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https://www.readbyqxmd.com/read/28417944/variable-admittance-control-based-on-fuzzy-reinforcement-learning-for-minimally-invasive-surgery-manipulator
#1
Zhijiang Du, Wei Wang, Zhiyuan Yan, Wei Dong, Weidong Wang
In order to get natural and intuitive physical interaction in the pose adjustment of the minimally invasive surgery manipulator, a hybrid variable admittance model based on Fuzzy Sarsa(λ)-learning is proposed in this paper. The proposed model provides continuous variable virtual damping to the admittance controller to respond to human intentions, and it effectively enhances the comfort level during the task execution by modifying the generated virtual damping dynamically. A fuzzy partition defined over the state space is used to capture the characteristics of the operator in physical human-robot interaction...
April 12, 2017: Sensors
https://www.readbyqxmd.com/read/28414709/robotic-surgery-fast-forward-to-telemedicine
#2
George B Stefano
Since the realization that certain maladies can be corrected via surgical techniques, we have been consumed by the desire to constantly advance the tools of surgery, as well as the techniques. In recent times, computer-assisted surgical tools have emerged and are growing in their use. The Puma 560 emerged in 1985 for brain biopsies and laparoscopic surgery. Prostatic surgery was performed by the Probot in 1988. In 1992, fittings in the femur were placed using the ROBODOC. These early robotic endeavors gave rise to AESOP, ZEUS and the relatively intuitive da Vinci® Surgical System...
April 17, 2017: Medical Science Monitor: International Medical Journal of Experimental and Clinical Research
https://www.readbyqxmd.com/read/28401399/intelligent-viewpoint-selection-for-efficient-ct-to-video-registration-in-laparoscopic-liver-surgery
#3
Maria R Robu, Philip Edwards, João Ramalhinho, Stephen Thompson, Brian Davidson, David Hawkes, Danail Stoyanov, Matthew J Clarkson
PURPOSE: Minimally invasive surgery offers advantages over open surgery due to a shorter recovery time, less pain and trauma for the patient. However, inherent challenges such as lack of tactile feedback and difficulty in controlling bleeding lower the percentage of suitable cases. Augmented reality can show a better visualisation of sub-surface structures and tumour locations by fusing pre-operative CT data with real-time laparoscopic video. Such augmented reality visualisation requires a fast and robust video to CT registration that minimises interruption to the surgical procedure...
April 11, 2017: International Journal of Computer Assisted Radiology and Surgery
https://www.readbyqxmd.com/read/28391534/surgical-sutures-coincidence-or-experience
#4
K-T von Trotha, J Grommes, N Butz, A Lambertz, C D Klink, U P Neumann, M Jacobs, M Binnebösel
BACKGROUND: Knotting sutures by hand is still important in daily surgical routine, especially laparotomy closure. The expectation is that hand suturing relies on the experience and subjective estimation of the surgeon. The aim of this study was to investigate whether hand suturing tension is reproducible and if surgical experience influences reproducibility. METHODS: At the annual Congress of the German Association of Surgery, 118 surgeons performed repetitive sutures on a standardized and certified measuring device simulating the final knot of a fascial closure...
April 8, 2017: Hernia: the Journal of Hernias and Abdominal Wall Surgery
https://www.readbyqxmd.com/read/28374223/robotic-paraesophageal-hernia-repair-a-single-center-experience-and-systematic-review
#5
Vanitha Vasudevan, Ryan Reusche, Erek Nelson, Srinivas Kaza
Robotic Surgery is becoming increasingly used in general surgery. The objective of this study is to evaluate the safety, effectiveness and short-term (less than 1 year) outcomes of Robotic Paraesophageal Hernia (RPEH) Surgery using the DaVinci Surgical Robot system (Intuitive Surgical, CA) in a large community hospital. This is a retrospective cohort study of 28 consecutive patients who underwent robotic paraesophageal hernia repair January 2011-March 2013 in this institution. Data and outcomes collected for analysis include patient demographics, operating times, conversion, complications, mortality and recurrence...
