Готові списки джерел за темами / Robot-assisted procedure

Добірка наукової літератури з теми "Robot-assisted procedure"

Автор: Grafiati

Опубліковано: 1 червня 2024

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Статті в журналах з теми "Robot-assisted procedure":

Uzan, Jennifer, Caroline Cornou, Chérazade Bensaid, François Audenet, Charlotte Ngô, Anne-Sophie Bats, and Fabrice Lecuru. "Robot-Assisted Laparoscopic Partial Colpectomy and Intracorporeal Ileal Conduit Urinary Diversion (Bricker) for Cervical Adenocarcinoma Recurrence." Case Reports in Obstetrics and Gynecology 2015 (2015): 1–4. http://dx.doi.org/10.1155/2015/241094.

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Ileal conduit urinary diversion (Bricker) is a standard surgical open procedure. The Da Vinci robot allowed precision for this surgical procedure, especially for intracorporeal suturing. Meanwhile, few reports of robot-assisted laparoscopic ileal conduit diversion (Bricker) are described in the literature. We report the case of a 69-year-old patient with a vaginal recurrence of cervical adenocarcinoma associated with vesicovaginal fistula treated by robot-assisted laparoscopic partial colpectomy and ileal conduit urinary diversion (Bricker). The robot-assisted laparoscopic procedure followed all surgical steps of the open procedure. Postoperative period was free of complications.

Wang, Qing, Yuchao Lu, Henglong Hu, Jiaqiao Zhang, Baolong Qin, Jianning Zhu, Najib Isse Dirie, Zongbiao Zhang, and Shaogang Wang. "Management of recurrent ureteral stricture: a retrospectively comparative study with robot-assisted laparoscopic surgery versus open approach." PeerJ 7 (December 4, 2019): e8166. http://dx.doi.org/10.7717/peerj.8166.

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Background Management of recurrent ureteral stricture is challenging. Consensus on the best surgical choice has not been demonstrated. In this study, we aim to report our experience in treating recurrent ureteral stricture and demonstrate whether robot-assisted procedure for redo ureteral surgery is as effective as open procedure while remaining less invasive. Methods We retrospectively assessed 41 patients (22 robot-assisted surgeries and 19 open surgeries) who underwent consecutive robot-assisted and open procedures for redo ureteral surgery from January 2014 to 2018 in our institution. Perioperative outcomes, including demographics, operative time, estimated blood loss, complications, pain scores, success rate and cost, were compared between two groups. Results There was no significant intergroup difference in terms of age, body mass index, gender composition and American Society of Anesthesiologists scores. A total of 31 patients underwent redo pyeloplasty and ten underwent redo uretero-ureterostomy. Compared with open group, robot-assisted group showed shorter operative time (124.55 min vs. 185.11 min, p < 0.0001), less estimated blood loss (100.00 mL vs. 182.60 mL, p = 0.008) and higher cost (61161.77¥ vs. 39470.79¥, p < 0.0001). Complication rate and pain scores were similar between two groups. Median follow-up periods were 30 and 48 months for robot-assisted and open group respectively. Success rate in the robot-assisted (85.71%) and the open group (82.35%) was not significantly different. Conclusions Robot-assisted surgery for recurrent stricture after previous ureteral reconstruction is as effective as open procedure and is associated with shorter operative time and less estimated blood loss.

&NA;. "Robot-Assisted Surgery Shortens Vasectomy Reversal Procedure." Journal of Clinical Engineering 35, no. 2 (April 2010): 69. http://dx.doi.org/10.1097/jce.0b013e3181d71c20.

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Singh, Iqbal, and Ashok K. Hemal. "Role of Robot-Assisted Pelvic Surgery." Scientific World JOURNAL 9 (2009): 479–89. http://dx.doi.org/10.1100/tsw.2009.54.

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The purpose of this study was to assess the current role of robot-assisted urological surgery in the female pelvis. The recently published English literature was reviewed to evaluate this role, with special emphasis on reconstructive procedures. These included colposuspension for genuine female stress urinary incontinence, repair of female genitourinary fistulas, ureterosciatic hernias, sacrocolpopexy for vault prolapse, ureterolysis and omental wrap for retroperitoneal fibrosis, ureteric reimplantation, and bladder surgery. To date, a wide spectrum of urogynecological reconstructive procedures have been performed with the assistance of the surgical robot and have been reported worldwide. Currently, a number of female pelvic ablative and reconstructive procedures are technically feasible with the aid of the surgical robot. While the role of robot-assisted surgery for bladder cancer, ureterolysis, ureteric reimplantation, repair of genitourinary fistulas, colposuspension, and sacrocolpopexy is nearly established among urologists, other procedures, such as myomectomy, simple hysterectomy, trachelectomy, and Wertheim's hysterectomy, are still evolving with gynecologists. The advantages of robot assistance include better hand-eye coordination, three-dimensional magnified stereoscopic vision with depth perception, intuitive movements with increased precision, and filtering of hand tremors. For most of the currently performed procedures in selected patients, the robot-assisted surgical outcomes appear to be relatively superior as compared to an open and purely laparoscopic surgical procedure.

Hermsen, Elizabeth D., Tim Hinze, Harlan Sayles, Lee Sholtz, and Mark E. Rupp. "Incidence of Surgical Site Infection Associated with Robotic Surgery." Infection Control & Hospital Epidemiology 31, no. 8 (August 2010): 822–27. http://dx.doi.org/10.1086/654006.

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Objective.Robot-assisted surgery is minimally invasive and associated with less blood loss and shorter recovery time than open surgery. We aimed to determine the duration of robot-assisted surgical procedures and the incidence of postoperative surgical site infection (SSI) and to compare our data with the SSI incidence for open procedures according to national data.Design.Retrospective cohort study.Setting.A 689-bed academic medical center.Patients.All patients who underwent a surgical procedure with use of a robotic surgical system during the period from 2000-2007.Methods.SSIs were defined and procedure types were classified according to National Healthcare Safety Network criteria. National data for comparison were from 1992-2004. Because of small sample size, procedures were grouped according to surgical site or wound classification.Results.Sixteen SSIs developed after 273 robot-assisted procedures (5.9%). The mean surgical duration was 333.6 minutes. Patients who developed SSI had longer mean surgical duration than did patients who did not (558 vs 318 minutes; P<.001). The prostate and genitourinary group had 5.74 SSIs per 100 robot-assisted procedures (95% confidence interval [CI], 2.81–11.37), compared with 0.85 SSIs per 100 open procedures from national data. The gynecologic group had 10.00 SSIs per 100 procedures (95% CI, 2.79–30.10), compared with 1.72 SSIs per 100 open procedures. The colon and herniorrhaphy groups had 33.33 SSIs per 100 procedures (95% CI, 9.68–70.00) and 37.50 SSIs per 100 procedures (95% CI, 13.68–69.43), respectively, compared with 5.88 and 1.62 SSIs per 100 open procedures from national data. Patients with a clean-contaminated wound developed 6.1 SSIs per 100 procedures (95% CI, 3.5–10.3), compared with 2.59 SSIs per 100 open procedures. No significant differences in SSI rates were found for other groups.Conclusions.Increased incidence of SSI after some types of robot-assisted surgery compared with traditional open surgery may be related to the learning curve associated with use of the robot.

Makay, Özer, Esra Yuksel, Asuman Sargin, Murat Ozdemir, Varlik Erol, Osman Bozbiyik, Sezgin Ulukaya, and Mahir Akyildiz. "Oral Presentation I." World Journal of Endocrine Surgery 8, no. 1 (2016): 1–7. http://dx.doi.org/10.5005/wjoes-8-1-1.

