Method for Latency Measurement of Visual Feedback-Based Master–Slave Minimally Invasive Surgical Robot

To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations of input and output events through image-processing technology. This method used a black bar to keep pace with the measured joint rotating at a number of speeds. During tests,an external camera was placed in front of the apparatus with a proper visual field,so that it can simultaneously view orientations of both bars fixed on the corresponding joints. After quantitatively analyzing the accuracy of the proposed measurement method,the method was applied to a visual feedback-based master–slave robotic system with two-degrees-of-freedom. Experimental results show that the latency of the overall system was approximately 250 ms,and the opposite clearance of the measured joint was in the range of 1.7°–1.9°.

Least Squares Support Vector Machine Kalman Filter for Physiological Tremor Suppression in Minimally Invasive Surgical Robot

This paper studies the physiological tremor filtering in minimally invasive surgical robot.The surgeon􀆳s physiological tremor of the hand can cause the vibration of the tip of the surgical instrument,which may reduce operative accuracy and limit the application of surgical robots.Aiming at the vibration caused by physiological tremor of hand,we propose a Least Squares Support Vector Machine Kalman Filter(LSSVMKF),which can filter the tremor by estimating and modeling the tremor signal by Kalman filter and then superimposing it reversely in the control signal.When estimating and modeling the tremor signal,the filter uses the Least Squares Support Vector Machine(LS⁃SVM)to build the regression model of the constant parameters(Process Noise Covariance and Measurement Noise Covariance)of the traditional Kalman filter,which can dynamically adjust these parameters during the operation and improve the accuracy of Kalman filter.The simulation results show that the LSSVMKF can effectively filter out the tremor signal,thereby improving the accuracy of surgery.

Feasibility and safety of minimally invasive multivisceral resection for T4b rectal cancer:A 9-year review

BACKGROUND Colorectal cancer is the third most common cancer and the second highest cause of cancer-related mortality worldwide.About 5%-10%of patients are diagnosed with locally advanced rectal cancer(LARC)on presentation.For LARC invading into other structures(i.e.T4b),multivisceral resection(MVR)and/or pelvic ex-enteration(PE)remains the only potential curative surgical treatment.MVR and/or PE is a major and complex surgery with high post-operative morbidity.Minimally invasive surgery(MIS)has been shown to improve short-term post-operative outcomes in other gastrointestinal malignancies,but there is little evi-dence on its use in MVR,especially so for robotic MVR.This is a single-center retrospective cohort study from 1st January 2015 to 31st March 2023.Inclusion criteria were patients diagnosed with cT4b rectal cancer and underwent MVR,or stage 4 disease with resectable systemic metastases.Pa-tients who underwent curative MVR for locally recurrent rectal cancer,or me-tachronous rectal cancer were also included.Exclusion criteria were patients with systemic metastases with non-resectable disease.All patients planned for elective surgery were enrolled into the standard enhanced recovery after surgery pathway with standard peri-operative management for colorectal surgery.Complex sur-gery was defined based on technical difficulty of surgery(i.e.total PE,bladder-sparing prostatectomy,pelvic lymph node dissection or need for flap creation).Our primary outcomes were the margin status,and complication rates.Cate-gorical values were described as percentages and analysed by the chi-square test.Continuous variables were expressed as median(range)and analysed by Mann-Whitney U test.Cumulative overall survival(OS)and recurrence-free survival(RFS)were analysed using Kaplan-Meier estimates with life table analysis.Log-rank test was performed to determine statistical significance between cumulative estimates.Statistical significance was defined as P<0.05.Meier estimates with life table analysis.Log-rank test was performed to determine statistical significance between cumulative estimates.Statistical significance was defined as P<0.05.RESULTS A total of 46 patients were included in this study[open MVR(oMVR):12(26.1%),miMVR:36(73.9%)].Patients’American Society of Anesthesiologists score,body mass index and co-morbidities were comparable between oMVR and miMVR.There is an increasing trend towards robotic MVR from 2015 to 2023.MiMVR was associated with lower estimated blood loss(EBL)(median 450 vs 1200 mL,P=0.008),major morbidity(14.7%vs 50.0%,P=0.014),post-operative intra-abdominal collections(11.8%vs 50.0%,P=0.006),post-operative ileus(32.4%vs 66.7%,P=0.04)and surgical site infection(11.8%vs 50.0%,P=0.006)compared with oMVR.Length of stay was also shorter for miMVR compared with oMVR(median 10 vs 30 d,P=0.001).Oncological outcomes-R0 resection,recurrence,OS and RFS were comparable between miMVR and oMVR.There was no 30-d mortality.More patients underwent robotic compared with laparoscopic MVR for complex cases(robotic 57.1%vs laparoscopic 7.7%,P=0.004).The operating time was longer for robotic compared with laparoscopic MVR[robotic:602(400-900)min,laparoscopic:Median 455(275-675)min,P<0.001].Incidence of R0 resection was similar(laparoscopic:84.6%vs robotic:76.2%,P=0.555).Overall complication rates,major morbidity rates and 30-d readmission rates were similar between la-paroscopic and robotic MVR.Interestingly,3-year OS(robotic 83.1%vs 58.6%,P=0.008)and RFS(robotic 72.9%vs 34.3%,P=0.002)was superior for robotic compared with laparoscopic MVR.CONCLUSION MiMVR had lower post-operative complications compared to oMVR.Robotic MVR was also safe,with acceptable post-operative complication rates.Prospective studies should be conducted to compare short-term and long-term outcomes between robotic vs laparoscopic MVR.

