Τετάρτη 27 Ιανουαρίου 2021

Research on Spatial Motion Safety Constraints and Cooperative Control of Robot‐Assisted Craniotomy: Beagle model experiment verification

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Abstract:

Background

Traditional craniotomy depends primarily on the experience of the surgeon. However, the accuracy of manual operation is limited and carries certain surgical risks. The interaction method of current robot‐assisted craniotomy is unnatural and inadaptive to the operating style of the surgeon. In this research, we built a hands‐on synergistic robotics craniotomy system with human‐machine collaboration. Safe isometric surfaces and virtual restraint methods are combined to achieve highly accurate, efficient, minimally invasive, and safe craniotomy.

Materials and methods

Fifteen 3D‐printed beagle skull models were used to evaluate system accuracy and the related image guidance process. It mainly includes: the design of the surgical plan, the adopted strategy based on motion constraint and safe isometric surface, and the impedance control method based on the position inner loop experiment via the human‐machine collaboration method. The trajectory tracking experiment was performed by applying human‐machine collaboration, and completing an experiment on the 3D printed beagle skull models involving drilling and milling of the skull performed by the robot, and evaluation of accuracy via computed tomographic (CT) scanning verification after the operation.

Results

The 3D‐printed beagle skull model experiment shows that the average errors for the top surface and the bottom surface, and the angle error were 0.81 ± 0.15 mm, 0.89 ± 0.12 mm, and 1.74 ± 0.16 degrees, respectively. The average milling position errors for the top and bottom surfaces were 0.87 ± 0.19 mm and 0.93 ± 0.22 mm, respectively.

Conclusion

The performance of the robot system was evaluated and verified using a 3D printed beagle model experiment. The proposed collaborative surgical robot system is feasible and can complete a craniotomy, with improved accuracy and surgical safety.

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Development of a novel deployable arm for natural orifice transluminal endoscopic surgery(NOTES)

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Abstract:

Background

NOTES is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms.

Methods

The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analyzed. Through experiments, the design parameters are validated and justified.

Results

The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88o ,110o].

Conclusions

The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.

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Fluorescence‐guided D3 lymphadenectomy in robotic right colectomy with complete mesocolic excision

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Abstract

Background

In robotic right hemicolectomy for cancer, appropriate lymphadenectomy is essential. Visualization of draining lymph nodes and blood flow with near‐infrared (NIR) fluorescence DaVinci® imaging system is a recent development. We present the technique of robotic right colectomy with complete mesocolic excision (CME) and D3 lymphadenectomy using Indocyanine Green (ICG) endoscopic submucosal injection to intraoperatively identify tumour lymphatic basin.

Methods

The day before surgery, in patients scheduled for robotic right colectomy an endoscopic submucosal injection of 3 mg of ICG solution around the tumor is realized. Robotic right hemicolectomy is performed with suprapubic trocars layout and "bottom to up dissection", realizing a CME with central vessel ligation and D3 lymphadenectomy. Site of primary tumor and lymphatic basin are visible with the FireflyTM camera modality.

Results

From July 2016 to July 2020, 85 patients received a robotic right colectomy with CME and D3 lymphadenectomy. In 50 patients, ICG submucosal injection was performed: visualisation of the site of primary tumour and of LN in the D3 area was possible in all cases; in 17/50 patients (34%), LN out from anatomical lymphatic basin were identified. No side effects were observed.

Conclusions

In this series, submucosal ICG injection showed to be feasible and safe. The accuracy in identification of D3 lymphatic basin was high, thus permitting an image‐guided radical lymphadenectomy. Fluorescent technology represents an interesting innovation to ameliorate surgery of colon cancer.

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Master manipulator optimisation for robot assisted minimally invasive surgery

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Abstract

Background

In robot‐assisted minimally invasive surgery, the surgeon controls a robot by operating a pair of master manipulators. Thus, the performance of a master manipulator directly affects the work of the surgeon physiologically and psychologically.