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ABSTRACT BACKGROUND AND AIMS Minimally invasive surgery of the adrenal gland is widespread. Although reports demonstrate the safety and feasibility of robot-assisted adrenalectomy, the objective benefits are still unclear, compared to those of conventional laparoscopy. Recently, robot-assisted approach has also become possible for pheochromocytoma resection. Since cardiopulmonary changes during robot-assisted dissection of the pheochromocytoma patient has not been studied in detail, we aimed to assess these concerns, compared to the routine laparoscopic technique. METHODS In this case-control study, 19 consecutive robot-assisted adrenal resections were compared with a control group consisting of 14 conventional laparoscopic adrenalectomy. Patient characteristics and intraoperative hemodynamic and respiratory parameters were assessed. Groups were compared using the χ2 test for categorical variables and Student's t-test for continuous variables. Significance was considered p < 0.05. RESULTS The robot-assisted procedure was performed successfully in all patients, except one. The duration of the robot-assisted procedure, compared to the conventional laparoscopy group, was significantly longer (p < 0.05). Intraoperative blood loss was significantly less in the robot-assisted group (p < 0.05). Dissection of pheochromocytoma showed a significant difference between the groups, according to the incidence of intraoperative blood pressure fluctuations (p < 0.05). The robot-assisted approach resulted in less incidents. Other hemodynamic and respiratory parameters did not differ between groups significantly. There were no perioperative deaths. Complication rates and postoperative hospital stays were not significantly different. CONCLUSION Robot-assisted adrenalectomy is a safe and technically feasible procedure for a pheochromocytoma patient. Robot-assisted resection of pheochromocytoma minimized the occurrence of intraoperative blood pressure fluctuations and blood loss.

De Benedictis, Alessandro, Andrea Trezza, Andrea Carai, Elisabetta Genovese, Emidio Procaccini, Raffaella Messina, Franco Randi, et al. "Robot-assisted procedures in pediatric neurosurgery." Neurosurgical Focus 42, no. 5 (May 2017): E7. http://dx.doi.org/10.3171/2017.2.focus16579.

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OBJECTIVEDuring the last 3 decades, robotic technology has rapidly spread across several surgical fields due to the continuous evolution of its versatility, stability, dexterity, and haptic properties. Neurosurgery pioneered the development of robotics, with the aim of improving the quality of several procedures requiring a high degree of accuracy and safety. Moreover, robot-guided approaches are of special interest in pediatric patients, who often have altered anatomy and challenging relationships between the diseased and eloquent structures. Nevertheless, the use of robots has been rarely reported in children. In this work, the authors describe their experience using the ROSA device (Robotized Stereotactic Assistant) in the neurosurgical management of a pediatric population.METHODSBetween 2011 and 2016, 116 children underwent ROSA-assisted procedures for a variety of diseases (epilepsy, brain tumors, intra- or extraventricular and tumor cysts, obstructive hydrocephalus, and movement and behavioral disorders). Each patient received accurate preoperative planning of optimal trajectories, intraoperative frameless registration, surgical treatment using specific instruments held by the robotic arm, and postoperative CT or MR imaging.RESULTSThe authors performed 128 consecutive surgeries, including implantation of 386 electrodes for stereo-electroencephalography (36 procedures), neuroendoscopy (42 procedures), stereotactic biopsy (26 procedures), pallidotomy (12 procedures), shunt placement (6 procedures), deep brain stimulation procedures (3 procedures), and stereotactic cyst aspiration (3 procedures). For each procedure, the authors analyzed and discussed accuracy, timing, and complications.CONCLUSIONSTo the best their knowledge, the authors present the largest reported series of pediatric neurosurgical cases assisted by robotic support. The ROSA system provided improved safety and feasibility of minimally invasive approaches, thus optimizing the surgical result, while minimizing postoperative morbidity.

Wang, Wen-Ping, Long-Qi Chen, Han-Lu Zhang, Yu-Shang Yang, Song-Lin He, and Yun Wang. "PS01.224: MODIFIED INTRATHORACIC ESOPHAGOGASTROSTOMY AT MINIMALLY INVASIVE ROBOT-ASSISTED IVOR-LEWIS ESOPHAGECTOMY FOR CANCER." Diseases of the Esophagus 31, Supplement_1 (September 1, 2018): 113–14. http://dx.doi.org/10.1093/dote/doy089.ps01.224.

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Abstract Background The intrathoracic esophagogastrostomy played important role in minimally invasive Ivor-Lewis esophagectomy for cancer. The methods of intrathoracic esophagogastric anastomosis at robot-assisted Ivor-Lewis esophagectomy mostly included hand-sewn, and circular stapler (anvil placement via OrVil system or transthoracically), which were still technically challenging. In this study, we modified the techniques of intrathoracic esophagogastric anastomosis at robot-assisted Ivor-Lewis esophagectomy for cancer, in order to seek to simplify this complicated intrathoracic procedure. Then retrospective comparison between robotic and thoracoscopic cohorts was conducted. Methods We modified techniques focused on the ‘side-insertion’ anvil placement and purse string suture of intrathoracic robot-assisted esophagogastric anastomosis. The consecutive records of patients who underwent minimally invasive Ivor-Lewis esophagectomy for cancer via robot-assistant and thoracoscopic procedures in our department between January 2015 and November 2017 were retrospectively analyzed. Results Totally 47 patients were enrolled including 20 patients (male: 17, female: 3) in robot-assisted group and 27 patients (male: 21, female: 6) in thoracoscopic group. There was no conversion to open thoracotomy in both two groups. Mean operation duration of robotic group was 412.5 ± 63.5 min, significantly higher than 363.0 ± 53.3 min in thoracoscopic group (P = 0.006). Estimated blood loss in robotic group was less than that in thoracoscopic group (107.5 ± 63.5ml vs. 188.9 ± 94.3ml, respectively, P = 0.002). One patient (5.0%) in robotic group and two patients(7.4%) in thoracoscopic group had anastomotic leak. No postoperative reoperation or mortality (in-hospital or within 30 days after surgery) occurred in both groups. Conclusion Robot-assisted Ivor-Lewis esophagectomy was safe and feasible. Our modified procedure highlighting the ‘side-insertion’ method could simplify the process of intrathoracic anvil placement and purse string suture for the robot-assisted esophagogastric anastomosis. Robot-assisted Ivor-Lewis esophagectomy was nearly equivalent to thoracoscopic Ivor-Lewis esophagectomy at short-term outcomes, except higher operation time and less blood loss. Disclosure All authors have declared no conflicts of interest.

Cormi, Clément, Guillaume Parpex, Camille Julio, Fiona Ecarnot, David Laplanche, Geoffrey Vannieuwenhuyse, Antoine Duclos, and Stéphane Sanchez. "Understanding the surgeon’s behaviour during robot-assisted surgery: protocol for the qualitative Behav’Robot study." BMJ Open 12, no. 4 (April 2022): e056002. http://dx.doi.org/10.1136/bmjopen-2021-056002.

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IntroductionRobot-assisted surgery is spreading worldwide, accounting for more than 1.2 million procedures in 2019. Data are sparse in the literature regarding the surgeon’s mechanisms that mediate risk-taking during a procedure, especially robot-assisted. This study aims to describe and understand the behaviour of the surgeons during robot-assisted surgery and the change in their behaviour with increasing experience in using the robot.Methods and analysisThis is a qualitative study using semistructured interviews with surgeons who perform robot-assisted surgery. An interview guide comprising open questions will be used to ensure that the points to be discussed are systematically addressed during each interview (ie, (1) difference in behaviour and preparation of the surgeon between a standard procedure and a robot-assisted procedure; (2) the influence of proprioceptive modifications, gain in stability and cognitive biases, inherent in the use of a surgical robot and (3) the intrinsic effect of the learning curve on the behaviour of the surgeons. After transcription, interviews will be analysed with the help of NVivo software, using thematic analysis.Ethics and disseminationSince this project examines professional practices in the field of social and human sciences, ethics committee was not required in accordance with current French legislation (Decree no 2017-884, 9 May 2017). Consent from the surgeons is implied by the fact that the interviews are voluntary. Surgeons will nonetheless be informed that they are free to interrupt the interview at any time.Results will be presented in peer-reviewed national and international congresses and submitted to peer-reviewed journals for publication. The communication and publication of the results will be placed under the responsibility of the principal investigator and publications will be prepared in compliance with the ICMJE uniform requirements for manuscripts.Trial registration numberNCT04869995.

