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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/30003671/motion-modelling-and-error-compensation-of-a-cable-driven-continuum-robot-for-applications-to-minimally-invasive-surgery
#1
Fei Qi, Feng Ju, Dongming Bai, Yaoyao Wang, Bai Chen
BACKGROUND: The continuum robot is widely used in minimally invasive surgery (MIS) because of its flexibility, dexterity and safety. However, because of the friction in the transmission system, backlash, and shape error from nominal kinematics, the tracking accuracy of the continuum robot is low, which may damage the tissues and organs during surgery. A novel error compensation method is presented to improve control. METHODS: Considering the nonlinear friction and coupling effects, the static model of a robot is derived based on the principle of virtual work...
July 13, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29971897/envisioning-robotic-surgery-surgeons-needs-and-views-on-interacting-with-future-technologies-and-interfaces
#2
Iina E Aaltonen, Mikael Wahlström
BACKGROUND: The development of technology in robotic surgery is typically presented from a technical perspective. This study considers the user perspective as an input to the development of technology by exploring potential solutions within and beyond the field of robotic surgery. METHODS: Advanced technological solution concepts were selected based on a technology review and an ethnographic study. Using a future workshop method, these were rated and discussed by a group of surgeons from three perspectives: enhancing operation outcome, user experience and learning in the operating theatre...
July 3, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29968295/endoabs-dataset-endoscopic-abdominal-stereo-image-dataset-for-benchmarking-3d-stereo-reconstruction-algorithms
#3
Veronica Penza, Andrea S Ciullo, Sara Moccia, Leonardo S Mattos, Elena De Momi
BACKGROUND: 3D reconstruction algorithms are of fundamental importance for augmented reality applications in computer-assisted surgery. However, few datasets of endoscopic stereo images with associated 3D surface references are currently openly available, preventing the proper validation of such algorithms. This work presents a new and rich dataset of endoscopic stereo images (EndoAbS dataset). METHODS: The dataset includes (i) endoscopic stereo images of phantom abdominal organs, (ii) a 3D organ surface reference (RF) generated with a laser scanner and (iii) camera calibration parameters...
July 3, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29956447/continuous-dynamic-gesture-spotting-algorithm-based-on-dempster-shafer-theory-in-the-augmented-reality-human-computer-interaction
#4
Qiming Li, Chen Huang, Zhengwei Yao, Yimin Chen, Lizhuang Ma
BACKGROUND: Human-computer interaction (HCI) is an important feature of augmented reality (AR) technology. The naturalness is the inevitable trend of HCI. Gesture is the most natural and frequently used body auxiliary interaction mode in daily interactions except for language. However, there are often meaningless, subconscious gesture intervals between the two adjacent dynamic gestures. So, continuous dynamic gesture spotting is the premise and basis of dynamic gesture recognition, but there is no mature and unified algorithm to solve this problem...
June 28, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29952064/accuracy-of-the-femoral-tunnel-position-in-robot-assisted-anterior-cruciate-ligament-reconstruction-using-a-magnetic-resonance-imaging-based-navigation-system-a-preliminary-report
#5
Won-Joon Cho, Jong-Min Kim, Dong-Eun Kim, June-Goo Lee, Jun-Woo Park, Yong-Hee Han, Hyun-Gi Seo
BACKGROUND: Tunnel misplacement is a common cause of failed anterior cruciate ligament (ACL) reconstruction. In this study, the accuracy of the femoral tunnel position was evaluated in robot-assisted ACL reconstruction using a magnetic resonance imaging (MRI)-based navigation system. We hypothesized that a difference of less than 2 mm between the planned femoral tunnel position and the created one was achievable. METHODS: Four cadaveric knees underwent robot-assisted ACL reconstruction...
June 28, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29923349/teleoperated-tubular-continuum-robots-for-transoral-surgery-feasibility-in-a-porcine-larynx-model
#6
D T Friedrich, V Modes, T K Hoffmann, J Greve, P J Schuler, J Burgner-Kahrs
BACKGROUND: Evidence suggests that transoral robot-assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study. METHODS: A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans...
June 20, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29920914/robot-assisted-percutaneous-screw-placement-combined-with-pelvic-internal-fixator-for-minimally-invasive-treatment-of-unstable-pelvic-ring-fractures
#7
Hua-Shui Liu, Sheng-Jun Duan, Shi-Dong Liu, Feng-Shuang Jia, Li-Ming Zhu, Min-Cen Liu
PURPOSE: The purpose of this study was to investigate the safety and efficacy of the combination of robot-assisted percutaneous screw placement and pelvic internal fixator (INFIX) for minimally invasive treatment of unstable anterior and posterior pelvic ring injuries. METHODS: From September 2016 to June 2017, twenty-four patients with unstable anterior and posterior pelvic ring injuries were treated with TiRobot-assisted percutaneous sacroiliac cannulated screw fixation on the posterior pelvic ring combined with robot-assisted pedicle screw placement in the anterior inferior iliac spine along with INFIX on the anterior pelvic ring...
