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PubMed2003

Robotic cardiac surgery.

The health care climate is evolving due to influences of new technology, and robotic surgery has become a part of many surgical procedures and specialties. Incorporation of robotic procedures in cardiac surgery has several recognized benefits for patient outcomes, including a smaller incision, decrease in pain, and shorter hospital stay. Increased use of robotics will influence how nurses educate and care for their patients and the types of health care options that will be offered to patients in the future.

Humans↗

PubMed2002

The effect of robotic assistance on learning curves for basic laparoscopic skills.

BACKGROUND: We hypothesized that laparoscopic tasks performed with ZEUS robotic assistance would be done with greater precision and with a different learning curve than when performed in a standard laparoscopic trainer. METHODS: Participants were divided into the surgically experienced (n = 11) and the surgically naive (n = 17). Two laparoscopic tasks (bead transfer and rope pass) were repeated for five repetitions. RESULTS: For all drills and participants, completion time and error rate decreased across the five repetitions for each platform. Precision averaged 97% for both platforms over all drills. For both groups, completion time for tasks was shorter on the laparoscopic platform. ZEUS allowed for greater consistency in performance. CONCLUSIONS: Compared with performance on a standard laparoscopic trainer, robotic assistance allows for increasing speed and consistency while maintaining precision over multiple repetitions. Understanding how robotics affects learning curves will allow for modifications in the training experience with this new technology.

Adult↗

PubMed1999

Early experience with robotic technology for coronary artery surgery.

BACKGROUND: To achieve an endoscopic coronary bypass anastomoses we performed a study with endoscopic robotic instrumentation and camera guidance using three-dimensional (3-D) visualization. METHODS: The surgical robotic system ZEUS (Computer Motion Inc, Goleta, CA) consists of three interactive robotic arms and a control unit allowing the surgeon to move the instrument arms in a scaled down mode. The third arm (AESOP, Computer Motion Inc, Goleta, CA) positions the endoscope via voice control. The study had three phases. Phase I: In a phantom model, end-to-side anastomoses between vein grafts and the left anterior descending coronary artery (LAD) of 109 pig hearts were performed. Phase II: In 6 dogs (FBI, 20-25 kg) the left internal mammary artery (LIMA) was harvested endoscopically. During Port-Access (Heartport Inc, Redwood City, CA) cardiopulmonary bypass (CPB), LIMA and LAD were then anastomosed endoscopically with the help of telemetric ZEUS instruments (Computer Motion Inc). Phase III: A total of seven patients were operated on with help of the ZEUS system (Computer Motion Inc). After endoscopic LIMA harvesting and CPB using the Port-Access (Heartport Inc) system, the bypass graft (LIMA to LAD) was anastomosed endoscopically through three thoracic ports in 2 patients. Another 3 patients were operated on off-pump with regional stabilization and 2 patients with sternotomy and routine CPB. RESULTS: The practice with the phantom model and the subsequent animal experiments allowed the surgeons to gain sufficient experience for the clinical setting. In the clinical cases, times for anastomoses ranged from 20 to 42 minutes. Median internal mammary artery flow rate was 74 mL per minute (range 36-110 mL per minute). One patient in the off-pump group was converted to CPB and routine anastomosis. All patients had an uneventful angiographic control and postoperative course. CONCLUSIONS: Using telemetic technology, a completely endoscopic anastomosis of LIMA to LAD is possible on the arrested heart, as well as on the beating heart.

Anastomosis, Surgical↗

PubMed2000

Three-dimensional video and robot-assisted port-access mitral valve operation.

BACKGROUND: In order to minimize surgical trauma, video-assisted mitral valve operation has been started using the Port-Access technique with the addition of a three-dimensional visualization system (Vista Cardiothoracic Systems Inc, Westborough, MA) and a voice-controlled camera-holding robotic arm (Aesop; Computer Motion Inc, Goleta, CA). METHODS: Port-Access mitral valve replacement or repair (PAMVR) was undertaken using an endovascular cardiopulmonary bypass (CPB) system. Fifty patients underwent Port-Access mitral valve replacement or repair. A three-dimensional thoracoscope was inserted allowing complete three-dimensional projection of the mitral valve (Vista). In the last 20 patients, the camera was attached to a robotic arm (Aesop), which allowed stabilization and voice-activated movement of the camera. Mitral valve repair was performed in 26 patients, and the valve was replaced in 24 patients with a mechanical valve prosthesis. RESULTS: Median time of operation was 4.2 hours, aortic cross-clamp time 83 minutes, CPB time 125 minutes, intensive care unit stay 1.5 days and hospitalization 9.0 days. Three months follow-up was complete in 40 patients, with 34 patients (85%) in New York Heart Association class I and 6 patients in class II. Mortality was 0% and rate of reoperation was 2%, with a follow-up time up to 1.5 years postoperatively. CONCLUSIONS: Using three-dimensional video and robotic assistance, it was possible to minimize the length of skin incision, but at the same time to optimally visualize the whole mitral valve apparatus in order to perform true Port-Access mitral valve operation, including various repair techniques.

