The International Journal of Medical Robotics and Computer Assisted Surgery
BackgroundMinimally invasive surgery (MIS) suffers from the inability to directly palpate organs for tumour localization. A tactile sensing system (TSS), consisting of a probe and a visualization interface, was developed to present an active pressure map of the contact surface to locate tumours during MIS.
MethodsThe TSS performance was compared to MIS graspers to locate occult 10 mm phantom tumours...
The aim of this meta‐analysis was to compare clinical outcome following laparoscopic and robotic Nissen fundoplication. A systematic literature search of Medline, Embase and Cochrane Library databases was performed. Primary outcome measures were the requirement for re‐operation, postoperative mortality and postoperative dysphagia. Secondary outcome measures were operative time, length of hospital...
BackgroundAlthough many diseases such as emphysema are diagnosed with preoperative imaging modalities, this information is rarely utilized in the operating room. A method that relates the preoperative images to the non‐rigid organ in physical space would aid a surgeon to determine the line of resection.
MethodsWe used a three‐dimensional (3D) laser scanner to obtain intraoperative images of the lung...
BackgroundRobotic prostatectomy (RP) is now increasingly performed because it allows for precise dissection of neurovascular structures with better outcomes. It is estimated that 5–12% of candidates for radical prostatectomy have detectable inguinal hernias, and simultaneous mesh hernioplasty is now well supported. A disadvantage of radical prostatectomy is obliteration of the preperitoneal space...
BackgroundThe further application of conventional ultrasound (US) image‐guided microwave (MW) ablation of liver cancer is often limited by two‐dimensional (2D) imaging, inaccurate needle placement and the resulting skill requirement. The three‐dimensional (3D) image‐guided robotic‐assisted system provides an appealing alternative option, enabling the physician to perform consistent, accurate therapy...
BackgroundThe initial experience of a gynaecological oncology robotic surgery programme at a tertiary care cancer centre is described.
MethodsA retrospective study was performed to evaluate the perioperative outcomes of 76 patients offered robot‐assisted surgery.
ResultsSeventy‐three patients underwent robot‐assisted surgery; three cases were converted to laparotomy; 51% of patients underwent treatment...
BackgroundCochlear implantation is a surgical procedure in which an electrode array is permanently implanted into the cochlea to stimulate the auditory nerve and allow deaf people to hear. Percutaneous cochlear access, a new minimally invasive implantation approach, requires drilling a single linear channel from the skull surface to the cochlea. The focus of this paper addresses a major challenge...
BackgroundWe report our technique for robotic‐assisted laparoscopic radical cystoprostatectomy (RARCP) and extracorporeal urinary diversion and present their clinical outcomes.
MethodsBetween October 2003 and December 2008 we performed 58 RARCPs with extracorporeal continent urinary diversion. Preoperative, operative and postoperative data was evaluated.
ResultsMean patient age was 68 (range 46–89)...
BackgroundCurrent robotic orientation surgical devices used to be large, in order to cover the needed workspace and to be rigid enough to resist the forces that occur during surgery. The disadvantages of the large size of the devices are the ergonomics, collisions and interference with the surgeons. This paper presents the first steps that have been carried out on the development of a small spherical...
IntroductionRobotically assisted laparoscopic surgery has a different learning curve to straight stick laparoscopic surgery. The learning curve for novices is likely to be different to that for experienced surgeons. We assessed the early learning curve for trainees with 18 months or less of surgical experience.
MethodsSix surgical novices performed 120 exercises using laparoscopic instruments and...
BackgroundDuring surgical procedures, various medical systems, e.g. microscope or C‐arm, are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's work flow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive.
MethodsWe describe a fully motorized surgical...
BackgroundSingle‐incision laparoscopic and natural orifice translumenal endoscopic surgery (NOTES) are technically challenging methods. Robotics might have the potential to overcome such hurdles with computer technology.
MethodsThe da Vinci® Standard and S System (Intuitive, Sunnyvale, USA) were used in human cadavers and pigs to perform single‐incision transabdominal and transvaginal surgery. Robotic...
BackgroundPhysiological tremor is the main cause of imprecision in microsurgical procedures/robotics applications. Existing methods, such as weighted‐frequency Fourier linear combiner (WFLC), rely on estimating the tremor under the assumption that it has a single dominant frequency. This paper focuses on developing a new algorithm for accurate tremor filtering in real time.
MethodsA study conducted...
BackgroundSingle‐incision laparoscopic surgery is an emerging approach in the field of minimally invasive colon and rectal surgery. This modality utilizes a ‘scarless’ incision concealed within the umbilicus, and results in improved cosmesis with the potential for reduced trauma, pain and length of hospital stay. However, unique technical challenges have curbed its adaptation. Robotic‐assisted technique...
BackgroundControl of respiratory motion is an essential prerequisite for stereotactic computer‐assisted and robotic interventions in the liver.
MethodsThe respiratory motion control error (RMCE) of temporary disconnections of the endotracheal tube (ETT) in anaesthetized patients has been evaluated during computer tomography (CT)‐guided liver punctures. Two arterial and portal phase contrast‐enhanced...
BackgroundDue to differences in surgical operations between free‐hand and robot‐assisted vessel anastomosis, there exist new challenges in applying the manipulation criteria of free‐hand surgery to robot‐assisted surgery in order to guarantee successful completion of the surgical procedure.
MethodsA mathematical model is established to optimize the process variables in vessel anastomosis. The distance...
BackgroundControlling surgical task speed and maintaining accuracy are vital components of robotic surgical skills. This study was designed to investigate the relationship between accuracy and speed for robot‐assisted surgical skills.
MethodsTen participants were asked to alternately touch two circular targets with various dimensions and distances between two targets, using the da Vinci Surgical...
BackgroundThe femoral shaft (FDA) and transepicondylar (TA), anterior–posterior (WL) and posterior condylar (PCL) axes are fundamental quantities in planning knee arthroplasty surgery. As an alternative to the TA, we introduce the anatomical flexion axis (AFA). Obtaining such axes from image data without any manual supervision remains a practical objective. We propose a novel method that automatically...
BackgroundRobotic technology offers technical advantages that might offer new solutions for hip arthroscopy.
MethodsTwo hip arthroscopies were performed in human cadavers using the da Vinci© surgical system. During both surgeries, a robotic camera and 5 or 8 mm da Vinci trocars with instruments were inserted into the hip joint for manipulation.
ResultsIntroduction of cameras and working instruments,...