A Robotic System with Robust Remote Center Motion Constraint for Endometrial Regeneration Surgery

Author(s):  
Jianhua Li ◽  
Chongyang Wang ◽  
Zhenxing Wang ◽  
Xiong Zheng ◽  
Zhidong Wang ◽  
...  

Abstract Surgical robots have been widely used in various surgeries in order to improve and facilitate the surgeries. However, there is no robot intended for endometrial regeneration surgery which is a new therapy to restore women’s fertility by using stem cells. Endometrial regeneration surgery requires processing endometrium and transplanting stem cells with the minimal trauma to uterus. In this paper, we introduce a surgical robotic system which consists of a dexterous hysteroscope, a supporting arm and additional novel instruments to facilitate the operations and decrease trauma to the uterus. To protect the cervix of the uterus, remote center of motion (RCM) constraint is required. First, the supporting arm and the hysteroscope are controlled separately in kinematics in order to ensure that the RCM constraint and the hysteroscope’s shape and posture are predictable. Then, a task decoupled method is used to improve the robustness of the RCM constraint. The experiments show that our method is more robust and achieves higher accuracy of RCM. Besides, the master slave control of robot with RCM constraint is also verified.

2022 ◽  
Vol 13 (1) ◽  
Author(s):  
Jiayue Huang ◽  
Wenwen Zhang ◽  
Jie Yu ◽  
Yating Gou ◽  
Nizhou Liu ◽  
...  

Abstract Background Caused by the injury to the endometrial basal layer, intrauterine adhesions (IUA) are characterized by uterine cavity obliteration, leading to impaired fertility. Human amniotic mesenchymal stem cells (hAMSCs) have the potential to promote endometrial regeneration mainly through paracrine ability. PPCNg is a thermoresponsive biomaterial consisted of Poly (polyethylene glycol citrate-co-N-isopropylacrylamide) (PPCN) mixed with gelatin, which has been reported as a scaffold for stem cell transplantation. This study aims to investigate the therapeutic effect of hAMSCs combined with PPCNg transplantation in promoting the regeneration of injured endometrium. Methods hAMSCs were cultured in different concentrates of PPCNg in vitro, and their proliferation, apoptosis and cell cycle were examined by CCK-8 assay and flow cytometry. Immunofluorescence was used to determine the MSCs specific surface markers. The expression of pluripotent genes was analyzed by qRT-PCR. The multiple-lineage differentiation potential was further evaluated by detecting the differentiation-related genes using qRT-PCR and specific staining. The Sprague–Dawley (SD) rat IUA model was established with 95% ethanol. hAMSCs combined with PPCNg were transplanted through intrauterine injection. The retention of DiR-labeled hAMSCs was observed by vivo fluorescence imaging. The endometrium morphology was assessed using hematoxylin and eosin (H&E) and Masson staining. Immunohistochemistry staining was performed to detect biomarkers related to endometrial proliferation, re-epithelialization, angiogenesis and endometrial receptivity. The function of regenerated endometrium was evaluated by pregnancy tests. Results hAMSCs maintained normal cell proliferation, apoptosis and cell cycle in PPCNg. Immunofluorescence and qRT-PCR showed that hAMSCs cultured in PPCNg and hAMSCs cultured alone expressed the same surface markers and pluripotent genes. hAMSCs exhibited normal multilineage differentiation potential in PPCNg. Vivo fluorescence imaging results revealed that the fluorescence intensity of hAMSCs combined with PPCNg intrauterine transplantation was stronger than that of direct hAMSCs intrauterine transplantation. Histological assays showed the increase in the thickness of endometrial and the number of endometrial glands, and the remarkably decrease in the fibrosis area in the PPCNg/hAMSCs group. The expressions of Ki-67, CK7, CK19, VEGF, ER and PR were significantly increased in the PPCNg/hAMSCs group. Moreover, the number of implanted embryos and pregnancy rate were significantly higher in the PPCNg/hAMSCs group than in the hAMSCs group. Conclusions PPCNg is suitable for growth, phenotype maintenance and multilineage differentiation of hAMSCs. hAMSCs combined with PPCNg intrauterine transplantation can facilitate the regeneration of injured endometrium by improving utilization rates of hAMSCs, and eventually restore reproductive capacity.


2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Zhi Li ◽  
Dejan Milutinović ◽  
Jacob Rosen

Surgical procedures are traditionally performed by two or more surgeons along with staff nurses: one serves as the primary surgeon and the other as his/her assistant. Introducing surgical robots into the operating room has significantly changed the dynamics of interaction between the surgeons and with the surgical site. In this paper, we design a surgical robotic system to support the collaborative operation of multiple surgeons. This Raven IV surgical robotic system has two pairs of articulated robotic arms with a spherical configuration, each arm holding an articulated surgical tool. It allows two surgeons to teleoperate the Raven IV system collaboratively from two remote sites. To optimize the mechanism design of the Raven IV system, we configure the link architecture of each robotic arm, along with the position and orientation of the four bases and the port placement with respect to the patient's body. The optimization considers seven different parameters, which results in 2.3×1010 system configurations. We optimize the common workspace and the manipulation dexterity of each robotic arm. We study here the effect of each individual parameter and conduct a brute force search to find the optimal set of parameters. The parameters for the optimized configuration result in an almost circular common workspace with a radius of 150 mm, accessible to all four arms.


2018 ◽  
Vol 16 (3) ◽  
pp. 119-127
Author(s):  
Lauro S. Gómez-Guerra ◽  
J. Iván Robles-Torres ◽  
Alejandra Garza-Bedolla ◽  
Consuelo Mancías-Guerra

PLoS ONE ◽  
2014 ◽  
Vol 9 (5) ◽  
pp. e96241 ◽  
Author(s):  
Cristiano Rodrigues ◽  
Adriano M. de Assis ◽  
Dinara J. Moura ◽  
Graziele Halmenschlager ◽  
Jenifer Saffi ◽  
...  

Immunotherapy ◽  
2017 ◽  
Vol 9 (11) ◽  
pp. 899-911 ◽  
Author(s):  
Valeria Rios Rodriguez ◽  
Maria Llop ◽  
Denis Poddubnyy

2021 ◽  
Vol 30 ◽  
pp. 096368972110207
Author(s):  
Yiyin Gao ◽  
Guijie Wu ◽  
Ying Xu ◽  
Donghai Zhao ◽  
Lianwen Zheng

Asherman syndrome (AS) has an adverse effect on reproductive health and fertility by affecting endometrial regeneration. Stem cell-based therapies hold promise for future use in activating non-functional endometrium and reconstructing the endometrium in vivo. It has been postulated that various endometrial stem cells (EnSCs) are responsible for endometrial regeneration. Numerous studies have focused on bone marrow-derived stem cells (BMDSCs), which may provide new ideas for repairing endometrial lesions and reconstructing the endometrium. Other sources of stem cells, such as menstrual blood, umbilical cord, and amniotic membrane, have also attracted much attention as candidates for transplantation in AS. This review discusses the features and specific biomarkers among four types of resident endometrial stem cells, applications of four different sources of exogenous stem cells in AS, and development of stem cell therapy using biomaterials and exosomes.


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