Adult↗

PubMed2005

[Robots in general surgery: present and future].

Robotic surgery is an emerging technology. We began to use this technique in 2000, after it was approved by the Food and Drug Administration. Our preliminary experience was satisfactory. We report 4 years' experience of using this technique in our institution. Between August 2000 and December 2004, 399 patients underwent robotic surgery using the Da Vinci system. We performed 110 gastric bypass procedures, 30 Lap band, 59 Heller myotomies, 12 Nissen fundoplications, 6 epiphrenic diverticula, 18 total esophagectomies, 3 esophageal leiomyoma resections, 1 pyloroplasty, 2 gastrojejunostomies, 2 transduodenal sphincteroplasties, 10 adrenalectomies and 145 living-related donor nephrectomies. Operating times for fundoplications and Lap band were longer. After the learning curve, the operating times and morbidity of the remaining procedures were considerably reduced. Robot-assisted surgery allows advanced laparoscopic procedures to be performed with enhanced results given that it reduces the learning curve as measured by operating time and morbidity.

Bariatrics↗

PubMed2000

Robotic automation performs a nested RT-PCR analysis for HCV without introducing sample contamination.

The Polymerase Chain Reaction (PCR) is a popular method to amplify and detect specific RNA and DNA sequences. To obtain maximum performance of PCR, it is best performed by highly skilled technologists because of the complexity of the assay and the potential for laboratory contamination from the amplification products produced. We chose to automate this nested RT-PCR for hepatitis C assay to significantly reduce the need for manual pipetting while preserving the excellent non-contamination performance of the corresponding manual test. A three axis cartesian robotic pipetting station was equipped to perform RT-PCR using an on-board automated thermal cycling device. 104 sera were analyzed using this modified pipetting station and we found a very close agreement (100% sensitivity and 98% specificity) with results previously obtained by corresponding manual RT-PCR analysis. This study demonstrated a user-programmed robotic pipetting system could successfully automate a complex PCR assay without contamination. Our results suggest that use of robotic pipetting station can provide cost efficient alternative to performance of molecular diagnostic assays while demonstrating minimal inter sample contamination.

Electrophoresis, Agar Gel↗

PubMed2002

Sensor fusion by pseudo information measure: a mobile robot application.

In any autonomous mobile robot, one of the most important issues to be designed and implemented is environment perception. In this paper, a new approach is formulated in order to perform sensory data integration for generation of an occupancy grid map of the environment. This method is an extended version of the Bayesian fusion method for independent sources of information. The performance of the proposed method of fusion and its sensitivity are discussed. Map building simulation for a cylindrical robot with eight ultrasonic sensors and mapping implementation for a Khepera robot have been separately tried in simulation and experimental works. A new neural structure is introduced for conversion of proximity data that are given by Khepera IR sensors to occupancy probabilities. Path planning experiments have also been applied to the resulting maps. For each map, two factors are considered and calculated: the fitness and the augmented occupancy of the map with respect to the ideal map. The length and the least distance to obstacles were the other two factors that were calculated for the routes that are resulted by path planning experiments. Experimental and simulation results show that by using the new fusion formulas, more informative maps of the environment are obtained. By these maps more appropriate routes could be achieved. Actually, there is a tradeoff between the length of the resulting routes and their safety and by choosing the proper fusion function, this tradeoff is suitably tuned for different map building applications.

Algorithms↗

PubMed2003

Robotics in gynecology.

The surgical robot has the potential to enable a laparoscopic approach to procedures that are presently performed by laparotomy due to the technical difficulties intrinsic to laparoscopy. The use of the current robot prototypes are not cost-effective for gynecologic procedures that are already performed by laparoscopy. The rapid evolution of robotics will likely allow for more widespread application in all surgical specialties in the future.

Gynecologic Surgical Procedures↗

PubMed2003

Robotic cardiac surgery: overview.

Most endoscopic procedures are excisional, not reconstructive or microsurgical, mostly because conventional endoscopic instrumentation lacks dexterity due to long, nonarticulated instruments, a fixed pivot point and counterintuitive movement of the instrument tip, and lack of depth perception. Endoscopic approaches to cardiac surgery have not been successful; however, the development of robotic surgical systems has overcome many limitations of endoscopy. Computer-assisted surgery has created a computerized digital interface between the surgeon's hands and surgical instrument tips and enhances surgical ability, thereby enabling endoscopic microsurgery. Recently, robotic systems have allowed cardiac surgeons to perform minimally invasive endoscopic coronary artery bypass grafting (CABG) and valve procedures. This article summarizes the use of robotics in cardiac surgery and discusses its potential in our specialty.