Fourcade, Laurent, Sarah Amar, Khalid Alzahrani, Ann-Rose Cook, Karim Braïk, Jérôme Cros, Bernard Longis, et al. "Robot-Assisted Laparoscopic Fundoplications in Pediatric Surgery: Experience Review." European Journal of Pediatric Surgery 29, no. 02 (December 19, 2017): 173–78. http://dx.doi.org/10.1055/s-0037-1615279.

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Introduction Laparoscopic fundoplicature for gastroesophageal reflux disease has become the gold standard because of the improvement of postoperative rehabilitation compared with the open procedure. The robot-assisted surgery has brought new advantages for the patient and the surgeon compared with laparoscopy. We studied this new approach and the learning curve. Materials and Methods Sixty robot-assisted fundoplicatures were performed in two university pediatric surgery centers. Data of the patients were recorded, including peroperative data (operation length and complications), postoperative recoveries, and clinical evolution. The learning curve was evaluated retrospectively and each variable was compared along this learning curve. Results We observed a flattening of the learning curve after the 20th case for one surgeon. The mean operative time decreased significantly to 80 ± 10 minutes after 20 cases. There were no conversions to an open procedure. A revision surgery was indicated for 4.7% of the patients by a surgical robot-assisted laparoscopic approach. Conclusion The robotic system appears to add many advantages for surgical ergonomic procedures. There is a potential benefit in operating time with a short technical apprenticeship period. The setting up system is easy with a short docking time.

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Дисертації з теми "Robot-assisted procedure":

Gagnolet, Marielle. "Optimization of the polishing procedure using a robot assisted polishing equipment." Thesis, Halmstad University, School of Business and Engineering (SET), 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-2682.

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Today, manual polishing is the most common method to improve the surface finish of mould and dies for e.g. plastic injection moulding, although it is a cumbersome and time-consuming process. Therefore, automated robots are being developed in order to speed up and secure the final result of this important final process.

The purpose of this thesis is to find out some clues about the influence of different parameters for the polishing of a steel grade called Mirrax ESR (Uddeholm Tooling AB) using a Design of Experiment. The report starts with a brief description of mechanical polishing (the techniques and polishing mechanisms) and ends up with the optimization of the polishing procedure with a polishing machine, the Strecon RAP-200 made by Strecon A/S.

Even if all the runs of the Design of Experiments couldn’t be carried out, the surfaces studied revealed some information about the importance of the previous process (turning marks not removed) and about the link between the aspect of the surfaces and the roughness parameters.

Faure-Vidal, Anaïs. "Optimization of the polishing procedure by using a robot assisted polishing equipment." Thesis, Halmstad University, School of Business and Engineering (SET), 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-2683.

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Nowadays, the polishing process is one of the most important steps of the manufacturing of moulds and dies. Occupying up to 40% of the total production time and cost, it is decisive for the final appearance and quality of a surface. Because of its complexity, the polishing is mainly carried out manually; and the final quality depends of the expertise of the operator. That is why an automation of the polishing process is necessary.

The purpose of this project was to find out the optimized sequence of polishing for a Mirrax ESR steel (Uddeholm Tooling AB) using the Strecon RAP-200 (robot assisted polishing equipment). Using a Design of Experiment, the machine parameters were tested in order to better understand their influences and interactions. The report starts with a description of general polishing knowledge and ends up with the results from a Design of Experiment.

The information from this test are a first step in the evaluation of the Strecon RAP-200. Even if many results have been found out, only four parameters have been tested, and to be able to optimize the polishing sequence, further studies need to be carried out.

Marmol, Velez Andres Felipe. "Robust and dense visual slam for robot-assisted minimally invasive orthopaedic procedures." Thesis, Queensland University of Technology, 2019. https://eprints.qut.edu.au/132169/1/Andres_Marmol%20Velez_Thesis.pdf.

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Orthopaedic surgeons are currently overburdened by physical and mental challenges that significantly increase the risk of injury to more than 2 million patients every year. This thesis proposes a robotic surgical-assistant for minimally-invasive orthopaedic surgeries that can alleviate surgeon workload and reduce the risk of unintended patient injury. A robotic prototype, along with a set of state-of-the-art robotic vision algorithms, was designed and validated in knee arthroscopy, the most common orthopaedic procedure worldwide. The proposed system can reliably inform surgeons of the location of an instrument within a detailed 3D map of the anatomy. Extensive experimentation, including cadaveric trials, demonstrated the system's unparalleled performance in real operative conditions.

Splendori, Roberta. "Development of control algorithm for adjusting the needle insertion path during robot assisted breast biopsy procedure." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.

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The MURAB project, created and developed by the RAM group at the university of Twente in the Netherlands, aims to improve the precision and the efficiency of the breast biopsy procedure, reducing as much as possible the intervention time and the discomfort for the patient. In this framework, a lot of studies have been conducted concerning efficient control methods capable of positioning the end effector of a KUKA LBR Med robotic arm at the location where the hypothetical lesion has been individualized. Starting from these methods, the main goal of this Thesis is to develop a control algorithm able to modify the robot trajectory such that it can find and reach the lesion position, even in presence of variations of this target location; caused for example by small patient’s motions. After a brief literature review about the already existing robot assisted breast biopsy procedures, an elaborated study relative to the control strategies adopted in the collaboration and interaction between humans and robotic systems has been presented. This leads to the characterization and implementation of the final controller, defined as an impedance controller with energy and power limitations to increase the safety of the patient and energy tanks to ensure passivity. The validity and the stability of this control approach have been analyzed and tested firstly with a 20 sim simulation and then with experiments in laboratory. The results will show how it is possible to compensate rotational and / or translational errors in the robot end effector’s positioning through a suitable tuning of some parameters, while keeping a good image quality of the determined target and without loosing contact between the probe and the breast phantom / skin. Meanwhile, a proper characterization of the controller’s parameters allows to guarantee the compliance of the manipulator, fundamental to ensure the safety of the patient and of the interaction of the robot with the surrounding environment.

Bernardes, Mariana. "Robot assisted steering of flexible needles for percutaneous procedures." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20145.

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Les travaux de cette thèse proposent une nouvelle approche pour le guidage assisté par robots d'aiguilles flexibles pour des procédures percutanées. La méthode est basée sur l'utilisation d'une rotation de l'aiguille avec un rapport cyclique variable pour réaliser une insertion avec des arcs de rayons de courbure différents. Elle combine un retour visuel avec une stratégie de planification adaptative pour compenser les incertitudes du système et les perturbations. Par rapport aux approches présentées précédemment dans la littérature, la stratégie de planification en boucle fermée est adaptée à des scènes dynamiques qui présentent des changements de position des obstacles et de la cible. Cette approche a été implémentée sur un système robotique et les résultats obtenus in vitro confirment tout l'intérêt de cette technique
This thesis proposes a robot-assisted approach for automatic steering of flexible beveled needles in percutaneous procedures. The method uses duty-cycled rotation of the needle to perform insertion with arcs of adjustable curvature, and combines closed-loop imaging feedback with an intraoperative motion replanning strategy to compensate for system uncertainties and disturbances. Differently from previous approaches, the closed-loop replanning strategy is suitable for dynamic scenes that present changes of obstacles and target positions. Indeed, we implemented the proposed system using a robotic manipulator, and the results obtained from in vitro tests confirmed the viability of our method

Robertson, Tomas James. "The effects of anaesthesia during robot-assisted laparoscopic prostatectomy on cerebral autoregulation." Thesis, The University of Sydney, 2022. https://hdl.handle.net/2123/28808.

