Preoperative planning method based on a MOPSO algorithm for robot-assisted cholecystectomy

Abstract Background Transforaminal percutaneous endoscopic lumbar surgeries (PELS) for lumbar disc herniation and spinal stenosis are growing in popularity. However, there are some problems in the establishment of the working channel and foraminoplasty such as nerve and blood vessel injuries, more radiation exposure, and steeper learning curve. Rapid technological advancements have allowed robotic technology to assist surgeons in improving the accuracy and safety of surgeries. Therefore, the purpose of this study is to develop a robot-assisted system for transforaminal PELS, which can provide navigation and foraminoplasty. Methods The robot-assisted system consists of three systems: preoperative planning system, navigation system, and foraminoplasty system. In the preoperative planning system, 3D visualization of the surgical segment and surrounding tissues are realized using the multimodal image fusion technique of Computed tomography and Magnetic resonance imaging, and the working channel planning is carried out to reduce the risk for injury to vital blood vessels and nerves. In the navigation system, the robot can obtain visual perception ability from a visual receptor and automatically adjust the robotic platform and robot arm to the appropriate positions according to the patient’s position and preoperative plan. In addition, the robot can automatically register the surgical target through intraoperative fluoroscopy. After that, the robot will provide navigation using the 6 degree-of-freedom (DOF) robot arm according to the preoperative planning system and guide the surgeon to complete the establishment of the working channel. In the foraminoplasty system, according to the foraminoplasty planning in the preoperative planning system, the robot performs foraminoplasty automatically using the high speed burr at the end of the robot arm. The system can provide real-time feedback on the working status of the bur through multi-mode sensors such as multidimensional force, position, and acceleration. Finally, a prototype of the system is constructed and performance tests are conducted. Discussion Our study will develop a robot-assisted system to perform transforaminal PELS, and this robot-assisted system can also be used for other percutaneous endoscopic spinal surgeries such as interlaminar PELS and percutaneous endoscopic cervical and thoracic surgeries through further research. The development of this robot-assisted system can be of great significance. First, the robot can improve the accuracy and efficiency of endoscopic spinal surgeries. In addition, it can avoid multiple intraoperative fluoroscopies, minimize exposure to both patients and the surgical staff, shorten the operative time, and improve the learning curve of beginners, which is beneficial to the popularization of percutaneous endoscopic spinal surgeries.

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A preoperative planning method for long tubular bone osteosynthesis

Science and Innovations in Medicine ◽

10.35693/2500-1388-2020-5-4-267-271 ◽

2020 ◽

Vol 5 (4) ◽

pp. 267-271

Author(s):

A. S. Pankratov ◽

Yu. V. Lartsev ◽

J. G. Alayo ◽

S. V. Ardatov ◽

D. A. Ogurtsov ◽

...

Keyword(s):

Surgical Approach ◽

Preoperative Planning ◽

Three Dimensional ◽

3D Models ◽

Planning Method ◽

Fracture Line ◽

Tubular Bone ◽

Upper Limbs ◽

Calculation Algorithm ◽

Fracture Consolidation

Objectives the development of a preoperative planning method for long tubular bone osteosynthesis using the contralateral healthy bone. Material and methods.To justify the usage of the opposite limbs intact segment model in order to reconstruct the damaged one, their matching in shape and size was analyzed. We built three-dimensional models of the right and left segments of the upper limbs of 20 people and compared them using the Hausdorff distance calculation algorithm. For treatment of a 24-year-old patient with a closed humerus fracture, an individual stereolithographic surgical template with fracture lines was created with the help of computed tomography data of the healthy humerus bone processed by AUTOPLAN EXPERT software. This template was used for pre-bending the plate for osteosynthesis. The plate positioning on the template defined the surgical approach, taking into account the anatomical structures located in the projection of the fracture line and the plate. The technique of "reverse bone reposition" on the prepared plate was applied. Results.With the help of the created 3D models we revealed the size differences of the symmetrical segments of upper limbs. The greatest difference in the limits was registered in the area of the epiphyses (heads of the humeri) up to 6.8 mm, and the smallest throughout the entire diaphysis, less than 1.5 mm. Due to preoperative planning there were no intraoperative and postoperative complications, the installation of the plate and osteosynthesis was convenient. The fracture consolidation took place in 3 months. Conclusion.The proposed method has a number of advantages. It is possible to make a stereolithographic template even for a seriously damaged bone with a copied fracture line. This allows the surgeon to plan the details of osteosynthesis, to model the plate according to the template, to determine the required length and shape of the surgical approach, thus reducing the surgical risks and injury for the patient.

