach. Robotic surgery might enable the transition of these procedures to minimally invasive surgery. METHODS: Pre-, peri- and post-operative data of all patients who underwent a liver resection from 2009/2012 to 2001/2015, were collected prospectively. All robotic resection patients were matched 1:1 to patients who underwent open surgery. Pre- and perioperative data, up to 30 days, were analyzed...
January 6, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28026107/a-hierarchical-task-analysis-of-shoulder-arthroscopy-for-a-virtual-arthroscopic-tear-diagnosis-and-evaluation-platform-vatdep
#4
Doga Demirel, Alexander Yu, Seth Cooper-Baer, Aditya Dendukuri, Tansel Halic, Sinan Kockara, Nizamettin Kockara, Shahryar Ahmadi
BACKGROUND: Shoulder arthroscopy is a minimally invasive surgical procedure for diagnosis and treatment of a shoulder pathology. The procedure is performed with a fiber optic camera, called arthroscope, and instruments inserted through very tiny incisions made around the shoulder. The confined shoulder space, unintuitive camera orientation and constrained instrument motions complicates the procedure. Therefore, surgical competence in arthroscopy entails extensive training especially for psychomotor skills development...
December 27, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28008712/insight-into-the-da-vinci%C3%A2-xi-technical-notes-for-single-docking-left-sided-colorectal-procedures
#5
James Chi-Yong Ngu, Sarah Sim, Sulaiman Yusof, Chee-Yung Ng, Andrew Siang-Yih Wong
BACKGROUND: The adoption of robot-assisted laparoscopic colorectal surgery has been hampered by issues with docking, operative duration, technical difficulties in multi-quadrant access, and cost. The da Vinci® Xi has been designed to overcome some of these limitations. We describe our experience with the system and offer technical insights to its application in left-sided colorectal procedures. METHODS: Our initial series of left-sided robotic colorectal procedures was evaluated...
December 23, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27995752/ultrasound-image-based-visual-servoing-for-moving-target-ablation-by-high-intensity-focused-ultrasound
#6
Joonho Seo, Norihiro Koizumi, Mamoru Mitsuishi, Naohiko Sugita
BACKGROUND: Although high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, a moving abdominal target is still a challenge in current HIFU systems. In particular, respiratory-induced organ motion can reduce the treatment efficiency and negatively influence the treatment result. In this research, we present: (1) a methodology for integration of ultrasound (US) image based visual servoing in a HIFU system; and (2) the experimental results obtained using the developed system...
December 20, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27995722/comparative-study-of-surgical-knots-using-a-domestically-produced-chinese-surgical-robot-laparoscope-or-barehanded-approach
#7
Zhi Song, Guo-Hui Wang, Lin-Li Sun, Bo Yi, Zheng Li, Shai-Hong Zhu
BACKGROUND: We conducted a comparative analysis of the first domestically produced Chinese surgical robot, 'MicroHand', laparoscopic, and barehanded approaches in tying surgical knots. METHODS: Four surgeons performed square or triple knots individually using the three approaches and documented the operational time, circumference, the bearable tension and action trajectory for each knot. RESULTS: MicroHand took more time than the barehanded method but nearly the same as with the laparoscope...
December 20, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27917580/a-combined-registration-and-finite-element-analysis-method-for-fast-estimation-of-intraoperative-brain-shift-phantom-and-animal-model-study
#8
Amrollah Mohammadi, Alireza Ahmadian, Shahram Rabbani, Ehsan Fattahi, Shapour Shirani
BACKGROUND: Finite element models for estimation of intraoperative brain shift suffer from huge computational cost. In these models, image registration and finite element analysis are two time-consuming processes. METHODS: The proposed method is an improved version of our previously developed Finite Element Drift (FED) registration algorithm. In this work the registration process is combined with the finite element analysis. In the Combined FED (CFED), the deformation of whole brain mesh is iteratively calculated by geometrical extension of a local load vector which is computed by FED...
December 4, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27915466/impedance-and-admittance-control-for-respiratory-motion-compensation-during-robotic-needle-insertion-a-preliminary-test
#9
Yeoun Jae Kim, Jong Hyun Seo, Hong Rae Kim, Kwang Gi Kim
BACKGROUND: Many robotic needle-biopsy systems have been developed to enhance the accuracy of needle-biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory-motion compensation is needed to ensure the accuracy and efficiency of needle biopsy intervention. METHODS: Human respiratory-motion data were acquired using three inertial measurement units (IMUs), and respiratory motion was simulated using the Stewart-Gough platform...
December 4, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27910205/neurosurgical-robotic-arm-drilling-navigation-system
#10
Chung-Chih Lin, Hsin-Cheng Lin, Wen-Yo Lee, Shih-Tseng Lee, Chieh-Tsai Wu
BACKGROUND: The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. METHODS: The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through...
December 2, 2016: 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
#11
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...
November 21, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27860142/single-incision-robotic-cholecystectomy-a-special-emphasis-on-utilization-of-transparent-glove-ports-to-overcome-limitations-of-single-site-port
#12
Hongeun Lee, Doo-Ho Lee, Hongbeom Kim, Youngmin Han, Sun-Whe Kim, Jin-Young Jang
BACKGROUND: The current robotic platform overcomes some limitations of single-incision laparoscopic cholecystectomy (SILC), however, whether robotic surgery is a safe and feasible approach must be investigated. METHODS: Patients referred for elective surgery willing to undergo single-incision robotic cholecystectomy (SIRC) by consent were enrolled. All procedures were performed by the same team using the same surgical equipment. RESULTS: Thirty patients underwent SIRC...