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Robot-assisted laparoscopic prostatectomy (RALP) requires pneumoperitoneum combined with Trendelenburg (head down) positioning, which can be associated with impairment of cerebral blood flow autoregulation. The impairment of cerebral blood flow autoregulation can be in the form of hypoperfusion, potentially leading to ischaemia and infarction, or hyperperfusion, potentially leading to cerebral oedema which can cause seizures and cognitive disturbances, amongst others. Anaesthetic agents also effect the cerebral circulation and there is evidence that there are differential effects on the cerebral circulation depending upon the anaesthetic agent used. Information is limited regarding the combined effects of different anaesthetic agents, pneumoperitoneum, and the Trendelenburg position on cerebral autoregulation during RALP. The objectives of this thesis were three-fold: to introduce and explain the relationship between RALP, cerebral autoregulation and anaesthetic agents; second, to show that it is possible for cerebral autoregulation to be impaired during RALP and that there is a gap in the research regarding a preferred anaesthetic agent during RALP; third, to describe and report the results of a study conducted to address the gaps in the research, with this study showing that perhaps intravenous anaesthesia (with propofol) is better able to maintain cerebral autoregulation, particularly towards the end of surgery, than inhalational anaesthesia (with sevoflurane) for patients undergoing RALP.

Daunizeau, Loïc. "Développement de la thérapie ultrasonore conformationnelle par voie interstitielle pour le traitement du carcinome hépatocellulaire." Electronic Thesis or Diss., Lyon, 2020. http://www.theses.fr/2020LYSE1326.

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Le carcinome hépatocellulaire est le principal cancer primaire du foie. Les procédures d’ablation thermique par voie interstitielle constituent un type de traitement curatif de ce cancer. Ces méthodes ne permettent pas toujours, de par leur nature physique (radio fréquence, micro-onde, laser, cryothérapie), de générer une ablation conformationnelle pour un volume tumoral donné. Dans certains cas, cela peut entraîner l’ablation d’un volume important de tissus non tumoraux. L'utilisation d'une sonde interstitielle ultrasonore disposant d’un transducteur avec de nombreux éléments indépendants, capable de générer des ultrasons focalisés de haute intensité (HIFU), permettrait théoriquement de lever cette limitation. D’autre part, le nombre élevé d’éléments permettrait également de disposer de capacités d’imagerie. Les travaux présentés dans cette thèse ont donc d’abord porté sur la conception du transducteur associé à ce type de sonde. Un design particulier a été proposé spécifiquement pour le traitement d’une tumeur de 4 cm de diamètre. S’est ensuite posé la question de la stratégie de planification du traitement à adopter pour obtenir une lésion la plus conformationnelle possible. Différentes stratégies ont été évaluées par simulations numériques. Toutes ont présentés des caractéristiques semblables tant en termes de conformation que de temps de traitement total. La focalisation ultrasonore s’est avérée en elle-même suffisante pour générer un traitement conformationnel. Finalement, une plateforme robotique a été développée pour le pilotage de prototypes de sondes ultrasonores interstitielles bimodales, aussi bien en mode imagerie qu’en mode thérapie. Cette plateforme a permis de réaliser in vitro, les planifications de traitement automatiques de plusieurs fantômes de tumeurs, en se basant sur la reconstruction ultrasonore 3D issue de l’imagerie échographique obtenue in situ par les sondes ultrasonores. En revanche, en mode thérapie les prototypes de sondes n’ont pas atteint leurs spécifications et n’ont pas réussi à générer des lésions thermiques dans des tissus hépatiques in vitro. La modularité de la plateforme robotique a rendu possible son utilisation avec un système de thérapie ultrasonore différent, à la fiabilité éprouvé. Avec ce système, la planification automatique du traitement, ainsi que l’exécution du traitement HIFU associé, ont pu être effectué in vitro avec succès par la plateforme
Hepatocellular carcinoma is the most common primary cancer of the liver. Interstitial thermal ablation procedures constitute a type of curative treatments for this cancer. Given the physical nature of the phenomenon used to modify temperature (radio frequency, micro wave, laser, cryotherapy), those methods may not be able to generate a conformal treatment for a given tumor shape. In some cases, this limitation may induce the thermal ablation of a large volume of non-tumor tissues. The use of an ultrasound interstitial probe mounted with a multi-element transducer capable of generating high intensity focused ultrasound (HIFU) may theoretically help to overcome this limitation. Also a transducer with an important number of elements may also provide in situ imaging. As a first step, the design of a transducer for interstitial ultrasound probe was studied. A specific configuration has been proposed for the treatment of tumors with a diameter of 4 cm. The question of the treatment planning method to adopt to reach an optimal conformal treatment has been then addressed by comparing numerical simulations of different strategies. All strategies were sufficiently conformal and none presented real assets compared to the others. Ultrasound focusing in itself provided the desired conformal thermal ablation. Finally, a robotic platform was developed for driving interstitial dual mode ultrasound probes, both in imaging and in therapy mode. This platform allowed the automatic treatment planning of in vitro tumor mimic phantoms, based on 3D ultrasound reconstruction from the B mode images obtained in situ by the interstitial probe. However, in therapy mode, the probes did not reach their specifications and did not manage to create thermal lesions in in vitro liver tissue sample. The modularity of the robotic platform allowed driving a different HIFU system, which was more robust. With this system, the platform managed to perform with success an automatic treatment planning and then the associated HIFU treatment in in vitro tissue sample

Bernardes, Mariana Costa. "Robot-assisted steering of flexible needles for percutaneous procedures = Guidage robotisé des aiguilles flexibles pour des procédures percutanées = Guiagem robotizada de agulhas flexíveis para procedimentos percutâneos." reponame:Repositório Institucional da UnB, 2012. http://repositorio.unb.br/handle/10482/14104.

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Tese (doutorado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2012.
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Esta tese propõe uma estratégia de guiagem robotizada de agulhas ﬂexíveis com ponta chanfrada em procedimentos percutâneos. O método usa duty-cycle de rotação para realizar inserções com arco de curvatura ajustável e combina realimentação de imagem em malha fechada comuma estratégia intraoperatória de replanejamento de movimento para compensar incertezas e distúrbios no sistema. Diferentemente de estratégias anteriores, o replanejamento emmalha fechada é adequado a cenários dinâmicos emque há mudanças na posição do alvo e obstáculos. De fato, o sistema proposto foi implementado utilizando um robô manipulador, e os resultados obtidos de testes in vitro conﬁrmaram a viabilidade do método. Até onde se sabe, tais resultados são originais, especialmente no que diz respeito ao uso de planejamento rápido intraoperatório combinado com duty-cycle da agulha e o uso de um braço manipulador disponível comercialmente. ______________________________________________________________________________ ABSTRACT
This thesis proposes a robot-assisted approach for automatic steering of ﬂexible beveled needles in percutaneous procedures. The method uses duty-cycled rotation of the needle to performinsertion with arcs of adjustable curvature, and combines closed-loop imaging feedback with an intraoperative motion replanning strategy to compensate for system uncertainties and disturbances. Differently from previous approaches, the closed-loop replanning strategy is suitable for dynamic scenes that present changes of obstacles and target positions. Indeed, we implemented the proposed system using a robotic manipulator, and the results obtained from in vitro tests conﬁrmed the viability of our method. To the best of our knowledge, such results are original, speciﬁcally in what concerns the use of an intraoperative fast replanning strategy combined with needle duty-cycling and the use of a commercially available manipulator arm. ___________________________________________________________________________________ RÉSUMÉ
Les travaux de cette thèse proposent une nouvelle approche pour le guidage assisté par robots d’aiguilles ﬂexibles pour des procédures percutanées. La méthode est basée sur l’utilisation d’une rotation de l’aiguille avec un rapport cyclique variable pour réaliser une insertion avec des arcs de rayons de courbure différents. Elle combine un retour visuel avec une stratégie de planiﬁcation adaptative pour compenser les incertitudes du système et les perturbations. Par rapport aux approches présentées précédemment dans la littérature, la stratégie de planiﬁcation en boucle fermée est adaptée à des scènes dynamiques qui présentent des changements de position des obstacles et de la cible. Cette approche a été implémentée sur un système robotique et les résultats obtenus in vitro conﬁrment tout l’intérêt de cette technique.