June 19, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29901283/an-efficient-intensity-based-ready-to-use-x-ray-image-stitcher
#8
Junchen Wang, Xiaohui Zhang, Zhen Sun, Fuzhen Yuan
BACKGROUND: The limited field of view of the X-ray image intensifier makes it difficult to cover a large target area with a single X-ray image. X-ray image stitching techniques have been proposed to produce a panoramic X-ray image. METHODS: This paper presents an efficient intensity-based X-ray image stitcher, which does not rely on accurate C-arm motion control or auxiliary devices and hence is ready to use in clinic. The stitcher consumes sequentially captured X-ray images with overlap areas and automatically produces a panoramic image...
June 14, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29873448/prior-knowledge-snake-segmentation-of-ultrasound-images-denoised-by-j-divergence-anisotropy-diffusion
#9
Jiawen Yan, Bo Pan, Yunfeng Qi, Jin Ben, Yili Fu
BACKGROUND: Applying transrectal ultrasound to robot-assisted laparoscopic radical prostatectomy has attracted attention in recent years, and it is considered as a proper method to provide real-time subsurface anatomic features. A precise registration between the ultrasound equipment and robotic surgical system is necessary, which usually requires a fast and accurate recognition of the registration tool in the ultrasound image. METHODS: Tissue forceps are chosen as the registration tool...
June 6, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29869383/a-review-of-virtual-cutting-methods-and-technology-in-deformable-objects
#10
REVIEW
Monan Wang, Yuzheng Ma
BACKGROUND: Virtual cutting of deformable objects has been a research topic for more than a decade and has been used in many areas, especially in surgery simulation. METHODS: We refer to the relevant literature and briefly describe the related research. The virtual cutting method is introduced, and we discuss the benefits and limitations of these methods and explore possible research directions. RESULTS: Virtual cutting is a category of object deformation...
June 5, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29790253/robotic-left-colectomy-with-complete-mesocolectomy-for-splenic-flexure-and-descending-colon-cancer-compared-with-a-laparoscopic-procedure
#11
Jin Cheon Kim, Jong Lyul Lee, Yong Sik Yoon, Chan Wook Kim, In Ja Park, Seok-Byeong Lim
BACKGROUND: Its relatively low incidence and its surgical complexity mean that a standardized technique for left colectomy has not yet been established for splenic flexure and descending colon cancer (SF-DCC). METHODS: Seventy-three patients (robot-assisted left colectomy with complete mesocolectomy [R-LCCM], n = 20; laparoscopic left colectomy with complete mesocolectomy [L-LCCM], n = 53) with SF-DCC were enrolled at the Asan Medical Center (Seoul, Korea). RESULTS: R-LCCM conveniently enables dexterous dissection for the multi-directional approaches during left mesocolic mobilization...
May 23, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29786165/comparative-study-of-1-year-clinical-and-radiological-outcomes-using-robot-assisted-pedicle-screw-fixation-and-freehand-technique-in-posterior-lumbar-interbody-fusion-a-prospective-randomized-controlled-trial
#12
Ho-Joong Kim, Kyoung-Tak Kang, Heoung-Jae Chun, Ji Sup Hwang, Bong-Soon Chang, Choon-Ki Lee, Jin S Yeom
BACKGROUND: The purpose of this study was to compare the clinical outcome of surgery using robot-assisted posterior interbody fusion with that using freehand posterior interbody fusion in patients with degenerative spinal disease. METHODS: 78 participants with degenerative spinal disease were randomly allocated (1:1) to the minimally invasive (MIS), posterior lumbar interbody fusion (Robot-PLIF) or conventional, freehand, open-approach, posterior lumbar interbody fusion (Freehand-PLIF)...
May 22, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29761842/design-and-performance-evaluation-of-real-time-endovascular-interventional-surgical-robotic-system-with-high-accuracy
#13
Kundong Wang, Bing Chen, Qingsheng Lu, Hongbing Li, Manhua Liu, Yu Shen, Zhuoyan Xu
BACKGROUND: Endovascular interventional surgery (EIS) is performed under a high radiation environment at the sacrifice of surgeons' health. This paper introduces a novel endovascular interventional surgical robot that aims to reduce radiation to surgeons and physical stress imposed by lead aprons during fluoroscopic X-ray guided catheter intervention. METHODS: The unique mechanical structure allowed the surgeon to manipulate the axial and radial motion of the catheter and guide wire...
May 15, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29761618/robot-assisted-total-hip-arthroplasty-clinical-outcomes-and-complication-rate
#14
Itay Perets, John P Walsh, Mary R Close, Brian H Mu, Leslie C Yuen, Benjamin G Domb
BACKGROUND: The purpose of this study was to report minimum 2-year outcomes and complications for robotic-arm-assisted total hip arthroplasty (THA). METHODS: Data were prospectively collected and retrospectively reviewed between June 2011 and April 2014. Inclusion criteria were primary robotic-arm-assisted THAs treating idiopathic osteoarthritis with ≥ 2-year follow-up. Demographics, operating time, complications, 2-year outcome scores and satisfaction, and subsequent surgeries were recorded...