Minimally invasive pelvic exenteration for primary or recurrent locally advanced rectal cancer:A glimpse into the future

Surgeons have grappled with the treatment of recurrent and T4b locally advanced rectal cancer(LARC)for many years.Their main objectives are to increase the overall survival and quality of life of the patients and to mitigate postoperative complications.Currently,pelvic exenteration(PE)with or without neoadjuvant treatment is a curative treatment when negative resection margins are achieved.The traditional open approach has been favored by many surgeons.However,the technological advancements in minimally invasive surgery have radically changed the surgical options.Recent studies have demonstrated promising results in postoperative complications and oncological outcomes after robotic or laparoscopic PE.A recent retrospective study entitled“Feasibility and safety of minimally invasive multivisceral resection for T4b rectal cancer:A 9-year review”was published in the World Journal of Gastrointestinal Surgery.As we read this article with great interest,we decided to delve into the latest data regarding the benefits and risks of minimally invasive PE for LARC.Currently,the small number of suitable patients,limited surgeon experience,and steep learning curve are hindering the establishment of minimally invasive PE.

Non-robotic minimally invasive gastrectomy as an independent risk factor for postoperative intra-abdominal infectious complications: A single-center, retrospective and propensity score-matched analysis

BACKGROUND Minimally invasive surgery for gastric cancer(GC) has gained widespread use as a safe curative procedure especially for early GC.AIM To determine risk factors for postoperative complications after minimally invasive gastrectomy for GC.METHODS Between January 2009 and June 2019, 1716 consecutive patients were referred to our division for primary GC. Among them, 1401 patients who were diagnosed with both clinical and pathological Stage Ⅲ or lower GC and underwent robotic gastrectomy(RG) or laparoscopic gastrectomy(LG) were enrolled. Retrospective chart review and multivariate analysis were performed for identifying risk factors for postoperative morbidity.RESULTS Morbidity following minimally invasive gastrectomy was observed in 7.5% of the patients. Multivariate analyses demonstrated that non-robotic minimally invasive surgery, male gender, and an operative time of ≥ 360 min were significant independent risk factors for morbidity. Therefore, morbidity was compared between RG and LG. Accordingly, propensity-matched cohort analysis revealed that the RG group had significantly fewer intra-abdominal infectious complications than the LG group(2.5% vs 5.9%, respectively;P = 0.038), while no significant differences were noted for other local or systemic complications.Multivariate analyses of the propensity-matched cohort revealed that non-robotic minimally invasive surgery [odds ratio = 2.463(1.070–5.682);P = 0.034] was a significant independent risk factor for intra-abdominal infectious complications.CONCLUSION The findings showed that robotic surgery might improve short-term outcomes following minimally invasive radical gastrectomy by reducing intra-abdominal infectious complications.