Caravaca, Mora Oscar Mauricio. "Development of a novel method using optical coherence tomography (OCT) for guidance of robotized interventional endoscopy." Thesis, Strasbourg, 2020. http://www.theses.fr/2020STRAD004.

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Il manque actuellement aux médecins une nouvelle méthode qui rationalise le traitement peu invasif pour en faire des procédures à opérateur unique, assistées par une caractérisation précise des tissus in situ et en temps réel, en situation de prise de décisions dans la gestion du cancer colorectal. Une solution prometteuse à ce problème a été développée par l'équipe AVR (Automatique, Vision et Robotique) du laboratoire ICube, au sein de laquelle l'endoscope interventionnel flexible (fabriqué par Karl Storz) a été entièrement robotisé, permettant ainsi à un seul opérateur de télémanipuler indépendamment l'endoscope et deux instruments thérapeutiques insérables, grâce à unité de contrôle commune. Cependant, l'endoscope flexible assisté par robot est soumis aux mêmes limites de précision diagnostique que les systèmes d'endoscopie standards. Il a été démontré que l'OCT endoscopique présente un potentiel pour l'imagerie des troubles de la voie gastro-intestinale et pour la différenciation de tissus sains des tissus malades. Actuellement, l'OCT se limite à l'imagerie de l'œsophage humain, qui présente une géométrie simple et un accès facile. Ni l'OCT, ni l'endoscope robotisé ne peuvent résoudre à eux seuls les limites de la norme actuelle de soins pour la prise en charge d’un cancer du côlon. La combinaison de ces deux technologies et le développement d'une nouvelle plate-forme pour la détection et le traitement précoce du cancer constituent l'objet principal de cette thèse, avec la vision de développer une console d'imagerie OCT et une sonde de haute technologie intégrée à l'endoscope robotisé. Ce système permet d'obtenir des images de l'intérieur du gros intestin pour la caractérisation des tissus et l'assistance au traitement, permettant ainsi à un seul opérateur d'effectuer une intervention peu invasive en mode télémanipulation
There exists an unmet clinical need to provide doctors with a new method that streamlines minimally invasive endoscopic treatment of colorectal cancer to single operator procedures assisted by in-situ and real-time accurate tissue characterization for informed treatment decisions. A promising solution to this problem has been developed at the ICube laboratory, in which the flexible interventional endoscope (Karl Storz) was completely robotized, so allowing a single operator to independently telemanipulate the endoscope and two insertable therapeutic instruments with a joint control unit. However, the robot-assisted flexible endoscope is subject to the same diagnostic accuracy limitations as standard endoscopy systems. It has been demonstrated that endoscopic optical coherence tomography (OCT) has a good potential for imaging disorders in the gastrointestinal tract and differentiating healthy tissue from diseased. Neither OCT, nor the robotized endoscope can solve the limitations of current standard of care for colon cancer management alone. Combining these two technologies and developing a new platform for early detection and treatment of cancer is the main interest of this work, with the aim of developing a state-of-the-art OCT imaging console and probe integrated with the robotized endoscope. The capabilities of this new technology for imaging of the interior of the large intestine were tested in pre-clinical experiments showing potential for improvement in margin verification during minimally invasive endoscopic treatment in the telemanipulation mode

CECCARELLI, GRAZIANO. "Robot-assisted liver resections. Lessons learned from 127 procedures: short-term and long-term outcomes and literature review." Doctoral thesis, 2020. http://hdl.handle.net/11573/1347341.

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Background Liver surgery greatly evolved over the last decades, with significant reduction in operative morbidity and mortality. Minimally invasive liver surgery demonstrated to be safe and feasible for selected patients with equivalent oncologic outcomes compared to open surgery, despite requiring specific technical skills. Recently, robotic technology was used also to perform liver surgery, showing interesting aspects, such as flexibility and precision of surgical instruments and 3D vision, which appeared very helpful in performing challenging minimally invasive procedures. The present paper is a retrospective analysis of a seven years’personal experience in robotic liver surgery. Materials and methods: Over the last 7 years, from September 2012 to September 2019, we treated 127 patients affected by both benign and malignant liver diseases using robotic-assisted surgery. Patients’ characteristics, surgical procedures data and post-operative parameters were collected in a dedicated database. A retrospective analysis was performed to evaluate the outcomes in the robotic series. Results: Seventy-five patients were males and 52 females. The mean age was 66.3 years (range 21- 89). Patients undergoing surgery for malignancy were 97 (76%): 67 liver metastases (colorectal and others), 22 hepatocellular carcinomas (HCC), 5 cholangiocarcinomas (CCC), 3 gallbladder cancers. In 13 of them the final pathologic examination revealed benign lesions. Patients who underwent surgery for benign disease were 30 (24%): 15 biliary cystadenomas, 6 hydatid cysts, 3 hemangiomas, 4 symptomatic simple giant liver cysts, one focal nodular hyperplasia (FNH) and one adenoma. The overall liver lesions removed by robotic approach were 198: 63% of patients had more than one lesion. The median tumor size was 24,8 mm (range 4-92). Major hepatic resections were 20 (15.7%). Lesions involving posterior or paracaval segments (segments: 1, 4a, 7, 8) were 66 over 198 (33.3%). Twenty-seven patients (21.3%) had a previous open abdominal surgery with significant abdominal adhesions. Associated abdominal or thoracic diseases (excluding adhesions) treated during liver resections were 71: 25 colo-rectal resections, 22 cholecistectomies, 7 lymphadenectomy, 6 gastric resections, 2 lung resections, and other procedures. Inflow vascular pedicle control (Pringle maneuver) was performed in 37.8%. Mean estimated blood loss was 55 ml (range 5-1200). Intraoperative or perioperative transfusion request occurred in 8 cases (6.3%). Conversion to open surgery occurred in 11 patients (8.7%). Clavien-Dindo 3-4 grade complications occurred in 8.7%. Only one postoperative biliary leakage was observed (0.8%). One case of postoperative 90-day mortality was reported, related to liver failure at 52th post-operative day in a cirrhotic man who underwent a right hepatectomy. Conclusions. Robotic liver surgery is a safe and feasible approach which may increase the possibility of minimally invasive liver resection even in cases considered challenging for conventional laparoscopy, in particular for: lesions located in right postero-lateral and para-caval segments, major liver resections and associated abdominal procedures. The robotic assistance is useful especially for vascular control during tissue dissection and for micro-suturing, when required. The current lack of dedicated robotic instruments, in particular for parenchyma dissection, remains one of the most important shortfall, as well as the high costs and the devices availability. Further clinical comparative studies between robotic and laparoscopic approach are necessary.

Книги з теми "Robot-assisted procedure":

H, Taylor Russell, ed. Computer-integrated surgery: Technology and clinical applications. Cambridge, Mass: MIT Press, 1996.

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Daugherty, Mark. Urological surgery. Oxford University Press, 2018. http://dx.doi.org/10.1093/med/9780198719410.003.0024.

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This chapter discusses the anaesthetic management of urological surgery. Surgical procedures covered include cystoscopic procedures, transurethral resection of the prostate (TURP) (including TURP syndrome), robot-assisted laparoscopic prostatectomy, transurethral resection of bladder tumour, nephrectomy and partial nephrectomy, prostatectomy (including radical prostatectomy), radical cystectomy, percutaneous stone removal, extracorporeal shockwave lithotripsy, and renal transplantation. It concludes with a series of vignettes about minor urological procedures.

