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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/28875529/single-incision-robotic-cholecystectomy-is-associated-with-a-high-rate-of-trocar-site-infection
#1
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
#2
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/28809094/an-automated-skills-assessment-framework-for-laparoscopic-training-tasks
#3
Nicholas P Sgouros, Constantinos Loukas, Vassiliki Koufi, Theodore G Troupis, Evangelos Georgiou
BACKGROUND: Various sensors and methods are used for evaluating trainees' skills in laparoscopic procedures. These methods are usually task-specific and involve high costs or advanced setups. METHODS: In this paper, we propose a novel manoeuver representation feature space (MRFS) constructed by tracking the vanishing points of the edges of the graspers on the video sequence frames, acquired by the standard box trainer camera. This study aims to provide task-agnostic classification of trainees in experts and novices using a single MRFS over two basic laparoscopic tasks...
August 15, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28804993/influence-of-surgical-gloves-on-haptic-perception-thresholds
#4
Christian Hatzfeld, Sarah Dorsch, Carsten Neupert, Mario Kupnik
BACKGROUND: Impairment of haptic perception by surgical gloves could reduce requirements on haptic systems for surgery. While grip forces and manipulation capabilities were not impaired in previous studies, no data is available for perception thresholds. METHODS: Absolute and differential thresholds (20 dB above threshold) of 24 subjects were measured for frequencies of 25 and 250 Hz with a Ψ-method. Effects of wearing a surgical glove, moisture on the contact surface and subject's experience with gloves were incorporated in a full-factorial experimental design...
August 14, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28782245/development-of-a-novel-robotic-platform-with-controllable-stiffness-manipulation-arms-for-laparoendoscopic-single-site-surgery-less
#5
Jianchen Wang, Shuxin Wang, Jinhua Li, Xiangyun Ren, Randall Miller Briggs
BACKGROUND: For current LESS robotic systems, the trade-off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms. METHODS: Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7-DoF compliant status and 5-DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance...
August 6, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28762635/a-comparison-of-operative-outcomes-between-standard-and-robotic-laparoscopic-surgery-for-endometrial-cancer-a-systematic-review-and-meta-analysis
#6
REVIEW
Thomas Ind, Alex Laios, Matthew Hacking, Marielle Nobbenhuis
BACKGROUND: Evidence has been systematically assessed comparing robotic with standard laparoscopy for treatment of endometrial cancer. METHODS: A search of Medline, Embase and Cochrane databases was performed until 30th October 2016. RESULTS: Thirty-six papers including 33 retrospective studies, two matched case-control studies and one randomized controlled study were used in a meta-analysis. Information from a further seven registry/database studies were assessed descriptively...
August 1, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28762253/intraocular-robotic-interventional-surgical-system-iriss-mechanical-design-evaluation-and-master-slave-manipulation
#7
Jason T Wilson, Matthew J Gerber, Stephen W Prince, Cheng-Wei Chen, Steven D Schwartz, Jean-Pierre Hubschman, Tsu-Chin Tsao
BACKGROUND: Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. METHODS: An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated...
July 31, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28758326/a-novel-optimal-coordinated-control-strategy-for-the-updated-robot-system-for-single-port-surgery
#8
Weibang Bai, Qixin Cao, Chuntao Leng, Yang Cao, Masakatsu G Fujie, Tiewen Pan
BACKGROUND: Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. METHODS: A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control...
July 30, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28719002/eyeslam-real-time-simultaneous-localization-and-mapping-of-retinal-vessels-during-intraocular-microsurgery
#9
Daniel Braun, Sungwook Yang, Joseph N Martel, Cameron N Riviere, Brian C Becker
BACKGROUND: Fast and accurate mapping and localization of the retinal vasculature is critical to increasing the effectiveness and clinical utility of robot-assisted intraocular microsurgery such as laser photocoagulation and retinal vessel cannulation. METHODS: The proposed EyeSLAM algorithm delivers 30 Hz real-time simultaneous localization and mapping of the human retina and vasculature during intraocular surgery, combining fast vessel detection with 2D scan-matching techniques to build and localize a probabilistic map of the vasculature...