Cardiac Surgical Procedures↗

PubMed2003

The ZEUS robotic system: experimental and clinical applications.

Laparoscopic procedures provide shorter hospitalization, less pain, better cosmetic results, and faster returns to normal than traditional surgery. Surgeons performing them, however, are hampered by lack of tridimensional view and haptic sense, and by remoteness; but this physical gap also allows robotic and computer interfaces. The computer digitizes surgical movements and images and modifies this information to filter out nonfinalized movements such as tremor, increasing dexterity and precision. Digitized information can also be transmitted to remote locations, allowing surgical care in remote or underserved areas, and enhancing surgical education. There are several robotic surgical systems available; this article reviews the experimental and clinical use of the ZEUS robotic system and discusses its possible role in the future operating room.

Animals↗

PubMed1997

Dynamic-robotic telepathology: Department of Veterans Affairs feasibility study.

In this retrospective study, we assess the accuracy, confidence levels, and viewing times of two generalist pathologists using both dynamic-robotic telepathology and conventional light microscopy (LM) to render diagnoses on a test set of 100 consecutive routine surgical pathology cases. The objective is to determine whether telepathology will allow a pathology group practice at a diagnostic hub to provide routine diagnostic services to a remote hospital without an on-site pathologist. For TP, glass slides were placed on the motorized stage of the robotic microscope of a telepathology system by a senior laboratory technologist in Iron Mountain, MI. Real-time control of the motorized microscope was then transferred to a pathologist in Milwaukee, WI, who viewed images of the glass slides on a video monitor. The telepathologists deferred rendering a diagnosis in 1.5% of cases. Clinically important concordance between the individual diagnoses rendered by telepathology and the "truth" diagnoses established by rereview of glass slides was 98.5%. In the telepathology mode, there were five incorrect diagnoses out of a total of 197 diagnoses. In four cases in which the telepathology diagnosis was incorrect, the pathologist's diagnosis by LM was identical to that rendered by telepathology. These represent errors of interpretation and cannot be ascribed to telepathology. The certainty of the pathologists with respect to their diagnoses was evaluated over time. Results for the first 50 cases served as baseline data. For the second 50 cases, confidence in rendering a diagnosis in the telepathology mode was essentially identical to that of making a diagnosis in the LM viewing mode. Viewing times in the telepathology mode also improved with more experience using the telepathology system. These results support the concept that an off-site pathologist using dynamic-robotic telepathology can substitute for an on-site pathologist as a service provider.

Feasibility Studies↗

PubMed1998

Robotic surgery in urology.

The demand for improved surgical performance and reduced health care costs have led to the evaluation of surgical robotic systems. Robotic devices to assist urologists with transurethral resection of the prostate, percutaneous renal access, and laparoscopy are currently in development or are already in clinical use. The rapid advances made in telecommunication technology also have allowed for the development of telesurgical systems that permit surgeons to participate in surgery from a remote location. In the twenty-first century, surgical robots will be efficient, invaluable, and safe adjuncts to urologic practice.

Humans↗

PubMed2002

Using lobster noses to inspire robot sensor design.

Robots are needed to locate the sources of toxic chemical plumes. Lobsters, which track odor plumes for many ecologically crucial activities, can provide inspiration for robot designers. Before accurate search strategies for robots can be developed, how odor molecules are captured by the lobster's chemosensors must be understood. A recent study by Koehl et al. shows how lobster olfactory antennules alter the patterns of concentration in turbulent odor plumes during odor sampling.

Animals↗

PubMed2003

Echographic examination in isolated sites controlled from an expert center using a 2-D echograph guided by a teleoperated robotic arm.

The objective of the present project was to design and validate a method for teleoperating (from an expert site) an echographic examination in an isolated site. A dedicated robotic arm holding a real ultrasound (US) probe is remotely controlled from the expert site with a fictive probe, and reproduces on the real probe all the movements of the expert hand. The isolated places, defined as areas with reduced medical facilities, could be secondary hospitals 20 to 50 km from the university hospital, or dispensaries in Africa or Amazonia, or a moving structure like a rescue vehicle or the International Space Station (ISS). These sites are linked to the expert one by ISDN (numeric) telephone or satellite lines. At the expert center, the US medical expert moves a fictive probe, connected to a computer (no. 1) that sends the coordinate changes of this probe via an ISDN or satellite line to a second computer (no. 2), located at the isolated site, that applies them to the robotic arm holding the real echographic probe. The system was tested on 20 patients. In all cases, the expert was able to perform the main views (longitudinal, transverse) of the liver, gallbladder, kidneys, aorta, pancreas, bladder, prostate and uterus as during direct examination on the patient. The heart and spleen were not visualized in 2 and 4 of the 20 cases, respectively. The mean duration of the robotized echography (27 +/- 7 min for three to four organs) was approximately 50% longer than direct echography of the patient.

