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BackgroundDuodenal sporadic adenomatous polyps are rare findings during upper endoscopy. Resection is indicated due to their malignant potential.
MethodsA 55 year‐old male patient was diagnosed with a 3 cm duodenal adenomatous polyp with low‐grade dysplasia, which could not be safely resected by endoscopy. A transduodenal submucosal robotic‐assisted polypectomy was performed.
ResultsThe operative...
BackgroundIn this paper, we propose a non‐linear calibration method for hand–eye system equipped with a camera undergoing radial distortion as the rigid endoscope. Whereas classic methods propose either a separated estimation of the camera intrinsics and the hand–eye transform or a mixed non‐linear estimation of both hand–eye and camera intrinsics assuming a pin‐hole model, the proposed approach enables...
Background
Otitis media with effusion is a worldwide ear disease. The current treatment is to surgically insert a ventilation grommet into the tympanic membrane. A robotic device allowing automatic grommet insertion has been designed in a previous study; however, the part of the membrane where the malleus bone is attached to the inner surface is to be avoided during the insertion process.
Methods...
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...
Background
Complete brain tumour resection is an extremely critical factor for patients' survival rate and long‐term quality of life. This paper introduces a prototype medical robotic system that aims to automatically detect and clean up brain tumour residues after the removal of tumour bulk through conventional surgery.
Methods
We focus on the development of an integrated surgical robotic system...
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...
Background
Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called “soft robotics” emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical...
Background
The tendon‐sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis. The goal of this study is to identify the backlash hysteresis criteria of surgical tool bending joints to maintain efficient surgical performance.
Methods...
Background
Studies have been conducted on slave‐specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four‐degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance.
Methods
To enhance ergonomic performance, a second yaw joint was added as a redundant joint...
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