July 18, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28714565/mri-compatible-breast-rib-phantom-for-evaluating-ultrasonic-thermal-exposures
#10
Georgios Menikou, Marinos Yiannakou, Christos Yiallouras, Cleanthis Ioannides, Christakis Damianou
INTRODUCTION: The target of this study was the development of a magnetic resonance imaging (MRI) compatible breast phantom for focused ultrasound which includes plastic (ABS) ribs. The objective of the current study was the evaluation of a focused ultrasound procedure using the proposed phantom that eliminates rib heating. MATERIAL AND METHODS: The proposed phantom was evaluated using two different focused ultrasound exposures. The surrounding breast tissue was mimicked using an agar-silica-evaporation milk gel (2% w/v - 2% w/v - 40% v/v)...
July 17, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28660725/automated-robot-assisted-surgical-skill-evaluation-predictive-analytics-approach
#11
Mahtab J Fard, Sattar Ameri, R Darin Ellis, Ratna B Chinnam, Abhilash K Pandya, Michael D Klein
BACKGROUND: Surgical skill assessment has predominantly been a subjective task. Recently, technological advances such as robot-assisted surgery have created great opportunities for objective surgical evaluation. In this paper, we introduce a predictive framework for objective skill assessment based on movement trajectory data. Our aim is to build a classification framework to automatically evaluate the performance of surgeons with different levels of expertise. METHODS: Eight global movement features are extracted from movement trajectory data captured by a da Vinci robot for surgeons with two levels of expertise - novice and expert...
June 29, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28660682/robotic-versus-thoracoscopic-thymectomy-the-current-evidence
#12
Judith Buentzel, Judith Heinz, Marc Hinterthaner, Friedrich A Schöndube, Carmen Straube, Christian Roever, Alexander Emmert
BACKGROUND: The purpose of this study was to analyze all relevant comparative studies comparing robot-assisted minimally invasive thymectomy (RATS) and video-assisted thoracic surgery thymectomy (VATS) in terms of surgical and short-term outcomes. METHODS: A systematic search for articles describing robot-assisted and video-assisted thymectomy and addressing surgical outcomes, operation time, length of hospitalization, intra-operative blood loss, conversion to sternotomy and post-operative complications was performed using the medical databases...
June 29, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28660676/manipulator-driven-selection-of-semi-active-mr-visible-markers
#13
Junmo An, Andrew G Webb, Dipan J Shah, Karen Chin, Nikolaos V Tsekos
BACKGROUND: A method for the identification of semi-active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them. METHODS: Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator linking the microcontroller to the manipulator control to visibly select the marker subset according to the actuated joint...
June 29, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28660644/motion-control-skill-assessment-based-on-kinematic-analysis-of-robotic-end-effector-movements
#14
Ke Liang, Yuan Xing, Jianmin Li, Shuxin Wang, Aimin Li, Jinhua Li
BACKGROUND: The performance of robotic end-effector movements can reflect the user's operation skill difference in robot-assisted minimally invasive surgery. This study quantified the trade-off of speed-accuracy-stability by kinematic analysis of robotic end-effector movements to assess the motion control skill of users with different levels of experience. METHODS: Using 'MicroHand S' system, 10 experts, 10 residents and 10 novices performed single-hand test and bimanual coordination test...
June 29, 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
#15
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
#16
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
#17
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
#18
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
#19
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
https://www.readbyqxmd.com/read/27647797/differential-analysis-of-muscle-fatigue-induced-elbow-and-wrist-tremor-in-controlled-laparoscopic-manoeuvring
#20
Sourav Chandra, Mitsuhiro Hayashibe, Asokan Thondiyath, Manickam Ramalingam
BACKGROUND: Fatigue induced hand tremor (FIT) is a primary limiting concern for the prolonged surgical intervention in minimally invasive surgery (MIS) and robot-assisted-minimally invasive surgery (RAMIS). A thorough analysis is necessary to understand the FIT characteristics in laparoscopic tool movement. The primary aim of this study is to perform a differential analysis of the elbow and wrist tremor due to muscle fatigue in laparoscopic manoeuvring. METHODS: We have introduced a joint angle based tremor analysis method, which enables us to perform a differential study of FIT characteristics at the individual joint...
September 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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