April 3, 2017: Journal of Robotic Surgery
https://www.readbyqxmd.com/read/28350568/reducing-length-of-stay-using-a-robotic-assisted-approach-for-retromuscular-ventral-hernia-repair-a-comparative-analysis-from-the-americas-hernia-society-quality-collaborative
#6
Alfredo M Carbonell, Jeremy A Warren, Ajita S Prabhu, Conrad D Ballecer, Randy J Janczyk, Javier Herrera, Li-Ching Huang, Sharon Phillips, Michael J Rosen, Benjamin K Poulose
OBJECTIVE: The aim of this study was to compare length of stay (LOS) after robotic-assisted and open retromuscular ventral hernia repair (RVHR). BACKGROUND: RVHR has traditionally been performed by open techniques. Robotic-assisted surgery enables surgeons to perform minimally invasive RVHR, but with unknown benefit. Using real-world evidence, this study compared LOS after open (o-RVHR) and robotic-assisted (r-RVHR) approach. METHODS: Multi-institutional data from patients undergoing elective RVHR in the Americas Hernia Society Quality Collaborative between 2013 and 2016 were analyzed...
March 27, 2017: Annals of Surgery
https://www.readbyqxmd.com/read/28349758/use-of-natural-user-interfaces-for-image-navigation-during-laparoscopic-surgery-initial-experience
#7
Francisco M Sánchez-Margallo, Juan A Sánchez-Margallo, José L Moyano-Cuevas, Eva María Pérez, Juan Maestre
BACKGROUND: Surgical environments require special aseptic conditions for direct interaction with the preoperative images. We aim to test the feasibility of using a set of gesture control sensors combined with voice control to interact in a sterile manner with preoperative information and an integrated operating room (OR) during laparoscopic surgery. MATERIAL AND METHODS: Two hepatectomies and two partial nephrectomies were performed by three experienced surgeons in a porcine model...
March 28, 2017: Minimally Invasive Therapy & Allied Technologies: MITAT
https://www.readbyqxmd.com/read/28318968/improved-glottic-exposure-for-robotic-microlaryngeal-surgery-a-case-series
#8
Dehra A McGuire, Jennifer P Rodney, Nilesh R Vasan
Robotic surgery has become the standard of care for many procedures outside of otolaryngology and now is gaining momentum within our specialty. The da Vinci (Intuitive Surgical, Sunnyvale, CA) robot has several advantages to human hands, including removal of tremor and better access to lesions because of increased degree of movement of the articulated instruments. The glottis has rarely been addressed using robotic surgery because access was previously thought to be difficult because of the limitations of currently used retractors, which include poor base of tongue and oral commissure retraction resulting in lack of exposure of the glottis in many patients and lack of space for the robotic instruments to occupy...
March 17, 2017: Journal of Voice: Official Journal of the Voice Foundation
https://www.readbyqxmd.com/read/28318915/computer-assisted-positioning-of-the-proximal-segment-after-sagittal-split-osteotomy-of-the-mandible-preclinical-investigation-of-a-novel-electromagnetic-navigation-system
#9
Igor Nova, Sebastian Kallus, Moritz Berger, Oliver Ristow, Urs Eisenmann, Christian Freudlsperger, Jürgen Hoffmann, Hartmut Dickhaus
INTRODUCTION: Modifications of the temporomandibular joint position after mandible osteotomy are reluctantly accepted in orthognathic surgery. To tackle this problem, we developed a new navigation system using miniaturized electromagnetic sensors. Our imageless navigation approach is therefore optimized to avoid complications of previously proposed optical approaches such as the interference with established surgical procedures and the line of sight problem. MATERIAL AND METHODS: High oblique sagittal split osteotomies were performed on 6 plastic skull mandibles in a laboratory under conditions comparable to the operating theatre...
February 17, 2017: Journal of Cranio-maxillo-facial Surgery
https://www.readbyqxmd.com/read/28274872/robot-assisted-laparoscopic-transplantation-of-frozen-thawed-ovarian-tissue
#10
Kutluk Oktay, Enes Taylan, Yodo Sugishita, Gabriela M Goldberg
STUDY OBJECTIVE: To demonstrate a new approach for orthotopic human ovarian tissue transplantation via robot-assisted laparoscopic surgery. DESIGN: A step-by-step video explanation of the surgical technique (Canadian Task Force Classification-III). SETTING: Although still experimental, cryopreservation and subsequent transplantation of frozen-thawed ovarian tissue is currently the only available method for prepubertal girls and young women with cancer who are not eligible for established fertility preservation options such as the oocyte or embryo cryopreservation (1)...