A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

Minimally invasive surgery for upper gastrointestinal cancer: Our experience and review of the literature

Minimally invasive surgery (MIS) for upper gastrointestinal (GI) cancer, characterized by minimal access, has been increasingly performed worldwide. It not only results in better cosmetic outcomes, but also reduces intraoperative blood loss and postoperative pain, leading to faster recovery; however, endoscopically enhanced anatomy and improved hemostasis via positive intracorporeal pressure generated by CO2 insufflation have not contributed to reduction in early postoperative complications or improvement in long-term outcomes. Since 1995, we have been actively using MIS for operable patients with resectable upper GI cancer and have developed stable and robust methodology in conducting totally laparoscopic gastrectomy for advanced gastric cancer and prone thoracoscopic esophagectomy for esophageal cancer using novel technology including da Vinci Surgical System (DVSS). We have recently demonstrated that use of DVSS might reduce postoperative local complications including pancreatic fistula after gastrectomy and recurrent laryngeal nerve palsy after esophagectomy. In this article, we present the current status and future perspectives on MIS for gastric and esophageal cancer based on our experience and a review of the literature.

Quality of life after surgical and endoscopic management of severe acute pancreatitis: A systematic review

BACKGROUND Treatment for severe acute severe pancreatitis(SAP)can significantly affect Health-related quality of life(HR-QoL).The effects of different treatment strategies such as endoscopic and surgical necrosectomy on HR-QoL in patients with SAP remain poorly investigated.AIM To critically appraise the available evidence on HR-QoL following surgical or endoscopic necrosectomy in patient with SAP.METHODS A literature search was performed on PubMed,Google^(TM) Scholar,the Cochrane Library,MEDLINE and Reference Citation Analysis databases for studies that investigated HR-QoL following surgical or endoscopic necrosectomy in patients with SAP.Data collected included patient characteristics,outcomes of interventions and HR-QoL-related details.RESULTS Eleven studies were found to have evaluated HR-QoL following treatment for severe acute pancreatitis including 756 patients.Three studies were randomized trials,four were prospective cohort studies and four were retrospective cohort studies with prospective follow-up.Four studies compared HR-QoL following surgical and endoscopic necrosectomy.Several metrics of HR-QoL were used including Short Form(SF)-36 and EuroQol.One randomized trial and one cohort study demonstrated significantly improved physical scores at three months in patients who underwent endoscopic necrosectomy compared to surgical necrosectomy.One prospective study that examined HR-QoL following surgical necrosectomy reported some deterioration in the functional status of the patients.On the other hand,a cohort study that assessed the long-term HR-QoL following sequential surgical necrosectomy stated that all patients had SF-36>60%.In the only study that examined patients following endoscopic necrosectomy,the HR-QoL was also very good.Three studies investigated the quality adjusted life years suggesting that endoscopic and surgical approaches to management of pancreatic necrosis were comparable in cost effectiveness.Finally,regarding HR-QoL between open necrosectomy and minimally invasive approaches,patients who underwent the later had a significantly better overall quality of life,vitality and mental health.CONCLUSION This review would suggest that the endoscopic approach might offer better HR-QoL compared to surgical necrosectomy.However,the available comparative literature was very limited.More randomized trials powered to detect differences in HR-QoL are required.