Aims

In order to improve the operability and quality of operation, a structure optimisation method of master manipulator is proposed.

Materials & Methods

The optimisation index of workspace and dexterity of main manipulator based on ergonomics and kinematics is established, and the reasonable weight coefficient of optimisation index is determined by using combination weighting method.

Results

Experiments verified that the proposed optimisation method ensures a large workspace and good kinematic performance for the master manipulator.

Conclusion

This improves the comfort of the surgeon and can effectively avoid the problem of cutting off master–slave communication to adjust the position of the master manipulator owing to the small workspace.

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Urological and sexual function after robotic and laparoscopic surgery for rectal cancer: A systematic review, meta‐analysis and meta‐regression

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Abstract

Background

This systematic review sought to compare the urogenital functions after laparoscopic (LAP) and robotic (ROB) surgery for rectal cancer.

Methods

This study conformed to the Preferred Reporting Items for Systematic Reviews and Meta‐Analyses guidelines.

Results

Twenty‐six studies (n = 2709 for ROB, n = 2720 for LAP) were included. There was a lower risk of 30‐day urinary retention in the ROB group (risk ratios 0.78, 95% confidence interval [CI] 0.61–0.99), but the long‐term risk was comparable (p = 0.460). Meta‐regression showed a small, positive relationship between age and risk of 30‐day urinary retention in both the ROB (p = 0.034) and LAP groups (p = 0.004). The International Prostate Symptom Score was better in the ROB group at 3 months (mean difference [MD] −1.58, 95% CI −3.10 to −0.05). The International Index of Erectile Function score was better in the ROB group at 6 months (MD 4.06, 95% CI 2.38 – 5.74).

Conclusion

While robotics may improve urogenital function after rectal surgery, the quality of evidence is low based on the Grading of Recommendations, Assessment, Development and Evaluation approach.

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Acceptance of patients towards task‐autonomous robotic cochlear implantation: An exploratory study

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Abstract

Background

Recently, task‐autonomous image‐guided robotic cochlear implantation has been successfully completed in patients. However, no data exist on patients' perspective of this new technology. The aim of this study was to evaluate the acceptance of patients towards task‐autonomous robotic cochlear implantation (TARCI).

Methods

We prospectively surveyed 63 subjects (51 patients and 12 parents of infants) scheduled for manual cochlear implantation. We collected sociodemographic and clinico‐pathological characteristics and their attitude towards TARCI for themselves or their child using a questionnaire. Differences between variables were analysed using one‐way analysis of variance and Spearman's rho was used to test for correlation.

Results

Seventy‐three percent of patients and 84% of parents expressed a high acceptance towards TARCI for themselves, or their child, respectively. Interestingly, patients with a negative attitude towards TARCI were significantly younger.

Conclusion

The attitude of patients and parents likely does not represent a barrier towards application of this new technology.

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End‐user evaluation of software‐generated intervention planning environment for transrectal magnetic resonance‐guided prostate biopsies

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Abstract

Background

This study presents user evaluation studies to assess the effect of information rendered by an interventional planning software on the operator's ability to plan transrectal magnetic resonance (MR)‐guided prostate biopsies using actuated robotic manipulators.

Methods

An intervention planning software was developed based on the clinical workflow followed for MR‐guided transrectal prostate biopsies. The software was designed to interface with a generic virtual manipulator and simulate an intervention environment using 2D and 3D scenes. User studies were conducted with urologists using the developed software to plan virtual biopsies.

Results

User studies demonstrated that urologists with prior experience in using 3D software completed the planning less time. 3D scenes were required to control all degrees‐of‐freedom of the manipulator, while 2D scenes were sufficient for planar motion of the manipulator.

Conclusions

The study provides insights on using 2D versus 3D environment from a urologist's perspective for different operational modes of MR‐guided prostate biopsy systems.

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easyEndo robotic endoscopy system: Development and usability test in a randomized controlled trial with novices and physicians

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Abstract

Background

Some difficulties are common when using endoscopes. Steering is not intuitive, the endoscope weight is a physical burden to physicians and communication problems often occur between operators.

