Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery

2017 ◽  
pp. 211-220
Author(s):  
Giuseppe Turini ◽  
Sara Condino ◽  
Sara Sinceri ◽  
Izadyar Tamadon ◽  
Simona Celi ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Physical Simulation ◽  
Cardiothoracic Surgery ◽  
Surgical Robot ◽  
Patient Specific ◽  
Simulation Platform ◽  
Robot Assisted ◽  
Single Access

Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

scholarly journals Robot-Assisted versus Laparoscopic Donor Nephrectomy: A Comparison of 250 Cases

2020 ◽  
Vol 9 (6) ◽  
pp. 1610 ◽  
Author(s):  
Philip Zeuschner ◽  
Linda Hennig ◽  
Robert Peters ◽  
Matthias Saar ◽  
Johannes Linxweiler ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Kidney Function ◽  
Surgical Approach ◽  
Operating Time ◽  
Graft Function ◽  
Donor Nephrectomy ◽  
Perioperative Outcomes ◽  
Patient Specific ◽  
Robot Assisted ◽  
History Of

Living kidney donation is the best treatment for end-stage renal disease, however, the best surgical approach for minimally-invasive donor nephrectomy (DN) is still a matter of debate. This bi-centric study aimed to retrospectively compare perioperative outcomes and postoperative kidney function after 257 transperitoneal DNs including 52 robot-assisted (RDN) and 205 laparoscopic DNs (LDN). As primary outcomes, the intraoperative (operating time, warm ischemia time (WIT), major complications) and postoperative (length of stay, complications) results were compared. As secondary outcomes, postoperative kidney and graft function were analyzed including delayed graft function (DGF) rates, and the impact of the surgical approach was assessed. Overall, the type of minimally-invasive donor nephrectomy (RDN vs. LDN) did not affect primary outcomes, especially not operating time and WIT; and major complication and DGF rates were low in both groups. A history of smoking and preoperative kidney function, but not the surgical approach, were predictive for postoperative serum creatinine of the donor and recipient. To conclude, RDN and LDN have equivalent perioperative results in experienced centers. For this reason, not the surgical approach, but rather the graft- (preoperative kidney function) and patient-specific (history of smoking) aspects impacted postoperative kidney function.

Robot-Assisted Off-Pump Minimally Invasive Reoperative Coronary Artery Bypass Grafting: Case Report

2004 ◽  
Vol 7 (6) ◽  
pp. E533-E534 ◽  
Author(s):  
Timothy P. Martens ◽  
Marco M. Hefti ◽  
Robert Kalimi ◽  
Craig R. Smith ◽  
Michael Argenziano
Keyword(s):  
Case Report ◽  
Coronary Artery ◽  
Coronary Artery Bypass Grafting ◽  
Minimally Invasive ◽  
Coronary Artery Bypass ◽  
Artery Bypass ◽  
Bypass Grafting ◽  
Robot Assisted ◽  
Artery Bypass Grafting ◽  
Off Pump

scholarly journals Minimally Invasive Mini-orbitozygomatic Approach for Clipping an Anterior Communicating Artery Aneurysm: Virtual Reality Surgical Planning

2020 ◽  
Author(s):  
Nicolás González Romo ◽  
Franco Ravera Zunino
Keyword(s):  
Virtual Reality ◽  
Minimally Invasive ◽  
Surgical Planning ◽  
Artery Aneurysm ◽  
Patient Specific ◽  
Anterior Communicating Artery ◽  
Imaging Data ◽  
Advantages And Disadvantages ◽  
Orbitozygomatic Approach ◽  
Skull Base Anatomy

AbstractVirtual reality (VR) has increasingly been implemented in neurosurgical practice. A patient with an unruptured anterior communicating artery (AcoA) aneurysm was referred to our institution. Imaging data from computed tomography angiography (CTA) was used to create a patient specific 3D model of vascular and skull base anatomy, and then processed to a VR compatible environment. Minimally invasive approaches (mini-pterional, supraorbital and mini-orbitozygomatic) were simulated and assessed for adequate vascular exposure in VR. Using an eyebrow approach, a mini-orbitozygomatic approach was performed, with clip exclusion of the aneurysm from the circulation. The step-by-step process of VR planning is outlined, and the advantages and disadvantages for the neurosurgeon of this technology are reviewed.

scholarly journals Toward Teaching by Demonstration for Robot-Assisted Minimally Invasive Surgery

2021 ◽  
pp. 1-11
Author(s):  
Hang Su ◽  
Andrea Mariani ◽  
Salih Ertug Ovur ◽  
Arianna Menciassi ◽  
Giancarlo Ferrigno ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot Assisted ◽  
Teaching By Demonstration

scholarly journals Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

2021 ◽  
Author(s):  
Hang Su ◽  
Junhao Zhang ◽  
Ziyu She ◽  
Xin Zhang ◽  
Ke Fan ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Robot Manipulator ◽  
Robot Assisted ◽  
External Disturbances ◽  
Fuzzy Approximation ◽  
Control Framework ◽  
Motion Constraint

AbstractRemote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.

The applicability of patient-Specific 3D models in the planning of nerve-sparing robot-assisted radical prostatectomy

2021 ◽  
Vol 79 ◽  
pp. S1556-S1557
Author(s):  
H. Veerman ◽  
T.N. Boellaard ◽  
C. Hoeks ◽  
J.A. Van Eick ◽  
J. Sluijter ◽  
...  
Keyword(s):  
Radical Prostatectomy ◽  
3D Models ◽  
Patient Specific ◽  
Nerve Sparing ◽  
Robot Assisted
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