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Design of a robot-assisted system for transforaminal percutaneous endoscopic lumbar surgeries: study protocol

10.21203/rs.3.rs-43531/v1 ◽

2020 ◽

Author(s):

Ning Fan ◽

Shuo Yuan ◽

Peng Du ◽

Wenyi Zhu ◽

Liang Li ◽

...

Keyword(s):

Learning Curve ◽

Navigation System ◽

High Speed ◽

Preoperative Planning ◽

3D Visualization ◽

Lumbar Disc ◽

Planning System ◽

Robot Arm ◽

Robot Assisted ◽

And Performance

Abstract Background Transforaminal percutaneous endoscopic lumbar surgeries (PELS) for lumbar disc herniation and spinal stenosis are growing in popularity. However, there are some problems in the establishment of the working channel and foraminoplasty such as nerve and blood vessel injuries, more radiation exposure, and steeper learning curve. Rapid technological advancements have allowed robotic technology to assist surgeons in improving the accuracy and safety of surgeries. Therefore, the purpose of this study is to develop a robot-assisted system for transforaminal PELS, which can provide navigation and foraminoplasty. Methods The robot-assisted system consists of three systems: preoperative planning system, navigation system, and foraminoplasty system. In the preoperative planning system, 3D visualization of the surgical segment and surrounding tissues are realized using the multimodal image fusion technique of Computed tomography and Magnetic resonance imaging, and the working channel planning is carried out to reduce the risk for injury to vital blood vessels and nerves. In the navigation system, the robot can obtain visual perception ability from a visual receptor and automatically adjust the robotic platform and robot arm to the appropriate positions according to the patient’s position and preoperative plan. In addition, the robot can automatically register the surgical target through intraoperative fluoroscopy. After that, the robot will provide navigation using the 6 degree-of-freedom (DOF) robot arm according to the preoperative planning system and guide the surgeon to complete the establishment of the working channel. In the foraminoplasty system, according to the foraminoplasty planning in the preoperative planning system, the robot performs foraminoplasty automatically using the high speed burr at the end of the robot arm. The system can provide real-time feedback on the working status of the bur through multi-mode sensors such as multidimensional force, position, and acceleration. Finally, a prototype of the system is constructed and performance tests are conducted. Discussion Our study will develop a robot-assisted system to perform transforaminal PELS, and this robot-assisted system can also be used for other percutaneous endoscopic spinal surgeries such as interlaminar PELS and percutaneous endoscopic cervical and thoracic surgeries through further research. The development of this robot-assisted system can be of great significance. First, the robot can improve the accuracy and efficiency of endoscopic spinal surgeries. In addition, it can avoid multiple intraoperative fluoroscopies, minimize exposure to both patients and the surgical staff, shorten the operative time, and improve the learning curve of beginners, which is beneficial to the popularization of percutaneous endoscopic spinal surgeries.

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Towards a companion system for collision avoidance during robot-assisted needle placement

Current Directions in Biomedical Engineering ◽

10.1515/cdbme-2021-1027 ◽

2021 ◽

Vol 7 (1) ◽

pp. 126-129

Author(s):

Eva Currle ◽

Johannes Hemm ◽

Armin Schäfer ◽

Philipp Beckerle ◽

Johannes Horsch ◽

...

Keyword(s):

Augmented Reality ◽

Collision Avoidance ◽

Preoperative Planning ◽

Complication Rates ◽

Robotic Assistance ◽

Needle Placement ◽

Robot Assisted ◽

Augmented Reality Application ◽

Improve Accuracy ◽

Assistance Systems

Abstract Robotic assistance systems for surgery enable fast and precise interventions with reduced complication rates. However, these benefits are accompanied by a more complex operating room (OR) and the risk of collision with robotic assistance systems. Current strategies for collision avoidance and minimizing possible injuries require the adaptation of robotic trajectories and a computational model of the surroundings. In contrast, this work presents a novel companion system for collision avoidance without influencing robotic trajectories. The companion system consists of a preoperative planning application and an augmented reality application for intraoperative support. The companion system visualizes the workflow within the OR and allows robot movements to be seen virtually, before they are executed by the actual robotic assistance system. Preliminary experiments with users imply that the companion system leads to a positive user experience, enables users to follow a predefined workflow in the OR, but requires further refinement to improve accuracy for practical collision avoidance.