November 17, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27862833/the-role-of-visual-and-direct-force-feedback-in-robotics-assisted-mitral-valve-annuloplasty
#13
Maria E Currie, Ali Talasaz, Reiza Rayman, Michael W A Chu, Bob Kiaii, Terry Peters, Ana Luisa Trejos, Rajni Patel
BACKGROUND: The objective of this work was to determine the effect of both direct force feedback and visual force feedback on the amount of force applied to mitral valve tissue during ex vivo robotics-assisted mitral valve annuloplasty. METHODS: A force feedback-enabled master-slave surgical system was developed to provide both visual and direct force feedback during robotics-assisted cardiac surgery. This system measured the amount of force applied by novice and expert surgeons to cardiac tissue during ex vivo mitral valve annuloplasty repair...
November 16, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27862888/brometh-methodology-to-design-safe-reconfigurable-medical-robotic-systems
#14
Mohamed Oussama Ben Salem, Olfa Mosbahi, Mohamed Khalgui, Zied Jlalia, Georg Frey, Mahmoud Smida
BACKGROUND: This research paper deals with the development of a medical robotized control system for supracondylar humeral fracture treatment. Concurrent access to shared resources and applying reconfiguration scenarios can jeopardize the safety of the system. METHODS: A new methodology is proposed in this paper, termed BROMETH, to guarantee the safety of such critical systems from their specification to their deployment, and passing through certification and implementation...
November 14, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27862910/dynamic-updating-atlas-for-heart-segmentation-with-a-nonlinear-field-based-model
#15
Ken Cai, Rongqian Yang, Hongwei Yue, Lihua Li, Shanxing Ou, Feng Liu
BACKGROUND: Segmentation of cardiac computed tomography (CT) images is an effective method for assessing the dynamic function of the heart and lungs. In the atlas-based heart segmentation approach, the quality of segmentation usually relies upon atlas images, and the selection of those reference images is a key step. The optimal goal in this selection process is to have the reference images as close to the target image as possible. METHODS: This study proposes an atlas dynamic update algorithm using a scheme of nonlinear deformation field...
November 9, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27766727/robotic-laparoscopic-and-open-colectomy-a-case-matched-comparison-from-the-acs-nsqip
#16
Cigdem Benlice, Erman Aytac, Meagan Costedio, Hermann Kessler, Maher A Abbas, Feza H Remzi, Emre Gorgun
BACKGROUND: This study aimed to compare perioperative outcomes of patients undergoing robotic, laparoscopic, and open colectomy using a procedure-targeted database. METHODS: Retrospective review of patients undergoing elective colectomy in 2013 was conducted using the procedure-targeted database of the American College of Surgeons National Surgical Quality Improvement Program (ACS-NSQIP). Robotic, laparoscopic, and open groups were matched (1:1:1) based on age, gender, body mass index, surgical procedure, diagnosis and ASA classification...
October 21, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27921372/a-fuzzy-neural-network-sliding-mode-controller-for-vibration-suppression-in-robotically-assisted-minimally-invasive-surgery
#17
Hongqiang Sang, Chenghao Yang, Fen Liu, Jintian Yun, Guoguang Jin
BACKGROUND: It is very important for robotically assisted minimally invasive surgery to achieve a high-precision and smooth motion control. However, the surgical instrument tip will exhibit vibration caused by nonlinear friction and unmodeled dynamics, especially when the surgical robot system is attempting low-speed, fine motion. METHODS: A fuzzy neural network sliding mode controller (FNNSMC) is proposed to suppress vibration of the surgical robotic system. Nonlinear friction and modeling uncertainties are compensated by a Stribeck model, a radial basis function (RBF) neural network and a fuzzy system, respectively...
December 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/26928982/a-zero-phase-adaptive-fuzzy-kalman-filter-for-physiological-tremor-suppression-in-robotically-assisted-minimally-invasive-surgery
#18
Hongqiang Sang, Chenghao Yang, Fen Liu, Jintian Yun, Guoguang Jin, Fa Chen
BACKGROUND: Hand physiological tremor of surgeons can cause vibration at the surgical instrument tip, which may make it difficult for the surgeon to perform fine manipulations of tissue, needles, and sutures. METHODS: A zero phase adaptive fuzzy Kalman filter (ZPAFKF) is proposed to suppress hand tremor and vibration of a robotic surgical system. The involuntary motion can be reduced by adding a compensating signal that has the same magnitude and frequency but opposite phase with the tremor signal...
December 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/26858168/real-time-in-vitro-intravascular-reconstruction-and-navigation-for-endovascular-aortic-stent-grafting
#19
Chaoyang Shi, Carlos Tercero, Xianliang Wu, Seiichi Ikeda, Kimihiro Komori, Kiyohito Yamamoto, Fumihito Arai, Toshio Fukuda
BACKGROUND: Trans-catheter endovascular stent grafting minimizes trauma and increases the benefitting patient population. However, the alignment between stent graft branches and vasculature branches remains time-consuming and challenging, and such techniques require a significant amount of contrast agent for imaging. METHODS: A new framework for intravascular reconstruction based on sensor fusion between intravascular ultrasound (IVUS) imaging and electromagnetic (EM) tracking was proposed...
December 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/26840388/total-robotic-radical-rectal-resection-with-da-vinci-xi-system-single-docking-single-phase-technique
#20
Anup Sunil Tamhankar, Sudhir Jatal, Avanish Saklani
OBJECTIVE: This study aims to assess the advantages of Da Vinci Xi system in rectal cancer surgery. It also assesses the initial oncological outcomes after rectal resection with this system from a tertiary cancer center in India. INTRODUCTION: Robotic rectal surgery has distinct advantages over laparoscopy. Total robotic resection is increasing following the evolution of hybrid technology. The latest Da Vinci Xi system (Intuitive Surgical, Sunnyvale, USA) is enabled with newer features to make total robotic resection possible with single docking and single phase...
December 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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