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

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.

Outcomes and Postoperative Complications of Robot-Assisted Laparoscopic Hysterosacropexy: Initial Experience

2015 ◽  
Vol 95 (1) ◽  
pp. 44-49 ◽  
Author(s):  
Maria Angela Cerruto ◽  
Carolina D'Elia ◽  
Francesca Maria Cavicchioli ◽  
Stefano Cavalleri ◽  
Matteo Balzarro ◽  
...  
Keyword(s):  
Uterine Prolapse ◽  
Pelvic Organ ◽  
Consecutive Series ◽  
Complication Rates ◽  
Early Complications ◽  
Robot Assisted ◽  
Female Patients ◽  
The Mean ◽  
Record Review

Background: Pelvic organ prolapse is a common condition, affecting about 50% of women with children. The aim of our study was to evaluate results and complication rates in a consecutive series of female patients undergoing robot-assisted laparoscopic hysterosacropexy (RALHSP). Materials and Methods: We performed a medical record review of female patients with uterine prolapse who had consecutively undergone RALHSP from February 2010 to 2013 at our department. Results: Fifteen patients were included in the analysis. All patients had uterine prolapse stage ≥II and urodynamic stress urinary incontinence. The mean age was 58.26 years. According to the Clavien-Dindo system, 4 out of 15 patients (26.6%) had grade 1 early complications and 1 patient had a grade 2 complication. At a median follow-up of 36 months, there was a significant prolapse relapse rate of 20% (3/15). Conclusion: In our hands RALHSP is easy to perform, with satisfying mid-term outcomes and a low complication rate.

scholarly journals Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement

2021 ◽  
Author(s):  
Michael Kostrzewa ◽  
Andreas Rothfuss ◽  
Torben Pätz ◽  
Markus Kühne ◽  
Stefan O. Schoenberg ◽  
...  
Keyword(s):  
Computed Tomography ◽  
Target Lesion ◽  
Robotic Arm ◽  
Cone Beam ◽  
Mean Deviation ◽  
Robotic Assistance ◽  
Needle Placement ◽  
Image Guided ◽  
Out Of Plane ◽  
Tip Position

Abstract Purpose The study aimed to evaluate a new robotic assistance system (RAS) for needle placement in combination with a multi-axis C-arm angiography system for cone-beam computed tomography (CBCT) in a phantom setting. Materials and Methods The RAS consisted of a tool holder, dedicated planning software, and a mobile platform with a lightweight robotic arm to enable image-guided needle placement in conjunction with CBCT imaging. A CBCT scan of the phantom was performed to calibrate the robotic arm in the scan volume and to plan the different needle trajectories. The trajectory data were sent to the robot, which then positioned the tool holder along the trajectory. A 19G needle was then manually inserted into the phantom. During the control CBCT scan, the exact needle position was evaluated and any possible deviation from the target lesion measured. Results In total, 16 needle insertions targeting eight in- and out-of-plane sites were performed. Mean angular deviation from planned trajectory to actual needle trajectory was 1.12°. Mean deviation from target point and actual needle tip position was 2.74 mm, and mean deviation depth from the target lesion to the actual needle tip position was 2.14 mm. Mean time for needle placement was 361 s. Only differences in time required for needle placement between in- and out-of-plane trajectories (337 s vs. 380 s) were statistically significant (p = 0.0214). Conclusion Using this RAS for image-guided percutaneous needle placement with CBCT was precise and efficient in the phantom setting.

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