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A New Digital Preoperative Planning Method for Total Hip Arthroplasties

Clinical Orthopaedics and Related Research ◽

10.1007/s11999-008-0486-y ◽

2008 ◽

Vol 467 (4) ◽

pp. 909-916 ◽

Cited By ~ 38

Author(s):

Hendrikus J. A. Crooijmans ◽

Armand M. R. P. Laumen ◽

Carola van Pul ◽

Jan B. A. van Mourik

Keyword(s):

Preoperative Planning ◽

Planning Method ◽

Total Hip ◽

Hip Arthroplasties

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Preoperative planning for a multi-arm robot-assisted minimally invasive surgery system

SIMULATION ◽

10.1177/0037549717719336 ◽

2017 ◽

Vol 93 (10) ◽

pp. 853-867 ◽

Cited By ~ 3

Author(s):

Zhijiang Du ◽

Wei Wang ◽

Weidong Wang ◽

Wei Dong

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Preoperative Planning ◽

Robot Assisted

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Editorial Comment to Three‐dimensional digital reconstruction of renal model to guide preoperative planning of robot‐assisted partial nephrectomy

International Journal of Urology ◽

10.1111/iju.14055 ◽

2019 ◽

Vol 26 (9) ◽

pp. 933-933

Author(s):

Toshitaka Shin

Keyword(s):

Editorial Comment ◽

Partial Nephrectomy ◽

Preoperative Planning ◽

Three Dimensional ◽

Robot Assisted ◽

Digital Reconstruction

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Design of a robot-assisted system for transforaminal percutaneous endoscopic lumbar surgeries: study protocol

Journal of Orthopaedic Surgery and Research ◽

10.1186/s13018-020-02003-y ◽

2020 ◽

Vol 15 (1) ◽

Author(s):

Ning Fan ◽

Shuo Yuan ◽

Peng Du ◽

Wenyi Zhu ◽

Liang Li ◽

...

Keyword(s):

Learning Curve ◽

Navigation System ◽

High Speed ◽

Preoperative Planning ◽

3D Visualization ◽

Lumbar Disc ◽

Planning System ◽

Robot Arm ◽

Robot Assisted ◽

And Performance

Abstract Background Transforaminal percutaneous endoscopic lumbar surgeries (PELS) for lumbar disc herniation and spinal stenosis are growing in popularity. However, there are some problems in the establishment of the working channel and foraminoplasty such as nerve and blood vessel injuries, more radiation exposure, and steeper learning curve. Rapid technological advancements have allowed robotic technology to assist surgeons in improving the accuracy and safety of surgeries. Therefore, the purpose of this study is to develop a robot-assisted system for transforaminal PELS, which can provide navigation and foraminoplasty. Methods The robot-assisted system consists of three systems: preoperative planning system, navigation system, and foraminoplasty system. In the preoperative planning system, 3D visualization of the surgical segment and surrounding tissues are realized using the multimodal image fusion technique of computed tomography and magnetic resonance imaging, and the working channel planning is carried out to reduce the risk for injury to vital blood vessels and nerves. In the navigation system, the robot can obtain visual perception ability from a visual receptor and automatically adjust the robotic platform and robot arm to the appropriate positions according to the patient’s position and preoperative plan. In addition, the robot can automatically register the surgical levels through intraoperative fluoroscopy. After that, the robot will provide navigation using the 6 degree-of-freedom (DOF) robot arm according to the preoperative planning system and guide the surgeon to complete the establishment of the working channel. In the foraminoplasty system, according to the foraminoplasty planning in the preoperative planning system, the robot performs foraminoplasty automatically using the high speed burr at the end of the robot arm. The system can provide real-time feedback on the working status of the bur through multi-mode sensors such as multidimensional force, position, and acceleration. Finally, a prototype of the system is constructed and performance tests are conducted. Discussion Our study will develop a robot-assisted system to perform transforaminal PELS, and this robot-assisted system can also be used for other percutaneous endoscopic spinal surgeries such as interlaminar PELS and percutaneous endoscopic cervical and thoracic surgeries through further research. The development of this robot-assisted system can be of great significance. First, the robot can improve the accuracy and efficiency of endoscopic spinal surgeries. In addition, it can avoid multiple intraoperative fluoroscopies, minimize exposure to both patients and the surgical staff, shorten the operative time, and improve the learning curve of beginners, which is beneficial to the popularization of percutaneous endoscopic spinal surgeries.

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