March 5, 2017: Journal of Minimally Invasive Gynecology
https://www.readbyqxmd.com/read/28270240/-how-does-a-surgeon-decide-that-surgery-is-the-best-option-assessing-whether-or-not-to-operate
#11
J F Hamming, P J Marang-van de Mheen
All abdominal surgical procedures have a certain risk/benefit ratio. Recently, the way surgeons come to a decision whether to operate, or not, was discussed in the Annals of Surgery. First, the assessment of the decision for an operative versus a non-operative strategy was addressed on the basis of clinical vignettes. The perceptions concerning risk/benefit balance varied considerably between surgeons and these perceptions predicted the decision to operate. In a second paper, surgeons were randomized to either an arm in which they were exposed to a risk calculator or to a control arm...
2017: Nederlands Tijdschrift Voor Geneeskunde
https://www.readbyqxmd.com/read/28269439/graphical-user-interface-for-a-robotic-workstation-in-a-surgical-environment
#12
A Bielski, C P Lohmann, M Maier, D Zapp, M A Nasseri
Surgery using a robotic system has proven to have significant potential but is still a highly challenging task for the surgeon. An eye surgery assistant has been developed to eliminate the problem of tremor caused by human motions endangering the outcome of ophthalmic surgery. In order to exploit the full potential of the robot and improve the workflow of the surgeon, providing the ability to change control parameters live in the system as well as the ability to connect additional ancillary systems is necessary...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28269421/hardware-design-for-a-cable-free-fully-insertable-wireless-laparoscopic-robotic-camera
#13
Ning Li, Gregory J Mancini, Jindong Tan
The field of insertable laparoscopic robotic camera is gaining increasing attentions from researchers, surgeons, and also patients. Although many insertable laparoscope prototypes have been introduced, few of them get rid of the encumbrance tethering cable. In this paper, we proposed a hardware architecture for a magnetic actuated robotic surgical (MARS) camera, which facilitates a cable-free fully insertable laparoscopic surgical robotic camera with adequate in-vivo mobility. Modular design and preliminary test of on-board functional payloads have shown feasibility of a cable-free insertable wireless laparoscopic surgical camera based on off-the-shelf electronics and industrial wireless standards operating in ISM frequency bands at 2...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28269160/a-method-to-project-clinical-outcome-topographies-onto-preoperative-mri-to-guide-direct-dbs-targeting
#14
Mahesh B Shenai, Barton L Guthrie
The use of intraoperative MR and direct DBS targeting, relies on anatomical rather than functional data. Historical clinical outcome databases that have recorded stimulation location and magnitude of effect, can provide a useful adjunct in DBS targeting strategies. We present a method for generating clinical outcome topographies, and merging regions of effect onto a pre-operative MR, for surgical planning. The clinical outcome topographies are consistent with more intuitive strategies used by neurosurgeons...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28227685/graphical-user-interface-for-a-robotic-workstation-in-a-surgical-environment
#15
A Bielski, C P Lohmann, M Maier, D Zapp, M A Nasseri, A Bielski, C P Lohmann, M Maier, D Zapp, M A Nasseri, M A Nasseri, M Maier, D Zapp, C P Lohmann, A Bielski
Surgery using a robotic system has proven to have significant potential but is still a highly challenging task for the surgeon. An eye surgery assistant has been developed to eliminate the problem of tremor caused by human motions endangering the outcome of ophthalmic surgery. In order to exploit the full potential of the robot and improve the workflow of the surgeon, providing the ability to change control parameters live in the system as well as the ability to connect additional ancillary systems is necessary...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28227665/hardware-design-for-a-cable-free-fully-insertable-wireless-laparoscopic-robotic-camera
#16
Ning Li, Gregory J Mancini, Jindong Tan, Ning Li, Gregory J Mancini, Jindong Tan, Gregory J Mancini, Ning Li, Jindong Tan