Stolzenburg, Jens-Uwe, Ingolf A. Türk, and Evangelos N. Liatsikos. Laparoscopic and Robot-Assisted Surgery in Urology: Atlas of Standard Procedures. Springer Berlin / Heidelberg, 2016.

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Stolzenburg, Jens-Uwe, Ingolf A. Türk, and Evangelos N. Liatsikos. Laparoscopic and Robot-Assisted Surgery in Urology: Atlas of Standard Procedures. Springer, 2011.

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Odeberg-Wernerman, Suzanne, and Margareta Mure. Anaesthesia for urological surgery and for robotic surgery in urology and gynaecology. Edited by Philip M. Hopkins. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780199642045.003.0062.

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Laparoscopic and robot-assisted laparoscopic surgical procedures are commonly used in both urology and gynaecology. These minimally invasive techniques result in early mobilization and short hospital stay and robot-assisted operations are increasingly favoured by patients and surgeons. A complex physiological response is created by the combined effects of carbon dioxide pneumoperitoneum, elevated intra-abdominal pressure, and sometimes a profound Trendelenburg position. Healthy patients tolerate this situation well, but compromised patients are at risk of developing heart failure, ischaemia, or both. Correct interpretation of vital signs can be challenging in this situation. This chapter gives an overview of the physiology during laparoscopic and robot-assisted laparoscopic surgery and gives recommendations for anaesthesia and monitoring. The field of urology and gynaecology also includes major open surgery as well as transurethral surgery and techniques for the management of urinary tract stones. The anaesthetic management and perioperative care of major open surgery, including the increasingly adopted ‘enhanced recovery after surgery’ concept, are also covered. The syndrome of transurethral resection of the prostate can still place patients at risk despite increased knowledge and improved selection of irrigation fluid.

Novara, Giacomo, Alexander Mottrie, Filiberto Zattoni, and Vincenzo Ficarra. Technology and prostatectomy. Edited by James W. F. Catto. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780199659579.003.0067.

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Radical prostatectomy (RP) is the gold standard surgical treatment for patients with clinically localized prostate cancer and life expectancy more than 10 years. In the last decades, the desire to reduce the invasiveness of traditional retropubic RP has produced an increasing interest towards laparoscopic techniques, but acceptance was limited primarily because of the steep learning curve. Conversely, robot-assisted laparoscopic RP (RARP) had a rapid and wide diffusion in the world. Surgical technique for RARP is currently very well standardized and reported in the literature. According to the available data, the procedure can be performed routinely with a relatively small risk of complications and excellent functional outcomes. Clinical patient characteristics, surgical experience and technique, and cancer characteristics may affect the risk of complications as well as continence and potency recovery.

Частини книг з теми "Robot-assisted procedure":

Galvin, Eilish M., and Henri J. D. de Graaff. "Anesthesia for Robot Assisted Gynecological Procedures." In Anesthesiology, 777–93. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74766-8_79.

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Davies, Mark G., Nikolaos V. Tsekos, and Erol Yeniaras. "Robot-Assisted Procedures with MRI Guidance." In Pumps and Pipes, 21–31. Boston, MA: Springer US, 2010. http://dx.doi.org/10.1007/978-1-4419-6012-2_3.

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Galvin, Eilish M., and Henri J. D. de Graaff. "Anesthesia for Robot-Assisted Gynecological Surgery." In Anaesthesia for Uncommon and Emerging Procedures, 39–51. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-64739-1_5.

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Winograd-Gomez, Vera, Kalysa R. Porter, and Niekoo Abbasian. "Anesthesia for Robot-Assisted Laparoscopic Approaches for Pediatric Urologic Surgery." In Anaesthesia for Uncommon and Emerging Procedures, 57–63. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-64739-1_7.

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Goradia, Tushar M., Russell H. Taylor, and L. M. Auer. "Robot-assisted minimally invasive neurosurgical procedures: First experimental experience." In Lecture Notes in Computer Science, 319–22. Berlin, Heidelberg: Springer Berlin Heidelberg, 1997. http://dx.doi.org/10.1007/bfb0029252.

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Patriciu, Alexandru, Dumitru Mazilu, Doru Petrisor, Louis Kavoussi, and Dan Stoianovici. "Automatic Targeting Method and Accuracy Study in Robot Assisted Needle Procedures." In Lecture Notes in Computer Science, 124–31. Berlin, Heidelberg: Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-540-39899-8_16.

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Cho, Daniel S., Cristian A. Linte, Elvis Chen, Chris Wedlake, John Moore, John Barron, Rajni Patel, and Terry M. Peters. "Predicting Target Vessel Location for Improved Planning of Robot-Assisted CABG Procedures." In Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010, 205–12. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-15711-0_26.

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Denis, Kathleen, Andrea Ranftl, Geert Van Ham, Jos Vander Sloten, Joris De Schutter, Guy Fabry, Johan Bellemans Remi Van Audekercke, and Georges Van der Perre. "Comparison of Registration Procedures of the Tibia in Robot-Assisted Total Knee Arthroplasty." In Lecture Notes in Computer Science, 182–89. Berlin, Heidelberg: Springer Berlin Heidelberg, 2003. http://dx.doi.org/10.1007/978-3-540-39899-8_23.

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Santos De Freitas, Gabriel. "THE ROLE OF MIDLINE GLOSSECTOMY WITH COBLATION IN OBSTRUCTIVE SLEEP APNEA." In Obstructive Sleep Apnea - New Insights in the 21st Century [Working Title]. IntechOpen, 2023. http://dx.doi.org/10.5772/intechopen.1002964.

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The aim of this study is to determine the effectiveness of COBLATION midline glossectomy for obstructive sleep apnea (OSA) when used as an isolated or with palatal procedure. We also aim to compare the effect of this surgical procedure. The combination of palatal procedures and tongue-based surgery in a single stage led to improvement in excessive daytime sleepiness, snoring, respiratory parameters of polysomnography (PSG), an overall improvement in quality of life, we can show how de tongue base procedures with COBLATION can give better results to all sleep apnea surgeries. Currently, there is a wide variety of surgical approaches to tongue-base modification in OSA patients, including radiofrequency ablation, COBLATION or laser assisted resection, tongue base suspension, genioglossus advancement, and robot-assisted resection. COBLATION midline glossectomy is an effective surgical procedure.

Enrique Corona-Montes, Víctor, Eduardo Gonzalez-Cuenca, Laurent López, Juan Eduardo Sánchez-Núñez, and Richard Gaston. "Robot-Assisted Radical Cystectomy with Intra-corporeal Neo-Bladder." In Bladder Cancer [Working Title]. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.98973.

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The purpose of this chapter is to provide a step-by-step description of the robot-assisted radical cystectomy with an intra-corporeal neo-bladder technique and a recent review of its outcomes. The procedure is also known as anterior pelvic exenteration or cysto-prostatectomy in the case of female or male respectively. Radical cystectomy (RC) is the gold standard treatment for muscle-invasive bladder cancer, but there are also several surgical indications for non-muscle-invasive bladder cancer. In the past years, minimally invasive surgery and the da Vinci system technology have played a major role in this procedure, with description of brand-new techniques and specific approaches for the creation of a continent urinary reservoir. The following chapter provides a detailed description of the robot-assisted radical cystectomy (RARC) with Y-shaped intra-corporeal bladder as well as a literary review of distinct perioperative, functional and oncological outcomes from the available RARC randomized controlled trials. Despite its high cost and complexity, the intra-corporeal technique has become widely popular around the world and is used more frequently each time. The described data in this chapter, demonstrates that morbidity can be reduced whilst simultaneously offer non-inferior oncological results and less intraoperative blood loss in contrast to the open RC approach.