Role of minimally invasive techniques in gastrointestinal surgery:Current status and future perspectives

In recent years,the incidence of gastrointestinal cancer has remained high.Currently,surgical resection is still the most effective method for treating gastrointestinal cancer.Traditionally,radical surgery depends on open surgery.However,traditional open surgery inflicts great trauma and is associated with a slow recovery.Minimally invasive surgery,which aims to reduce postoperative complications and accelerate postoperative recovery,has been rapidly developed in the last two decades;it is increasingly used in the field of gastrointestinal surgery and widely used in early-stage gastrointestinal cancer.Nevertheless,many operations for gastrointestinal cancer treatment are still performed by open surgery.One reason for this may be the challenges of minimally invasive technology,especially when operating in narrow spaces,such as within the pelvis or near the upper edge of the pancreas.Moreover,some of the current literature has questioned oncologic outcomes after minimally invasive surgery for gastrointestinal cancer.Overall,the current evidence suggests that minimally invasive techniques are safe and feasible in gastrointestinal cancer surgery,but most of the studies published in this field are retrospective studies and casematched studies.Large-scale randomized prospective studies are needed to further support the application of minimally invasive surgery.In this review,we summarize several common minimally invasive methods used to treat gastrointestinal cancer and discuss the advances in the minimally invasive treatment of gastrointestinal cancer in detail.

Evolutions and Future Directions of Surgical Robotics: A Review

Although the robotics firstly appeared as an entertainment form, its capabilities have continuously advanced from the world’s first industrial robot to the surgical robotic systems which are today capable of performing many surgical maneuvers unaided. However, these surgical robots are not autonomous systems;they are designed to complete a surgeon’s abilities and converting surgeon’s movements into incredibly steady and accurate robotic movements that finally manipulate surgical instruments to assist delicate operations. This novel type of surgery is carried out in the form of minimally invasive surgical procedure and has offered valuable alternatives to enhance traditional open surgery approach. Although the surgical robotic systems began as external robots, technological progresses are directing the surgical robotic systems to endoluminal robots which consist of doing surgical maneuvers by navigating of robot through lumens of human body. Here, we will briefly review different applications of robotic systems in various fields of medicine. Then, we will discuss minimally invasive surgical systems and their role in progressing of minimally invasive surgery as a modern surgery method. By thoroughly investigating a considerable amount of published materials about the minimally invasive surgical technologies, we will study the recent research activities and commercially available samples of surgical robotic systems.

Minimally invasive multivisceral resection in rectal cancer:Preparation or Precipitation?

Rectal cancer is a malignant neoplasm that constitutes a significant public health challenge due to its high incidence and associated mortality.In this editorial,we comment on the article by Chan et al.In recent years,there has been progress in the development of new treatments for initial and metastatic rectal cancer due to introduction of techniques of innovative and minimally-invasive surgery(MIS)such as laparoscopy and robotic surgery.However,only a few studies have ana-lyzed the feasibility,safety,and results of MIS in relation to open surgery,thereby highlighting the promising and superior results of MIS in functional and oncolo-gical terms.The findings were corroborated by the comparative study of Chan et al which evaluated the feasibility and safety of minimally invasive multivisceral resection(miMVR).A comparison of postoperative outcomes between open MVR and miMVR showed that miMVR presented less blood loss,fewer postoperative complications,and less morbidity.This editorial article is focused specifically on analysis of the characteristics of new minimally-invasive surgical techniques in rectal cancer,particularly in advanced stages.The importance of future research is emphasized by progress in knowledge,training,and clinical practice in the appli-cation of these surgical procedures for the treatment of advanced colorectal cancer.

Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot

Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive control.The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes.Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control algorithm.We proposed a novel two-step modified dual quaternion for hand-eye calibration in this study.The dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate solution.The obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination criterion.Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system.We extensively compared the proposed method with state-of-the-art methods.Results demonstrate this method can improve the calibration accuracy.The effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was developed.The relationship between laparoscope and robot kinematics can be established for intuitive control.

