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BackgroundRecent developments in minimal invasive surgery have led to laparoendoscopic single site surgery (LESS). This new approach has great potential but remains technically challenging. In order to relieve these difficulties many authors have adapted robotic technology to single site surgery. Numerous approaches have been developed and there is no real consensus.
MethodsA transdisiplinary systematic...
BackgroundDynamic lattice‐based free‐form deformation (FFD) allows efficient simulation of global deformation of complex geometric objects. However, directly imposing a number of position constraints due to contact with a tool is non‐trivial since it is an over‐determined problem.
MethodThis paper extends the FFD to directly impose a number of position constraints for the objects to be embedded in...
BackgroundLaparoscopic surgery is becoming increasingly popular throughout the world. But the conventional instruments used in many surgeries are not flexible enough to be operated. Challenging tasks, such as suturing and knot‐tying tasks are difficult to complete using conventional instruments with limited degrees of freedom (DoFs). In the paper, a novel cable‐driven multi‐DoF manual instrument is...
BackgroundSecure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces.
MethodsA large organ triple‐jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto‐grasping of...
BackgroundAn alternative mode of interaction with navigation systems for open liver surgery was requested. Surgeons who use such systems are impeded by having to constantly switch between viewing the navigation system screen and the patient during an operation.
MethodsTo this end, an auditory display system for open liver surgery is introduced with support for guiding the tracked instrument towards...
BackgroundIn the biomedical field, three‐dimensional (3D) modeling and analysis of bones and tissues has steadily gained in importance. The aim of this study was to produce more accurate 3D models of the canine femur derived from computed tomography (CT) data by using several modeling software programs and two different methods.
MethodThe accuracy of the analysis depends on the modeling process and...
BackgroundThere are few reports of robot‐assisted pancreatic surgery. Our purpose was to report our surgical and clinical experiences and outcomes of 47 cases of robot‐assisted pancreatic resection to show that minimally invasive pancreatic surgery is both feasible and effective.
MethodsThe medical records of 47 patients who underwent robot‐assisted pancreatic resections for adenocarcinoma, cystic...
BackgroundThe traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi‐manipulator tooth‐arrangement robot for use in full denture manufacture...
BackgroundCommercial image‐guided surgery systems rely on the fundamental assumption that preoperative medical images represent the physical state of the patient in the operating room. The guidance display typically consists of a three‐dimensional (3D) model derived from medical images and three orthogonal views of the imaging data. A challenging question in image‐guided surgery is: what happens when...
BackgroundMalrotation after femoral nailing is a common problem, yet estimation of the correct rotation during nailing remains a technical challenge. In the current study, a novel technique was developed for determining femoral antetorsion, the anterior cortical angle (ACA) method. The ACA is the angle between a line along the anterior aspect of the femoral neck and the posterior condylar line of...
BackgroundImages captured using different modalities usually have significant variations in their intensities, which makes it difficult to reveal their internal structural similarities and achieve accurate registration. Most conventional feature‐based image registration techniques are fast and efficient, but they cannot be used directly for the registration of multi‐modal images because of these intensity...
BackgroundComputer assisted systems in orthopaedic trauma depend in most cases on fixed reference markers. This work evaluated a reference‐free image‐based guidance system. Outcome parameters were the number of trials needed to achieve an optimal wire position, the radiation and procedure time, and the learning curve.
MethodsForty artificial proximal femora covered in polyurethane foam were used and...
BackgroundThere is a need for sensor‐guided robotic devices that discriminate working conditions and media, and control interaction of tool‐points with respect to tissues. At the micro‐surgical scale the need is to control exact penetration through flexible tissues and to control relative motion with respect to moving or deforming tissue targets and interfaces.
MethodsThis paper describes a smart...
BackgroundStrategies to spare operating room (OR) times are crucial to limiting the costs involved in robotic surgery. Among other factors, the pre‐operative set‐up and docking phases have been incriminated at first to be time consuming. The docking process on the standard multiport da Vinci Surgical System has not been shown to significantly prolong the overall OR time. This study aims to analyse...
BackgroundMagnetic resonance imaging (MRI)‐guided prostate interventions have been introduced to enhance the cancer detection. For accurate needle positioning, in‐bore‐operated robotic systems have been developed and optimal use of the confined in‐bore space become a critical engineering challenge.
MethodsAs preliminary evaluation of our prostate intervention robot, we conducted a workspace design...
BackgroundRobot‐assisted laparoscopic radical prostatectomy (RALP) requires a steep Trendelenburg position and CO2 pneumoperitoneum for several hours to secure the surgical visual field. The present study was performed to investigate the influence of each angle of Trendelenburg position during RALP on cardiovascular and respiratory homeostasis.
MethodsForty‐seven ASA physical status 1 and 2 patients...
BackgroundCam type femoroacetabular impingement (FAI) is an anatomical disorder that can lead to osteoarthritis (OA) of the hip joint. With existing surgical options there is invariably a tendency for under‐resection or over‐resection of the cam lesion, both having dire consequences. This study assessed the application of robotic technology in the surgical management of cam FAI.
MethodsThree different...
BackgroundVirtual reality‐based simulators offer a cost‐effective and efficient alternative to traditional medical training and planning. Developing a simulator that enables the training of medical skills and also supports recognition of errors made by the trainee is a challenge. The first step in developing such a system consists of error identification in the real procedure, in order to ensure that...
BackgroundPrior to the mobilization of patients with spinal fractures following treatment, it is important to confirm stability in the upright position.
MethodsA patient presented with T2 and T3 vertebral body fractures visible on recumbent CT. Supine and upright plain x‐rays with additional swimmer's views were deemed suboptimal prior to mobilization. The default configuration of the O‐arm was modified...
BackgroundThe development of new diagnostic technologies for cerebrovascular diseases requires an understanding of the mechanism behind the growth and rupture of cerebral aneurysms. To provide a comprehensive diagnosis and prognosis of this disease, it is desirable to evaluate wall shear stress, pressure, deformation and strain in the aneurysm region, based on information provided by medical imaging...
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