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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/27910205/neurosurgical-robotic-arm-drilling-navigation-system
#1
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
#2
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
#3
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
#4
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
#5
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
#6
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
#7
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/27766732/kinematic-and-experimental-investigation-of-manual-resection-tools-for-transurethral-bladder-tumor-resection
#8
Nima Sarli, Tracy Marien, Christopher R Mitchell, Giuseppe Del Giudice, Mary S Dietrich, S Duke Herrell, Nabil Simaan
BACKGROUND: Transurethral Resection of Bladder Tumors (TURBT) is a challenging procedure partly due to resectoscope limitations. To date, manual resection performance has not been fully characterized. This work characterizes manual resection performance in the bladder while analyzing the effect of resection location on accuracy. METHODS: Kinematic simulations are used to assess kinematic measures of resection dexterity. An experimental protocol for manual resection accuracy assessment is developed...
October 20, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27758024/robotic-assisted-minimally-invasive-surgery-of-the-spine-ramiss-a-proof-of-concept-study-using-carbon-dioxide-insufflation-for-multilevel-posterior-vertebral-exposure-via-a-sub-paraspinal-muscle-working-space
#9
Jason J Howard, Julien Abinahed, Nikhil Navkar, Jean-Marc Peyrat, Abdulla Al-Ansari, David L Sigalet, Abdalla E Zarroug
BACKGROUND: Open posterior spinal procedures involve extensive soft tissue disruption, increased hospital length of stay, and disfiguring scars. Our aim was to demonstrate the feasibility of using robotic-assistance for minimally invasive exposure of the posterolateral spine with and without carbon dioxide (CO2 ) insufflation. METHODS: Sheep specimens underwent minimally invasive subperiosteal dissection of the spine during three trials. The da Vinci S Surgical system was used for access with and without working space support via CO2 insufflation...
October 19, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27723229/the-development-and-error-analysis-of-a-kinematic-parameters-based-spatial-positioning-method-for-an-orthopedic-navigation-robot-system
#10
Baoqing Pei, Gang Zhu, Yu Wang, Huiting Qiao, Xiangqian Chen, Binbin Wang, Xiaoyun Li, Weijun Zhang, Wenyong Liu, Yubo Fan
BACKGROUND: Spatial positioning is the key function of a surgical navigation robot system, and accuracy is the most important performance index of such a system. METHODS: The kinematic parameters of a six degrees of freedom (DOF) robot arm were used to form the transformation from intraoperative fluoroscopy images to a robot's coordinate system without C-arm calibration and to solve the redundant DOF problem. The influences of three typical error sources and their combination on the final navigation error were investigated through Monte Carlo simulation...
October 9, 2016: 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
#11
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 27, 2016: 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
#12
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 27, 2016: 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
#13
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 27, 2016: 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
#14
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 21, 2016: 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
#15
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 20, 2016: 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
#16
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 20, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27593688/segmentation-and-three-dimensional-reconstruction-of-lesions-using-the-automated-breast-volume-scanner-abvs
#17
Teresa Araújo, Momen Abayazid, Matthieu J C M Rutten, Sarthak Misra
BACKGROUND: Ultrasound is an effective tool for breast cancer diagnosis. However, its relatively low image quality makes small lesion analysis challenging. This promotes the development of tools to help clinicians in the diagnosis. METHODS: We propose a method for segmentation and three-dimensional (3D) reconstruction of lesions from ultrasound images acquired using the automated breast volume scanner (ABVS). Segmentation and reconstruction algorithms are applied to obtain the lesion's 3D geometry...
September 4, 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27593511/an-mri-conditional-motion-phantom-for-the-evaluation-of-high-intensity-focused-ultrasound-protocols
#18
George Sagias, Christos Yiallouras, Kleanthis Ioannides, Christakis Damianou
BACKGROUND: The respiratory motion of abdominal organs is a serious obstacle in high-intensity focused ultrasound (HIFU) treatment with magnetic resonance imaging (MRI) guidance. In this study, a two-dimensional (2D) MRI-conditional motion phantom device was developed in order to evaluate HIFU protocols in synchronized and non-synchronized ablation of moving targets. MATERIALS AND METHODS: The 2D phantom device simulates the respiratory motion of moving organs in both the left-right and craniocaudal directions...
September 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/27402476/an-image-guided-automated-robot-for-mri-breast-biopsy
#19
Kathryn G Chan, Tim Fielding, Mehran Anvari
BACKGROUND: The IGAR (Image-guided Automated Robot) is a robotic platform capable of performing highly accurate clinical interventions under image guidance. The IGAR is unique in that it demonstrates MRI compatibility and maintains safe operation, adequate shielding, high image quality, and accurate robotic control even while in an imaging environment. The IGAR is initially intended for breast biopsy. METHODS: Tests for projectile hazards, heating, signal-to-noise ratio loss, and geometric distortion were used to demonstrate MR compatibility...
September 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/26537291/computer-assisted-surgery-and-intraoral-welding-technique-for-immediate-implant-supported-rehabilitation-of-the-edentulous-maxilla-case-report-and-technical-description
#20
Alberto Maria Albiero, Renato Benato
BACKGROUND: Complications are frequently reported when combining computer assisted flapless surgery with an immediate loaded prefabricated prosthesis. The authors have combined computer-assisted surgery with the intraoral welding technique to obtain a precise passive fit of the immediate loading prosthesis. METHODS: An edentulous maxilla was rehabilitated with four computer assisted implants welded together intraorally and immediately loaded with a provisional restoration...
September 2016: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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