The International Journal of Medical Robotics and Computer Assisted Surgery
BackgroundIt is tedious and difficult to position a flexible catheter in a target vessel branch within complicated‐shaped vessels owing to the lack of real‐time visual feedback. Digital subtraction angiography and fluoroscopic guidance are currently used for catheter placement.
MethodsThe proposed method employs an electromagnetic (EM) tracking system to track a sensor‐attached catheter. Vessel centerlines...
BackgroundSegmental mandibular resection represents a challenge to maxillofacial surgeons in terms of accurate contouring of reconstruction plates, restoration of mandibular symmetry and maintaining accurate condylar position in the glenoid fossae.
MethodsWe propose a CAD/CAM technique for fabricating patient‐specific templates to symmetrically prebend reconstruction plates, guide osteotomies and...
BackgroundResection of cardia and upper gastric carcinoma is considered a demanding procedure in laparoscopic surgery. Robotics could aid laparoscopic dissection of the oesophago–gastric junction and oesophageal anastomosis, enlarging indications for a minimally invasive approach to these tumours.
MethodsData from 17 consecutive patients with histologically proved cardia carcinoma were collected...
BackgroundApplying ultrasound (US)‐guided high‐intensity focused ultrasound (HIFU) therapy for kidney tumours is currently very difficult, due to the unclearly observed tumour area and renal motion induced by human respiration. In this research, we propose new methods by which to track the indistinct tumour area and to compensate the respiratory tumour motion for US‐guided HIFU treatment.
MethodsFor...
BackgroundAccording to literature evidence, simulation is of the utmost importance for training and innovative surgical strategies assessment. At present commercial physical simulators are limited to single or only a few anatomical structures and these are often just standard anatomies.
MethodsThis paper describes a strategy to produce patient‐specific abdominal silicone organs with realistic shapes...
BackgroundA needle placement system using a serial robot arm for manipulation of biopsy and/or treatment needles is introduced. A method for fast calibration of the robot and the preliminary accuracy tests of the robotic system are presented.
MethodsThe setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction mounted on a mobile platform, a robot‐driven...
BackgroundThe preferred method of treatment for atrial fibrillation (AF) is by catheter ablation, in which a catheter is guided into the left atrium through a transseptal puncture. However, the transseptal puncture constrains the catheter, thereby limiting its manoeuvrability and increasing the difficulty in reaching various locations in the left atrium. In this paper, we address the problem of choosing...
BackgroundIt has yet to be determined whether surgical assist systems benefit surgical workflow. This question should be answered qualitatively and quantitatively and must be supported by evidence gathered from structured and rigorous analyses.
MethodsA method is presented to quantify the benefits of the daVinci telemanipulator system to surgical workflow. Based on the modeling of surgical processes,...
BackgroundThe object of this study was to evaluate the immediate impact of a robotic kidney surgery course on the practice patterns of participating urologists.
MethodsTwo surveys were administered to the participants of the International Symposium on Robotic Kidney and Adrenal Surgery held at the Cleveland Clinic on October 2009. Returned responses were entered into a database. Results were reviewed...
BackgroundImage‐guided robots are manipulators that operate based on medical images. Perhaps the most common class of image‐guided robots are robots for needle interventions. Typically, these robots actively position and/or orient a needle guide, but needle insertion is still done by the physician. While this arrangement may have safety advantages and keep the physician in control of needle insertion,...
BackgroundSteering the tip of a flexible endoscope relies on the physician's dexterity and experience. For complex flexible endoscopes, conventional controls may be inadequate.
MethodsA steering method based on a multi‐degree‐of‐freedom haptic device is presented. Haptic cues are generated based on the endoscopic images. The method is compared against steering using the same haptic device without...
BackgroundOtological drill milling through the bone tissue wall is a common milling fault in ear surgery. This paper presents a method for identifying milling faults and improving operation safety.
MethodsForce and current sensors are used. According to a DC motor model and a cutting force model, the features of the milling process were analysed and a dynamic model was established. The dynamic model...
BackgroundPancreatoduodenectomy (PD) for pancreatic cancer is very challenging to many surgeons. Information regarding the advantage of using the Da Vinci robotic system over conventional open surgery for PD is rare. Therefore, a comparison of the outcomes of PD performed using the Da Vinci robotic system with outcomes using open surgery was conducted.
MethodsBetween January 2009 and December 2009...
BackgroundMinimally invasive colon surgery was first described in the early 1990s, decreasing the morbidity compared with open procedures. Recently, single port laparoscopy has emerged, with reports of applications to colon surgery. Although feasible, many new technical challenges exist.
MethodsAn optimal operative technique for colon resection entirely through the umbilicus, using a robot and a...
BackgroundUsing the da Vinci robot in low anterior resection (LAR) has not been widely adopted due to limited range of motion of the robotic arms and the need to move the robot during operations. Our technique uses all three arms for both the splenic flexure and the pelvis, but with only one docking position.
MethodsThe robot is placed to the left of the patient. The camera port is 3 cm to the right...
BackgroundForce feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off‐axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off...
BackgroundMedical simulators with vision and haptic feedback techniques offer a cost‐effective and efficient alternative to the traditional medical trainings. They have been used to train doctors in many specialties of medicine, allowing tasks to be practised in a safe and repetitive manner. This paper describes a virtual‐reality (VR) system which will help to influence surgeons' learning curves in...
BackgroundBariatric laparoscopic surgery has been shown to lead to sustainable weight‐loss in obese individuals. Robotic‐assisted laparoscopic surgery is proposed as the next major evolution in minimally invasive surgery. This study systematically reviews the literature regarding the feasibility and safety of robotic‐assisted bariatric surgery in obese patients.
MethodsA comprehensive search of electronic...
BackgroundCentral pancreatectomy (CP) is increasingly being used to treat selected lesions of the central pancreatic segment. A step‐by‐step technique for robotic CP is described and a literature review provided for this minimally invasive approach.
MethodsA 55‐year‐old woman was referred to the authors' center for the treatment of a single 4 cm lesion located at the proximal part of the pancreatic...
BackgroundTransurethral resection of the prostate (TURP) is a challenging operation for residents with limited endoscopic experience. A number of virtual TURP simulators have been validated in the past. This study is the first description and preliminary evaluation of a non‐virtual, low‐cost TURP trainer as a teaching tool for residents in urology.
MethodsDr K. Forke's prostatic resection trainer...