Тези доповідей конференцій з теми "Robot-assisted procedure":

Bañez, Jose, Stéphane Caro, Steven Schwaitzberg, Jean-Marc Classe, and Caroline G. L. Cao. "Modeling Patients for Optimized Port Placement in Robot-Assisted Surgery." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82754.

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Robot-assisted laparoscopic surgery is gaining popularity because it has been shown to improve accuracy, reduce errors, and assists surgeons in performing more difficult procedures. However, positioning the ports and posing the robot arms to be able to perform the intervention while avoiding tool or arm collisions can be a lengthy and difficult process. The aim of this project was to design a decision aid for patient-specific, optimal port placement in pre-operative planning. This paper presents the analysis and design methods, including the building of separate patient and robot models. Based on a requirements analysis, a symbolic model of the robot was created based on the da Vinci Si Surgical System using the modified Denavit-Hartenberg (DH) parameters to define its work volume. Data from anthropometric tables and patients undergoing laparoscopic procedures were collected to create a library of realistic patient models. These two models, combined in a 3D interactive virtual environment, allow selection of suitable port locations, and a pose and position plan for the robotic arms with unrestricted access to the target area while avoiding collisions between instruments and other objects in the operating room. A simple and elegant protocol was then designed to collect actual patient data for validation of the models. Once validated, this model can be used for any robotic procedure within the abdomen.

Finocchiaro, M., A. Arezzo, A. Menciassi, A. Casals, A. Hernansanz, and G. Ciuti. "Human Machine Interfaces for robot-assisted colonoscopy: a clinical survey." In The Hamlyn Symposium on Medical Robotics: "MedTech Reimagined". The Hamlyn Centre, Imperial College London London, UK, 2022. http://dx.doi.org/10.31256/hsmr2022.26.

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Over the years, the continuous development of intraluminal procedures resulted in strong benefits for the patients, i.e., reduced blood loss, lower risks of infections, diminished scaring impact and quicker recovery time [1]. However, these improvements imposed high mental and physical stress to the clinicians [2], [3]. In this context, the introduction of robotic technologies has resulted in notable improvements in terms of endoscopes flexibility and control stability, by designing multi-steerable snake-like robots and endoscopic capsules. Nevertheless, it also introduces additional degrees of freedom (DOF) to control and sensing information to process, posing the basis for a new framework of human-robot interaction and high-level telemanipulation control [4]. Besides the mechanical design of the surgical device, the Human Machine Interface (HMI, i.e., the interface used to maneuver the endoscope, together with the adopted control strategy and the quality of the feedback received during the interventions) has an important impact over the outcomes of the procedure. Accordingly, all these factors can vary the difficulty of the tasks and are strictly connected to the users’ physical and mental stress, influencing their final performances [5]. Focusing on one intraluminal intervention, i.e., robot- assisted colonoscopy, a variety of HMI have been designed in the last decades, including different input devices, assistive tools and feedback [6]. However, few studies aiming at assessing the best features of the HMI have been performed so far [7]–[9], leading to a lack of knowledge about the optimal HMI able to minimize the cognitive and physical load of the operators and maximize their performace. Herein, we present the results of a survey administered to more than 70 endoscopists across different European countries, to get insights about the clinicians’ desires on the next generation HMI for robot assisted colonoscopy.

Bertini, L., B. Monelli, P. Neri, C. Santus, and A. Guglielmo. "Robot Assisted Modal Analysis on a Stationary Bladed Wheel." In ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/esda2014-20636.

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This paper shows an automated procedure to experimentally find the eigenmodes of a bladed wheel with highly three-dimensional geometry. The stationary wheel is supported in free-free conditions, neglecting stress-stiffening effects. The single input / multiple output approach was followed. The vibration speed was measured by means of a laser-Doppler vibrometer, and an anthropomorphic robot was used for accurate orientation and positioning of the measuring laser beam, allowing multiple measurements during a limited testing time. The vibration at corresponding points on each blade was measured and the data elaborated in order to find the initial (lower frequency) modes. These modal shapes were then compared to finite element simulations and accurate frequency matching and exact number of nodal diameters obtained. Being the modes cyclically harmonic, the complex formulation could be attractive, being not affected by the angular phase of the mode representation. Nevertheless, stationary modes were experimentally detected, rather than rotating, and then the real representation was necessary. The discrete Fourier transform of the blade displacements easily allowed to find both the angular phase and the correct number of nodal diameters. Successful MAC experimental to analytical comparison was finally obtained with the real representation after introducing the proper angular phase for each mode.

Bastiaens, H., G. Alders, P. Feys, S. Notelaers, K. Coninx, L. Kerkhofs, V. Truyens, R. Geers, and A. Goedhart. "Facilitating robot-assisted training in MS patients with arm paresis: A procedure to individually determine gravity compensation." In 2011 IEEE 12th International Conference on Rehabilitation Robotics: Reaching Users & the Community (ICORR 2011). IEEE, 2011. http://dx.doi.org/10.1109/icorr.2011.5975507.

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Burgner, J., J. Raczkowsky, and H. Woern. "End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO2 laser bone ablation." In 2009 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2009. http://dx.doi.org/10.1109/robot.2009.5152518.

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Markvicka, E. J., R. L. McCormick, T. P. Frederick, J. R. Bartels, S. M. Farritor, and D. Oleynikov. "Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13161.

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Colorectal surgery is an area of active research within general surgery. However, over 80% of these procedures currently require an open surgery based on the size and location of the tumor. The current state-of-the-art surgical instruments are unintuitive, restricted by the incision site, and often require timely repositioning tasks during complex surgical procedures. A multi-quadrant miniature in vivo surgical robot has been developed to mitigate these limitations as well as the invasiveness of colorectal procedures. By reducing invasiveness, the patient benefits from improved cosmetics, decreased postoperative pain, faster recovery time, and reduced financial burden. A paradigm shift in invasiveness is often inversely proportional to surgeon benefits. Yet, through the use of a robotic device, the surgeon benefits from improved ergonomics, intuitive control, and fewer required repositioning tasks. This paper presents a two armed robotic device that can be controlled from a remote surgical interface. Each arm has six internally actuated degrees of freedom, decoupling the system from the incision site. Each arm is also equipped with a specialized interchangeable end effector. For the surgical procedure, visual feedback is provided through the use of a standard laparoscope with incorporated light source. The robotic device is introduced into the abdominal cavity through a hand-assisted laparoscopic surgery (HALS) port that is placed within the navel. The device is then grossly positioned to the site of interest within the abdominal cavity through the use of a protruding rod that is rigidly attached to each arm. The surgeon can then begin to manipulate tissue through the use of the surgical interface that is remotely located within the operating room. This interface is comprised of a monitor to provide visual feedback, foot pedals to control the operational state of the device, and two haptic devices to control the end point location of each arm and state of the end effectors.

Kazemipour, Negar, Amir Sayadi, Renzo Cecere, Jake Barralet, and Amir Amir. "Augmented Reality-assisted Epidural Needle Insertion: User Experience and Performance." In THE HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS. The Hamlyn Centre, Imperial College London London, UK, 2023. http://dx.doi.org/10.31256/hsmr2023.13.

