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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/28345294/compact-teleoperated-laparoendoscopic-single-site-robotic-surgical-system-kinematics-control-and-operation
#1
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
#2
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
#3
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
#4
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
#5
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
#6
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
#7
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
#8
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
#9
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
#10
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
#11
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
#12
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
https://www.readbyqxmd.com/read/28120475/application-of-a-customized-3d-printed-reduction-aid-after-external-fixation-of-the-femur-and-tibia-technical-note
#13
Mohamed Omar, Alexander-Nicolai Zeller, Nils-Claudius Gellrich, Majeed Rana, Christian Krettek, Emannouil Liodakis
BACKGROUND: To construct a fracture-specific reduction aid by means of virtual reduction technology and 3D printing to reduce malreduced, externally fixed, long bone fractures. TECHNIQUE: Following application of an external fixator to a malreduced long bone fracture, we performed postoperative computed tomography to visualise the fragments and their position relative to Schanz screws. DICOM data were transferred to 3D planning software, and the fracture was then virtually reduced...
January 25, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28105687/a-research-review-on-clinical-needs-technical-requirements-and-normativity-in-the-design-of-surgical-robots
#14
REVIEW
Carlos Eduardo Díaz, Roemi Fernández, Manuel Armada, Felipe García
Nowadays robots play an important role in society, mainly due to the significant benefits they provide when utilized for assisting human beings in the execution of dangerous or repetitive tasks. Medicine is one of the fields in which robots are gaining greater use and development, especially those employed in minimally invasive surgery (MIS). However, due to the particular conditions of the human body where robots have to act, the design of these systems is complex, not only from a technical point of view, but also because the clinical needs and the normativity aspects are important considerations that have to be taken into account in order to achieve better performances and more secure systems for patients and surgeons...
January 20, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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
#15
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
#16
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
#17
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/26948671/robotic-assisted-laparoscopic-partial-nephrectomy-using-contrast-enhanced-ultrasound-scan-to-map-renal-blood-flow
#18
Ahmad Alenezi, Aamir Motiwala, Susannah Eves, Rob Gray, Asha Thomas, Isabelle Meiers, Haytham Sharif, Hanif Motiwala, Marc Laniado, Omer Karim
OBJECTIVE: The paper describes novel real-time 'in situ mapping' and 'sequential occlusion angiography' to facilitate selective ischaemia robotic partial nephrectomy (RPN) using intraoperative contrast enhanced ultrasound scan (CEUS). MATERIALS AND METHODS: Data were collected and assessed for 60 patients (61 tumours) between 2009 and 2013. 31 (50.8%) tumours underwent 'Global Ischaemia', 27 (44.3%) underwent 'Selective Ischaemia' and 3 (4.9%) were removed 'Off Clamp Zero Ischaemia'...
March 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/26928955/early-operative-outcomes-and-learning-curve-of-robotic-assisted-giant-paraesophageal-hernia-repair
#19
Inderpal S Sarkaria, M Jawad Latif, Valentino J Bianco, Manjit S Bains, Valerie W Rusch, David R Jones, Nabil P Rizk
BACKGROUND: We have previously described our technique of robotic-assisted giant paraesophageal hernia repair (RA-GPEHR). The purpose of this study was to report our initial experience, early outcomes and learning curve with RA-GPEHR using a four-arm robotic platform. METHODS: 24 consecutive patients presenting with symptomatic giant paraesophageal hernias (GPEH) underwent RA-GPEHR from April 2011 to February 2014. Peri-operative data and short-term patient outcomes were assessed by retrospective review of a prospectively maintained database...
March 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
#20
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
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