May 15, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29749103/a-robotic-suture-passing-device-for-possible-use-in-sils-and-notes
#15
Muhammad Umar Farooq, Woo Young Kim, Seong Young Ko
BACKGROUND: Natural orifice transluminal endoscopic (NOTES) and single incisional laparoscopic surgeries (SILS) have been gaining importance over the last two decades. Due to improper instrumentation, small workspace and the imperceptibility of body structures, suturing and knot-tying are difficult to perform in both. METHODS: An intracorporeal suture-passing device with two manipulator arms is proposed that automatically passes the suture around ducts of up to 7 mm diameter, without additional manipulation of any other surgical instrument, and it can be deployed through a trocar of 3 mm inner diameter...
May 11, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29749069/novel-navigation-system-by-augmented-reality-technology-using-a-tablet-pc-for-hepatobiliary-and-pancreatic-surgery
#16
Jungo Yasuda, Tomoyoshi Okamoto, Shinji Onda, Yasuro Futagawa, Katsuhiko Yanaga, Naoki Suzuki, Asaki Hattori
BACKGROUND: We previously developed an image-guided navigation system (IG-NS) using augmented reality technology for hepatobiliary and pancreatic (HBP) surgery. This system superimposed a 3D model onto a stereoscope-captured surgical field (i.e., the scope method). Unfortunately, this method requires an expensive stereoscope, surgeons have to shift their eyesight away from the surgical field, and the method has poor controllability. Therefore, an IG-NS using a tablet PC (i.e., the tablet method) was developed...
May 11, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29745464/robotic-distal-pancreatectomy-comparison-of-spleen-preservation-by-the-warshaw-technique-and-splenectomy
#17
Shin-E Wang, Bor-Uei Shyr, Shih-Chin Chen, Yi-Ming Shyr
BACKGROUND: Outcomes after robotic distal pancreatectomy with spleen preservation (RDP-SP) by the Warshaw technique and with splenectomy (RDP-S) were compared. METHODS: All the data for patients undergoing robotic distal pancreatectomy (RDP) were prospectively collected. RESULTS: A total of 66 patients were included, with 33 in each group. The console time was significantly shorter in the RDP-SP group than in the RDP-S group (165 minutes vs...
May 10, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29745060/robotic-assisted-approach-to-median-arcuate-ligament-syndrome-with-left-gastric-artery-originating-directly-from-the-aorta-report-of-a-case-and-review-of-the-current-mini-invasive-treatment-modalities
#18
REVIEW
Mauro Podda, Gian Pietro Gusai, Francesco Balestra, Giulio Argenio, Fabio Pulighe, Salomone Di Saverio, Carlo De Nisco
BACKGROUND: Median Arcuate Ligament Syndrome (MALS) is a rare clinical condition. METHODS: Through the analysis of a case report and a review of the international literature, we examined whether robotic and laparoscopic MAL release are safe and feasible. RESULTS: Of 354 and 19 patients who underwent laparoscopic MAL release (LMALr) and robotic-assisted MAL release (RMALr), respectively, conversion to open surgery occurred in 6.8% of cases following LMALr, whereas no case of conversion was reported following RMALr...
May 9, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29708640/augmented-reality-for-the-surgeon-systematic-review
#19
REVIEW
Jang W Yoon, Robert E Chen, Esther J Kim, Oluwaseun O Akinduro, Panagiotis Kerezoudis, Phillip K Han, Phong Si, William D Freeman, Roberto J Diaz, Ricardo J Komotar, Stephen M Pirris, Benjamin L Brown, Mohamad Bydon, Michael Y Wang, Robert E Wharen, Alfredo Quinones-Hinojosa
INTRODUCTION: Since the introduction of wearable head-up displays, there has been much interest in the surgical community adapting this technology into routine surgical practice. METHODS: We used the keywords augmented reality OR wearable device OR head-up display AND surgery using PubMed, EBSCO, IEEE and SCOPUS databases. After exclusions, 74 published articles that evaluated the utility of wearable head-up displays in surgical settings were included in our review...
April 30, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29700926/robot-assisted-aortic-valve-surgery-state-of-the-art-and-challenges-for-the-future
#20
REVIEW
Husam H Balkhy, Clifton T P Lewis, Hiroto Kitahara
Robotic cardiac surgery was FDA-approved in 2002 and since then several different procedures have been performed to facilitate a truly minimally invasive approach. The use of robotics in aortic valve surgery, however, is still in its infancy. In this article, we report our clinical experience and chronological development with robot-assisted aortic valve surgery. This includes a description of how robotic assistance was gradually integrated during right mini-thoracotomy aortic valve replacement, a series of cases in which the robot was docked for parts of the procedure, a single case of a totally endoscopic robot-assisted aortic valve replacement with a stentless valve, and three cases of aortic valve papillary fibroelastoma resections...
April 27, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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