Impact of technology on indications and limitations for transanal surgical removal of rectal neoplasms

Transanal surgery has and continues to be well accepted for local excision of benign rectal disease not amenable to endoscopic resection. More recently, there has been increasing interest in applying transanal surgery to local resection of early malignant disease. In addition, some groups have started utilizing a transanal route in order to accomplish total mesorectal excision(TME) for more advanced rectal malignancies. We aim to review the role of various transanal and endoscopic techniquesin the local resection of benign and malignant rectal disease based on published trial data. Preliminary data on the use of transanal platforms to accomplish TME will also be highlighted. For endoscopically unresectable rectal adenomas, transanal surgery remains a widely accepted method with minimal morbidity that avoids the downsides of a major abdomino-pelvic operation. Transanal endoscopic microsurgery and transanal minimally invasive surgery offer improved visualization and magnification, allowing for finer and more precise dissection of more proximal and larger rectal lesions without compromising patient outcome. Some studies have demonstrated efficacy in utilizing transanal platforms in the surgical management of early rectal malignancies in selected patients. There is an overall higher recurrence rate with transanal surgery with the concern that neither chemoradiation nor salvage surgery may compensate for previous approach and correct the inferior outcome. Application of transanal platforms to accomplish transanal TME in a natural orifice fashion are still in their infancy and currently should be considered experimental. The current data demonstrate that transanal surgery remains an excellent option in the surgical management of benign rectal disease. However, care should be used when selecting patients with malignant disease. The application of transanal platforms continues to evolve. While the new uses of transanal platforms in TME for more advanced rectal malignancy are exciting, it is important to remain cognizant and not sacrifice long term survival for short term decrease in morbidity and improved cosmesis.

Robotic surgery for rectal cancer: Current immediate clinical and oncological outcomes

Laparoscopic rectal surgery continues to be a challenging operation associated to a steep learning curve. Robotic surgical systems have dramatically changed minimally invasive surgery. Three-dimensional, magnified and stable view, articulated instruments, and reduction of physiologic tremors leading to superior dexterity and ergonomics. Therefore, robotic platforms could potentially address limitations of laparoscopic rectal surgery. It was aimed at reviewing current literature on short-term clinical and oncological(pathological) outcomes after robotic rectal cancer surgery in comparison with laparoscopic surgery. A systematic review was performed for the period 2002 to 2014. A total of 1776 patients with rectal cancer underwent minimally invasive robotic treatment in 32 studies. After robotic and laparoscopic approach to oncologic rectal surgery, respectively, mean operating time varied from 192-385 min, and from 158-297 min; mean estimated blood loss was between 33 and 283 mL, and between 127 and 300 mL; mean length of stay varied from 4-10 d; and from 6-15 d. Conversion after robotic rectal surgery varied from 0% to 9.4%, and from 0 to 22% after laparoscopy. There was no difference between robotic(0%-41.3%) and laparoscopic(5.5%-29.3%) surgery regarding morbidity and anastomotic complications(respectively, 0%-13.5%, and 0%-11.1%). Regarding immediate oncologic outcomes, respectively among robotic and laparoscopic cases, positive circumferential margins varied from 0% to 7.5%, and from 0% to 8.8%; the mean number of retrieved lymph nodes was between 10 and 20, and between 11 and 21; and the mean distal resection margin was from 0.8 to 4.7 cm, and from 1.9 to 4.5 cm. Robotic rectal cancer surgery is being undertaken by experienced surgeons. However, the quality of the assembled evidence does not support definite conclusions about most studies variables. Robotic rectal cancer surgery is associated to increased costs and operating time. It also seems to be associated to reduced conversion rates. Other short-term outcomes are comparable to conventional laparoscopy techniques, if not better. Ultimately, pathological data evaluation suggests that oncologic safety may be preserved after robotic total mesorectal excision. However, further studies are required to evaluate oncologic safety and functional results.