Method

To overcome these, we developed a robotic endoscopy system and conducted a usability test to compare conventional and robotic manipulation. Nine novices and eighteen physicians participated with the physicians being divided into intermediate and expert groups. The participants performed endoscope insertion into a simulator (physicians) or lesion marking on a testbed (novices) and simulate biopsies.

Result

Novices completed the tasks faster and with a lower workload when using robotic manipulation, whereas the experts showed the opposite trend. Still, the intermediates showed no significant difference as trials proceeded. Nevertheless, the learning curve analysis showed that the learning rate in all groups is greater for robotic manipulation (21.02% on average) than for conventional manipulation (13.75%) and predicted that physicians can reach manual performance.

Conclusion

The proposed robotic endoscopy system may allow solo‐manipulation using one controller and may be more intuitive and convenient to use than conventional manipulation.

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A deep learning network‐assisted bladder tumour recognition under cystoscopy based on Caffe deep learning framework and EasyDL platform

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Abstract

Background

Cystoscopy plays an important role in the diagnosis of bladder tumours. As a typical representative of the deep learning algorithm, the convolutional neural network has shown great advantages in the field of image recognition and segmentation.

Methods

One thousand two photographs of normal bladder tissue and 734 photos of bladder tumours under cystoscopy were taken from 175 patients. Caffe deep learning framework and EasyDL platform were used to structure and train the model. The trained model from the EasyDL platform was deployed on a mobile phone.

Results

The accuracy rate of the neural network to recognise the bladder cancer based on Caffe framework was 82.9%, and the data on the EasyDL platform were 96.9%. The model from EasyDL platform could discern bladder cancer accurately on the phone and website.

Conclusion

The deep learning network could recognise the bladder cancer accurately. Deploying that model on the mobile phone was useful for clinical use.

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Robotic enucleation for oesophageal benign and borderline tumours: Less is more?

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Abstract

Background

Oesophageal benign to borderline tumours are rare entities, and their optimal treatment strategy remains controversial. Surgical robotic enucleation is an option to optimize their management.

Methods

We prospectively collected data on seven consecutive oesophageal benign to borderline tumours operated robotically over a 4‐year period. Patient baseline characteristics, perioperative outcomes and medium‐term follow‐ups were reviewed and analysed retrospectively.

Results

Two patients underwent a robotic oesophagectomy and five underwent a simple enucleation. These last were the objective of the final analysis. Median operative time was 150 min. Neither deaths nor postoperative complications occurred. Median oral feeding started on postoperative day 3.5. The median postoperative stay was 5 days. Final histopathology confirmed two gastrointestinal stromal tumours, two leiomyomas and one simple cyst.

Conclusions

Robotic enucleation of oesophageal benign to borderline tumours is a feasible procedure in a dedicated oesophageal unit, with optimal perioperative outcomes in a small series of cases with limited follow‐up.

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Eye Explorer: A robotic endoscope holder for eye surgery

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Abstract

Background

Holding endoscopes by hand when performing eye surgery reduces the dexterity of the surgeon.

Methods

A robotic endoscope holder called "Eye Explorer" is proposed to hold the endoscope and free the surgeon's hand.

Results

This device satisfies the engineering and clinical requirements of eye surgery. The force for manual operation is less than 0.5 N. The observable ranges inside the patient's eye considering horizontal and vertical perspectives are 118° and 97°, and the motion of the holder does not interfere with the surgeon's hand and other surgical devices. The self‐weight compensation can prevent the endoscope from falling when extra supporting force is released. When comparing the external force exerted on the eye by the Eye Explorer with that in case of manual operation, a decrease of more than 15% can be observed. Moreover, the consumption time of endoscope view adjustment using the Eye Explorer and manual operation does not significantly differ.

Conclusion

The Eye Explorer allows dual‐hand operation, facilitating a successful endoscopic eye surgery.

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