The field of insertable laparoscopic robotic camera is gaining increasing attentions from researchers, surgeons, and also patients. Although many insertable laparoscope prototypes have been introduced, few of them get rid of the encumbrance tethering cable. In this paper, we proposed a hardware architecture for a magnetic actuated robotic surgical (MARS) camera, which facilitates a cable-free fully insertable laparoscopic surgical robotic camera with adequate in-vivo mobility. Modular design and preliminary test of on-board functional payloads have shown feasibility of a cable-free insertable wireless laparoscopic surgical camera based on off-the-shelf electronics and industrial wireless standards operating in ISM frequency bands at 2...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28227389/a-method-to-project-clinical-outcome-topographies-onto-preoperative-mri-to-guide-direct-dbs-targeting
#17
Mahesh B Shenai, Barton L Guthrie, Mahesh B Shenai, Barton L Guthrie, Barton L Guthrie, Mahesh B Shenai
The use of intraoperative MR and direct DBS targeting, relies on anatomical rather than functional data. Historical clinical outcome databases that have recorded stimulation location and magnitude of effect, can provide a useful adjunct in DBS targeting strategies. We present a method for generating clinical outcome topographies, and merging regions of effect onto a pre-operative MR, for surgical planning. The clinical outcome topographies are consistent with more intuitive strategies used by neurosurgeons...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28217811/-quantitative-evaluation-of-inhibitory-effects-of-epileptic-spikes-on-theta-rhythms-in-the-network-of-hippocampal-ca3-and-entorhinal-cortex-in-patients-with-temporal-lobe-epilepsy
#18
Man-Ling Ge, Jun-Dan Guo, Sheng-Hua Chen, Ji-Chang Zhang, Xiao-Xuan Fu, Yu-Min Chen
Epileptic spike is an indicator of hyper-excitability and hyper-synchrony in the neural networks. The inhibitory effects of spikes on theta rhythms (4-8 Hz) might be helpful to understand the mechanism of epileptic damage on the cognitive functions. To quantitatively evaluate the inhibitory effects of spikes on theta rhythms, intracerebral electroencephalogram (EEG) recordings with both sporadic spikes (SSs) and spike-free transient period between adjacent spikes were selected in 4 patients in the status of rapid eyes movement (REM) sleep with temporal lobe epilepsy (TLE) under the pre-surgical monitoring...
February 25, 2017: Sheng Li Xue Bao: [Acta Physiologica Sinica]
https://www.readbyqxmd.com/read/28212259/robotic-rectal-resection-with-a-single-docking-technique-thanks-to-the-rotation-of-the-r3-arm
#19
Benedetta Pesi, Mario Annecchiarico, Stefano Amore Bonapasta, Alessandro Nerini, Federico Perna, Lapo Bencini, Michele Di Marino, Andrea Coratti
BACKGROUND: Robotic surgery for rectal resection presents some advantages compared with the traditional technique; however, it also presents some limitations, especially due to the multiple changes of surgical fields. We describe a new technique to perform low-anterior resection using single docking with the rotation of the third arm and our perioperative results. MATERIALS AND METHODS: A total of 31 patients who underwent low-anterior rectal robotic resection with single-docking technique using robotic daVinci SI (Surgical Intuitive System) were included in the study...
April 2017: Surgical Laparoscopy, Endoscopy & Percutaneous Techniques
https://www.readbyqxmd.com/read/28203536/clinical-outcomes-of-robotic-mitral-valve-repair-a-single-center-experience-in-korea
#20
Ho Jin Kim, Joon Bum Kim, Sung-Ho Jung, Jae Won Lee
BACKGROUND: Since the inception of robotic mitral valve repair (MV) in 2007 at our institution, it has become an acceptable surgical option with proven efficacy and safety. The objective of this study is to analyze the early and long-term clinical outcomes of patients undergoing robotic MV repair. METHODS: A total of 310 patients (aged 48.4±13.7 years, 201 males) undergoing robotic MV repair using the da Vinci system (Intuitive Surgical, Inc., Sunnyvale, CA) between August 2007 and December 2015 in our institution were evaluated...
January 2017: Annals of Cardiothoracic Surgery
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