Full Dimensional Intuitive Motion Mapping Strategy for Minimally Invasive Surgical Robot with Redundant Passive Joints

2020 ◽  
Author(s):  
Kang Kong ◽  
Shuxin Wang ◽  
Jianmin Li ◽  
He Su
Keyword(s):  
Minimally Invasive ◽  
Mapping Method ◽  
Control Technique ◽  
Direct Control ◽  
Minimally Invasive Surgical ◽  
Mapping Strategy ◽  
Orientation Mapping ◽  
Position And Orientation ◽  
Limited Motion

Abstract Adding redundant passive joints to a robotic arm is an effective way to make the robot overcome the inherent incision constraint of minimally invasive surgery (MIS). However, due to the limited motion accuracy, it is difficult to realize full-dimensional intuitive motion based on traditional multi-axis coordinated control technology in this kind of MIS robots. To solve this problem, a separated position and orientation mapping strategy for MIS robot with redundant passive joints is proposed in the paper. The position and orientation mapping of the strategy are realized by coordinate motion control and joint direct control technique, respectively. To realize the intuitive motion under this condition, an inverse motion mapping method is further proposed. Compared with the existing mapping strategy, the proposed strategy is much more compact as the orientation mapping is greatly simplified. A large number of in-vivo trials based on the newly developed prototype have been conducted and results fully verify the effectiveness of the proposed strategy.

A Novel Rat Model of Persistent Gouty Arthritis by Minimally Invasive Saturated Msu Embedding 

2020 ◽  
Author(s):  
Hanlin Xu ◽  
ShengKun Li ◽  
XiaoAo Xue ◽  
ZiYi Chen ◽  
Yinghui Hua
Keyword(s):  
Minimally Invasive ◽  
Rat Model ◽  
Gouty Arthritis ◽  
The Novel ◽  
Minimally Invasive Surgical ◽  
Crystal Arthritis ◽  
Tnf Α ◽  
Quantitative Immunofluorescence ◽  
Reproducible Method

Abstract Background: Animal models are valid for in vivo research on the pathophysiological process and drug screening of gout arthritis. Intra-articular injection of monosodium urate (MSU) is commonly used to establish animal model at present, while stable MSU deposition and tophi formation were rarely reported. Method: A total of twenty-four rats were randomly allocated into six groups. Three intervention groups of rats received MSU embedment for 3-5 times, respectively. Sham groups received pseudo surgeries with normal saline (NS). Gross parameters and pathological features of synovium harvested from anterior capsule. Mechanical pain threshold tests of rats were conducted over a 96-hour period postoperatively. Result: Significant synovial swelling was detected in the MSU group compared to the sham group(P<0.05). Behavioral tests showed that the embedding of MSU resulted in prolonged mechanical hyperalgesia (P<0.05 during 2 hours to 96 hours postoperatively). MSU depositions enveloped by neutrophil extracellular traps (NETs) were detected where the IL-1β and TNF-α were co-expressed in embedding groups. Quantitative immunofluorescence suggested that the frequencies of MSU interventions promoted expression of proinflammatory factors (P<0.05).Conclusion: A minimally invasive surgical method was developed to establish the novel rat model of intra-articular MSU deposition. This model was proved to be a simple reproducible method to mimic the pathological characteristics of intra-articular crystal arthritis.

Considerations in Dysphagia Management Following Esophagectomy

2016 ◽  
Vol 1 (13) ◽  
pp. 169-176
Author(s):  
Lisa M. Evangelista ◽  
James L. Coyle
Keyword(s):  
Esophageal Cancer ◽  
Minimally Invasive ◽  
Minimally Invasive Surgical Procedures ◽  
Esophageal Resection ◽  
Minimally Invasive Surgical ◽  
Operative Complications ◽  
Swallowing Difficulties ◽  
Epidemiological Impact ◽  
Invasive Techniques ◽  
Management Of Dysphagia

Esophageal cancer is the sixth leading cause of death from cancer worldwide. Esophageal resection is the mainstay treatment for cancers of the esophagus. While curative, surgical resection may result in swallowing difficulties that require intervention from speech-language pathologists (SLPs). Minimally invasive surgical procedures for esophageal resection have aimed to reduce morbidity and mortality associated with more invasive techniques. Both intra-operative and post-operative complications, regardless of the surgical approach, can result in dysphagia. This article will review the epidemiological impact of esophageal cancers, operative complications resulting in dysphagia, and clinical assessment and management of dysphagia pertinent to esophageal resection.

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