Robot-assisted laparoscopic pyeloureterostomy for ureteropelvic junction rupture sustained in a traffic accident:A case report

BACKGROUND Ureteral reconstruction is a highly technical type of laparoscopic or open surgery.The incidence of ureteral injury is low;however,ureteral injuries tend to be overtreated.Robotic surgery for urinary reconstructive surgery is growing in popularity,which has made procedures such as pyeloplasty,ureteroureterostomy,and ureteroneocystostomy possible,with minimal damage to the patient.To the best of our knowledge,this is the first report of robot-assisted laparoscopic pyeloureterostomy in Korea,in a 17-year-old female patient with a ureteral injury.CASE SUMMARY The patient,a 17-year-old girl without previous medical history,was presented at the emergency room and complained of abdominal and back pain.Tenderness in the right upper quadrant was observed on physical examination.Hemorrhage in the right perirenal space was observed without abdominal organ injuries on the initial enhanced abdomen computed tomography(CT)scan.Ureteral injury was not suspected at this time.The patient was stabilized via conservative treatment,but complained of right flank pain 3 wk later and revisited the emergency room.An enhanced abdominal CT scan revealed a huge urinoma in the right perirenal space with hydronephrosis of the right kidney.Retrograde and antegrade pyelography were performed.Extravasation and discontinuity of the ureter were found.A rupture of the ureteropelvic junction was diagnosed and reconstructive surgery was performed.After 3 mo,the patient did not complain of any symptoms without any abnormal radiologic findings.CONCLUSION This case report discusses the safety and effectiveness of this minimal invasive procedure as an alternative to conventional open or laparoscopic surgery.

Simultaneous robot-assisted approach in a super-elderly patient with urothelial carcinoma and synchronous contralateral renal cell carcinoma:A case report

BACKGROUND It is rare for urothelial and renal cell carcinomas to coexist in the same patient,and even rarer for them to be detected simultaneously.Because of this rarity,a standard treatment has not been established and studies about overall survival are scarce.Therefore,physicians must modify treatments according to the individual’s situation and the stage of each disease.In recent years,with advances in the instruments and techniques,minimal invasive robotic surgeries have become available for advanced-stage or high-risk patients.CASE SUMMARY An 85-year-old woman with a medical history of hypertension and hyperlipidemia visited our institution.She had visited her local hospital complaining of intermittent,painless,gross hematuria that had started 3 mo earlier.On computed tomography,a right renal mass and left proximal ureteral mass with hydronephrosis were found simultaneously.We decided to perform robot-assisted surgery on both sides during one operation.Considering renal function and kidney loading,right partial nephrectomy was performed first,followed by left nephroureterectomy with bladder cuff excision.At the 6-mo follow-up,no specific symptoms were reported and dialysis was not considered.There were no unusual findings in the imaging study,and regular follow-up and imaging studies are scheduled.CONCLUSION This case report assessed the feasibility of simultaneous minimal invasive robotic surgery as an alternative to conventional open or laparoscopic surgery.

基于动量观测器的微创手术机器人外力安全研究

为了解决机器人辅助微创手术中现有力检测和力反馈技术在实际应用中存在的安装受限、系统不稳定等问题,提出了一种基于动量观测器的微创手术机器人外力安全保障策略。基于动力学模型构建了二阶广义动量观测器,用于观测从手末端执行器上的外力信息。为提高外力观测精度,采用改进的Stri⁃beck摩擦模型并辨识了关节摩擦力矩参数。设计了外力安全保障策略,用于阻止从手末端执行器施加过大的外力。实验结果表明:所提出的外力安全保障策略能够控制从手末端执行器在设定的外力安全阈值内运动,进一步提高了机器人辅助微创手术的安全性。

