Kinematics analysis and Simulation of the laryngeal minimally invasive operation continuum mechanism

2015 ◽  
Author(s):  
Ying Yu ◽  
Guizhen Liu ◽  
Jianjun Wu ◽  
Zhenkun Zhu ◽  
Jiongjie Zhao
Keyword(s):  
Minimally Invasive ◽  
Kinematics Analysis ◽  
Minimally Invasive Operation

scholarly journals Robotic Surgery in Crohn's Disease

2021 ◽  
Vol 34 (05) ◽  
pp. 286-291
Author(s):  
Drew Gunnells ◽  
Jamie Cannon
Keyword(s):  
Crohn’S Disease ◽  
Crohn's Disease ◽  
Minimally Invasive ◽  
Patient Outcomes ◽  
Minimally Invasive Approach ◽  
Invasive Approach ◽  
Robotic Assisted ◽  
Robotic Assisted Surgery ◽  
Minimally Invasive Operation ◽  
Complex Patients

AbstractSurgery for Crohn's disease presents unique challenges secondary to the inflammatory nature of the disease. While a minimally invasive approach to colorectal surgery has consistently been associated with better patient outcomes, adoption of laparoscopy in Crohn's disease has been limited due to these challenges. Robotic assisted surgery has the potential to overcome these challenges and allow more complex patients to undergo a minimally invasive operation. Here we describe our approach to robotic assisted surgery for terminal ileal Crohn's disease.

Minimally invasive operation for breast cancer

2004 ◽  
Vol 41 (4) ◽  
pp. 394-447 ◽  
Author(s):  
S.Eva Singletary ◽  
Kambiz Dowlatshahi ◽  
William Dooley ◽  
Scott T Hollenbeck ◽  
Kenneth Kern ◽  
...  
Keyword(s):  
Breast Cancer ◽  
Minimally Invasive ◽  
Minimally Invasive Operation

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

2013 ◽  
Vol 198 ◽  
pp. 3-8 ◽  
Author(s):  
Roman Trochimczuk
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Forward Kinematics ◽  
Kinematic Structure ◽  
Kinematics Analysis ◽  
Medical Robot ◽  
Surgical Robots

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Variable Universe Fuzzy PID Control for Minimally Invasive Operation Robotic Catheter System

2014 ◽  
Vol 618 ◽  
pp. 470-474
Author(s):  
Jing Bo Shi
Keyword(s):  
Minimally Invasive ◽  
Pid Control ◽  
Control Method ◽  
Response Speed ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Fast Tracking ◽  
Variable Universe ◽  
Control Precision ◽  
Minimally Invasive Operation

Robotic catheter minimally invasive operation requires control system of quick response, strong anti-jamming and real-time tracking of target trajectory. The contradiction between fuzzy PID control precision and its response speed limits its application in master-slave minimally invasive operation. The paper adopted variable universe fuzzy PID method to improve fuzzy PID method’s control precision without reducing the speed of response. The simulation results show that variable universe fuzzy PID control method has fast tracking performance and strong robustness, and it has feasibility and practicability in robotic catheter minimally invasive operation.

scholarly journals A 5-Year Experience of a Minimally Invasive Technique for Correction of Pectus Excavatum in Croatia

2006 ◽  
Vol 49 (2) ◽  
pp. 105-107 ◽  
Author(s):  
Mirko Žganjer ◽  
Božidar Župančić ◽  
Ljiljana Popović
Keyword(s):  
Minimally Invasive ◽  
Pectus Excavatum ◽  
Average Length ◽  
Length Of Hospital Stay ◽  
Minimally Invasive Technique ◽  
Invasive Technique ◽  
Minimally Invasive Operation ◽  
Steel Bar ◽  
Normal Chest

The aim of this study was to assess the results of 5-year experience with minimally invasive operation without medial incision and resection cartilages for correction of pectum excavatum. From 2000 we made in our Hospital minimally invasive technique for the correction of pectus excavatum. 75 patients were treated by minimally invasive technique. A convex steel bar is inserted under the sternumtrough small bilateral Incisions. The steel bar is inserted with the convexity facing posteriorly, and when it is in position, the bar is turned over. After 2 years the bar is removed when permanent remolding has occurred. Initial excelent results were maintained in 54 patients (normal chest), good results in 16 (mild residual pectus) and poor in 5 (severe recurrence requiring further treatment). The mean follow-up since surgery were 3 months to 3 years. Average blood loss was 25 ml. Average length of hospital stay was 8 days. Patients returned to full activity after 2 month. Complications were pneumothorax in 12 patients, pneumonia in 6 patients and displacement of the steel barr requiring revision in 2 patients. Poor results occurred because steel bar was too soft in 3 patients, and soft sternum in 2 patients with Marfan’s syndrome. The minimally invesive technique is effective without cartilage incision and resection or sternal osteotomy.

scholarly journals Mineralized collagen-modified PMMA cement enhances bone integration and reduces fibrous encapsulation in the treatment of lumbar degenerative disc disease

2019 ◽  
Vol 7 (2) ◽  
pp. 181-193 ◽  
Author(s):  
Long Yang ◽  
Jianjun Kong ◽  
Zhiye Qiu ◽  
Tieliang Shang ◽  
Siyu Chen ◽  
...  
Keyword(s):  
Growth Factor ◽  
Minimally Invasive ◽  
Disc Degeneration ◽  
Mechanical Performance ◽  
Lumbar Disc ◽  
Setting Time ◽  
Fibrous Tissue ◽  
Minimally Invasive Operation ◽  
Pmma Cement ◽  
Mineralized Collagen

Abstract As a minimally invasive surgery, percutaneous cement discoplasty (PCD) is now contemplated to treat lumbar disc degeneration disease in elder population. Here, we investigated whether the osteogenic mineralized collagen (MC) modified polymethylmethacrylate (PMMA) cement could be a suitable material in PCD surgery. Injectability, hydrophilicity and mechanical properties of the MC-modified PMMA (PMMA-MC) was characterized. The introduction of MC did not change the application and setting time of PMMA and was easy to be handled in minimally invasive operation. Hydrophilicity of PMMA-MC was greatly improved and its elastic modulus was tailored to complement mechanical performance of bone under dynamic stress. Then, PCD surgery in a goat model with induced disc degeneration was performed with implantation of PMMA-MC or PMMA. Three months after implantation, micro-computed tomography analysis revealed a 36.4% higher circumferential contact index between PMMA-MC and bone, as compared to PMMA alone. Histological staining confirmed that the surface of PMMA-MC was in direct contact with new bone, while the PMMA was covered by fibrous tissue. The observed gathering of macrophages around the implant was suspected to be the cause of fibrous encapsulation. Therefore, the interactions of PMMA and PMMA-MC with macrophages were investigated in vitro. We discovered that the addition of MC could hinder the proliferation and fusion of the macrophages. Moreover, expressions of fibroblast-stimulating growth factors, insulin-like growth factor, basic fibroblast growth factor and tumor necrosis factor-β were significantly down-regulated in the macrophages cocultured with PMMA-MC. Together, the promoted osteointegration and reduced fibrous tissue formation observed with PMMA-MC material makes it a promising candidate for PCD surgery.

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