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The epidural injection is a medical intervention to inject therapeutics directly in the vicinity of the spinal cord and the nerves branching from it. Epidural needle insertion is a blind procedure that relies merely on the physician’s tactile feedback. Nevertheless, tactile feedback can be polluted with needle-tissue friction and may vary from patient to patient. In order to achieve sub-millimetre accuracy, preempt neurological damage, and reduce the radiation exposure time for patients and physicians, new technologies have been used. Most recently, augmented reality (AR)-based methods have shown promising results in reducing the need for intraoperative X-ray imaging, especially in spine surgery. AR navigation is based on displaying images directly on a wearable device or screen visualizing surgical instruments and patients’ anatomy. Combined with robotic precision, AR shows an excellent prospect for increasing accuracy for spinal injection similar to that of spine surgery [1]. Studies have shown that the AR navigation systems, when compared to the free- hand methods, resulted in increased precision of pedicle screw placement without intraoperative fluoroscopy [1], [2] and decreased radiation [3]. Inspired by the recent de- velopments in spine surgery, in this study we have studied the user experience who used our robot-assisted needle insertion system for epidural space localization and needle insertion. In addition, the accuracy and repeatability of augmented reality-assisted epidural needle insertion were compared to that of non-assisted robotic needle insertion. For user experience assessment, NASA Task Load Index (TLX) [4] was used and analyzed.

Liu, Joshua, Jerry Fang, Ryan J. Murphy, Chad Gordon, and Mehran Armand. "Design and Development of 5-Axis Cranial Implant Laser Cutting System." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68064.

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Cranioplasty is a procedure for skull reconstruction after removal of bone defects such as tumors. Recent approaches for cranioplasty involve the use of customized cranial implants (CCIs). A challenge in performing the cranioplasty with CCI is that the actual size/shape is unknown until the tumor is removed. Often the procedure is performed in two stages. After removing the cranial defect, the surgeon works with an implant manufacturer to develop a CCI using computer-aided design and manufacturing (CAD/CAM) techniques. The CCI attachment to the skull will then require a second surgery. We recently proposed a robot-assisted single-stage cranioplasty. For conventional, single-stage CCI, the CCIs are usually made in oversized profiles and require manual intraoperative modification by the surgeon. The challenge, however, is that for complex cases the surgeon may spend a long time reshaping the CCI. This paper presents the development of a 5-axis laser cutting machine that has the capability of automatically shaping CCI profiles during single-stage cranioplasty. Preliminary results indicate a superior fit with only mm size gaps between the implant and the remaining skull.

Gidde, Sai Teja Reddy, Tololupe Verissimo, Nuo Chen, Parsaoran Hutapea, and Byoung-gook Loh. "Neural Network Modeling of Maximum Insertion Force of Bevel-Tip Surgical Needle." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-88383.

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Recently there has been a growing interest to develop innovative surgical needles for percutaneous interventional procedures. Needles are commonly used to reach target locations inside of the body for various medical interventions. The effectiveness of these procedures depends on the accuracy with which the needle tips reach the targets, such as a biopsy procedure to assess cancerous cells and tumors. One of the major issues in needle steering is the force during insertion, also known as the insertion (penetration) force. The insertion force causes tissue damage as well as tissue deformation. It has been well studied that tissue deformation causes the needle to deviate from its target thus causing an ineffective procedure. Simulation of surgical procedures provides an effective method for a robot-assisted surgery for pre- and intra-operative planning. Accurate modeling of the mechanical behavior on the interface of surgical needles and organs, specifically the insertion force, has been well recognized as a major challenge. Overcoming such obstacle by development of robust numerical models will enable realistic force feedback to the user during surgical simulation. This study investigates feasibility of predicting the insertion force of bevel-tip needles based on experimental data using neural network modeling. Simulation of the proposed neural network model is performed using Kera’s Python Deep Learning Library with TensorFlow as a backend. The insertion forces of needles with different bevel-tip angles in gel tissue phantom are measured using a specially designed automated needle insertion test setup. Input-output datasets are generated where the inputs are defined as bevel-tip angles and gel tissue phantom stiffness, and the output is defined as the insertion force. A properly trained neural network then maps the input data to the output data and the input-output dataset is supplied to train a neural network. Its performance is then evaluated using different and unseen input-output dataset. This paper shows that the proposed neural network model accurately predicts the insertion force.

Okamura, Allison. "Seeing and feeling in robot-assisted surgery (Conference Presentation)." In Image-Guided Procedures, Robotic Interventions, and Modeling, edited by Cristian A. Linte and Jeffrey H. Siewerdsen. SPIE, 2023. http://dx.doi.org/10.1117/12.2657574.

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Selph, Shelly S., Andrea C. Skelly, Ngoc Wasson, Joseph R. Dettori, Erika D. Brodt, Erik Ensrud, Diane Elliot, et al. Physical Activity and the Health of Wheelchair Users: A Systematic Review in Multiple Sclerosis, Cerebral Palsy, and Spinal Cord Injury. Agency for Healthcare Research and Quality (AHRQ), October 2021. http://dx.doi.org/10.23970/ahrqepccer241.

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Objectives. Although the health benefits of physical activity are well described for the general population, less is known about the benefits and harms of physical activity in people dependent upon, partially dependent upon, or at risk for needing a wheelchair. This systematic review summarizes the evidence for physical activity in people with multiple sclerosis, cerebral palsy, and spinal cord injury regardless of current use or nonuse of a wheelchair. Data sources. We searched MEDLINE®, CINAHL®, PsycINFO®, Cochrane CENTRAL, Embase®, and Rehabilitation and Sports Medicine Source from 2008 through November 2020, reference lists, and clinical trial registries. Review methods. Predefined criteria were used to select randomized controlled trials, quasiexperimental nonrandomized trials, and cohort studies that addressed the benefits and harms of observed physical activity (at least 10 sessions on 10 different days of movement using more energy than rest) in participants with multiple sclerosis, cerebral palsy, and spinal cord injury. Individual study quality (risk of bias) and the strength of bodies of evidence for key outcomes were assessed using prespecified methods. Dual review procedures were used. Effects were analyzed by etiology of impairment and physical activity modality, such as treadmill, aquatic exercises, and yoga, using qualitative, and when appropriate, quantitative synthesis using random effects meta-analyses. Results. We included 146 randomized controlled trials, 15 quasiexperimental nonrandomized trials, and 7 cohort studies (168 studies in 197 publications). More studies enrolled participants with multiple sclerosis (44%) than other conditions, followed by cerebral palsy (38%) and spinal cord injury (18%). Most studies were rated fair quality (moderate risk of bias). The majority of the evidence was rated low strength. • In participants with multiple sclerosis, walking ability may be improved with treadmill training and multimodal exercise regimens that include strength training; function may be improved with treadmill training, balance exercises, and motion gaming; balance is likely improved with postural control exercises (which may also reduce risk of falls) and may be improved with aquatic exercises, robot-assisted gait training, treadmill training, motion gaming, and multimodal exercises; activities of daily living may be improved with aquatic therapy; sleep may be improved with aerobic exercises; aerobic fitness may be improved with multimodal exercises; and female sexual function may be improved with aquatic exercise. • In participants with cerebral palsy, balance may be improved with hippotherapy and motion gaming, and function may be improved with cycling, treadmill training, and hippotherapy. • In participants with spinal cord injury, evidence suggested that activities of daily living may be improved with robot-assisted gait training. • When randomized controlled trials were pooled across types of exercise, physical activity interventions were found to improve walking in multiple sclerosis and likely improve balance and depression in multiple sclerosis. Physical activity may improve function and aerobic fitness in people with cerebral palsy or spinal cord injury. When studies of populations with multiple sclerosis and cerebral palsy were combined, evidence indicated dance may improve function. • Evidence on long-term health outcomes was not found for any analysis groups. For intermediate outcomes such as blood pressure, lipid profile, and blood glucose, there was insufficient evidence from which to draw conclusions. There was inadequate reporting of adverse events in many trials. Conclusions. Physical activity was associated with improvements in walking ability, general function, balance (including fall risk), depression, sleep, activities of daily living, female sexual function, and aerobic capacity, depending on population enrolled and type of exercise utilized. No studies reported long-term cardiovascular or metabolic disease health outcomes. Future trials could alter these findings; further research is needed to examine health outcomes, and to understand the magnitude and clinical importance of benefits seen in intermediate outcomes.