变构型微创手术机器人系统设计与实现

高性能微创手术机器人有利于实施复杂危难手术,推动微创外科实现高质量发展.在深入分析现有手术机器人特点和临床需求的基础上,提出了一种变构型微创手术机器人系统.基于刚柔混合结构设计了构型可变的手术操作臂,通过构型变换可实现工作空间的变换,从而提高操作臂的灵活性.手术操作臂采用丝传动结构,针对变曲率丝鞘传动下的张力和弹性伸长量等问题进行了分析,确定了开合关节的丝鞘传动特性.基于刚体和柔性关节运动学,分析了手术操作臂在不同构型下的工作空间,通过调整伸缩关节移动量,实现操作臂工作空间可变功能.此外,设计了与操作臂适配的主手操作臂,该主手配置有两个主从调节关节,以保证主手与从手腕点姿态的一致性.随后,解析了主手与从手关节量之间的映射关系,并建立了基于位姿分离的主从运动映射算法,从而确保了操作舒适性与精准性.最后,研制了物理样机,进行了大工作空间下的刚性测试实验、运动性能、主从运动性能与缝合操作性能评价实验,全面验证了所提出的手术机器人系统的可行性.

骨科机器人辅助置钉下全内镜化经椎间孔腰椎椎间融合术治疗腰椎间盘突出症伴腰椎不稳

目的:探讨骨科机器人辅助置钉下全内镜化经椎间孔腰椎椎间融合术(transforaminal lumbar interbody fusion,TLIF)治疗腰椎间盘突出症伴腰椎不稳的安全性和有效性。方法:2021年10月至2023年3月收治26例单节段腰椎间盘突出症伴腰椎不稳患者,男14例,女12例,年龄47~73(58.5±8.1)岁,病程2~12(6.6±2.8)个月,手术节段L4,516例,L5S110例。采用骨科机器人辅助置钉下全内镜化TLIF治疗。观察记录手术时间、术中出血量、切口长度、术后引流量、术后下床活动时间、术后住院时间。观察比较术前、术后的椎间隙高度及腰椎前凸角。采用视觉模拟评分(visual analog scale,VAS)评价疼痛程度,Oswestry功能障碍指数(Oswestry disability index,ODI)评价临床疗效,Brantigan-Steffee标准评估椎间融合情况。结果:26例患者均顺利完成手术,手术时间105~109(150.8±24.1) min,术中失血量35~88(55.5±16.4) ml,切口长度1.4~3.5 (2.3±0.8) cm,术后引流量15~40(28.5±7.8) ml,术后下床活动时间15~30(22.8±4.5) h,术后住院时间3~7(4.2±1.3) d。26例患者术后获得随访,时间12~16(14.0±1.3)个月。VAS和ODI术后1周[2.96±0.72)分、(41.63±4.79)%]、术后12个月[1.27±0.60)分、(13.11±2.45)%]较术前[6.69±0.93)分、(59.12±5.92)%]改善(P<0.01);术后12个月椎间隙高度(11.95±1.47) mm和腰椎前凸角(57.46±7.59)°较术前[(6.67±1.20) mm、(44.08±7.79)。]改善(P<0.01)。术后12个月所有患者无椎弓根螺钉断裂及融合器的移位,椎间均成功融合。根据Brantigan-Steffee分级:D级17例,E级9例。结论:骨科机器人辅助置钉下全内镜化TLIF对于腰椎间盘突出症伴腰椎不稳患者,提高了手术的精准度和安全性,早期随访临床效果确切。

机器人辅助腹腔镜肾脏移植术专家共识

机器人辅助腹腔镜肾脏移植是器官移植领域微创手术的代表,国内外多个移植中心经验已证明其可行和安全。但在临床实践中,该术式适应证、禁忌证、手术方法、安全注意事项、并发症处理及手术疗效等关键问题亟需形成专家共识。为了进一步规范和推广该项技术,该领域专家聚焦上述问题检索了相关证据,并通过会议讨论、德尔菲问卷调查等方法达成共识,供广大临床医师参考。