Equipment Design↗

PubMed2003

Robotic-assisted laparoscopic radical cystectomy and intra-abdominal formation of an orthotopic ileal neobladder.

PURPOSE: To describe our technique of robotic-assisted laparoscopic radical cystectomy and intra-abdominal formation of an orthotopic neobladder (Hautmann) for treatment of transitional cell carcinoma of the bladder. METHODS: We describe our surgical technique in the worldwide first attempt to perform a robotic-assisted laparoscopic radical cystectomy and completely intra-abdominal formation of an orthotopic neobladder. The DaVinci System (Intuitive Surgical, Mountain View, CA, USA) was utilized to perform the procedure. RESULTS: Utilizing the DaVinci System the operation could be performed without any complications. Operating time was 8.5 hours, blood loss was 200 ml. The oncologic as well as the functional result of the reservoir were excellent. DISCUSSION: We here demonstrated that sophisticated laparoscopic procedures like the intra-abdominal formation of an orthotopic neobladder are accomplishable with robotic assistance.

Carcinoma, Transitional Cell↗

PubMed2003

Robotically assisted left ventricular epicardial lead implantation for biventricular pacing.

OBJECTIVES: Ventricular resynchronization might be achieved in a minimally invasive fashion using a robotically assisted, direct left ventricular (LV) epicardial approach. BACKGROUND: Approximately 10% of patients undergoing biventricular pacemaker insertion have a failure of coronary sinus (CS) cannulation. Rescue therapy for these patients currently is limited to standard open surgical techniques. METHODS: Ten patients with congestive heart failure (New York Heart Association class 3.4 +/- 0.5) and a widened QRS complex (184 +/- 31 ms) underwent robotic LV lead placement after failed CS cannulation. Mean patient age was 71 +/- 12 years, LV ejection fraction (EF) was 12 +/- 6%, and LV end-diastolic diameter was 7.1 +/- 1.3 cm. Three patients had previous cardiac surgery, and five patients had a prior device implanted. RESULTS: Nineteen epicardial leads were successfully placed on the posterobasal surface of the LV. Intraoperative lead threshold was 1.0 +/- 0.5 V at 0.5 ms, R-wave was 18.6 +/- 8.6 mV, and impedance was 1,143 +/- 261 ohms at 0.5 V. Complications included an intraoperative LV injury and a postoperative pneumonia. Improvements in exercise tolerance (8 of 10 patients), EF (19 +/- 13%, p = 0.04), and QRS duration (152 +/- 21 ms, p = 0.006) have been noted at three to six months follow-up. Lead thresholds have remained unchanged (2.1 +/- 1.4 V at 0.5 ms, p = NS), and a significant drop in impedance (310 +/- 59 ohms, p < 0.001) has been measured. CONCLUSIONS: Robotic LV lead placement is an effective and novel technique which can be used for ventricular resynchronization therapy in patients with no other minimally invasive options for biventricular pacing.

Aged↗

PubMedDate not supplied

Neuromodulation and plasticity in an autonomous robot.

In this paper we implement a computational model of a neuromodulatory system in an autonomous robot. The output of the neuromodulatory system acts as a value signal, modulating widely distributed synaptic changes. The model is based on anatomical and physiological properties of midbrain diffuse ascending systems, in particular parts of the dopamine and noradrenaline systems. During reward conditioning, the model learns to generate tonic and phasic signals that represent predictions and prediction errors, including precisely timed negative signals if expected rewards are omitted or delayed. We test the robot's learning and behavior in different environmental contexts and observe changes in the development of the neuromodulatory system that depend upon environmental factors. Simulation of a computational model incorporating both reward-related and aversive stimuli leads to the emergence of conditioned reward and aversive behaviors. These studies represent a step towards investigating computational aspects of neuromodulatory systems in autonomous robots.

Models, Neurological↗

PubMed2003

Adaptive categorization of ART networks in robot behavior learning using game-theoretic formulation.

Adaptive Resonance Theory (ART) networks are employed in robot behavior learning. Two of the difficulties in online robot behavior learning, namely, (1) exponential memory increases with time, (2) difficulty for operators to specify learning tasks accuracy and control learning attention before learning. In order to remedy the aforementioned difficulties, an adaptive categorization mechanism is introduced in ART networks for perceptual and action patterns categorization in this paper. A game-theoretic formulation of adaptive categorization for ART networks is proposed for vigilance parameter adaptation for category size control on the categories formed. The proposed vigilance parameter update rule can help improving categorization performance in the aspect of category number stability and solve the problem of selecting initial vigilance parameter prior to pattern categorization in traditional ART networks. Behavior learning using physical robot is conducted to demonstrate the effectiveness of the proposed adaptive categorization mechanism in ART networks.

Algorithms↗