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At least 1,063 records · Page 59Linked to original sources

PubMed2005

3D TRUS guided robot assisted prostate brachytherapy.

This paper describes a system for dynamic intraoperative prostate brachytherapy using 3D ultrasound guidance with robot assistance. The system consists of 3D transrectal ultrasound (TRUS) imaging, a robot and software for prostate segmentation, 3D dose planning, oblique needle segmentation and tracking, seed segmentation, and dynamic re-planning and verification. The needle targeting accuracy of the system was 0.79 mm +/- 0.32 mm in a phantom study.

Algorithms↗

PubMed2005

Toward robotized beating heart TECABG: assessment of the heart dynamics using high-speed vision.

Active robotic filtering is a promising solution for beating heart Totally Endoscopic Coronary Artery Bypass Grafting (TECABG). n this work, we assess the heart motion dynamics using simultaneously igh speed imaging of optical markers attached to the heart, ECG signals and ventilator airflow acquisitions. Our goal is to make an assessment of the heart motion (shape, velocity, acceleration) in order to be able to make more accurate specifications for a dedicated robot that could follow this motion in real-time. Furthermore, using the 2 additional inputs (ECG, airflow), we propose a prediction algorithm of the motion that could be used with a predictive control algorithm to improve the tracking accuracy.

Algorithms↗

PubMed2006

Robotics in neurosurgery: which tools for what?

Robots are the tools for taking advantage of the skills of computers in achieving complicated tasks. This has been made possible owing to the "numerical image explosion" which allowed us to easily obtain spatial coordinates, three dimensional reconstruction, multimodality imaging including digital subtraction angiography (DSA), computed tomography (CT), magnetic resonance imaging (MRI) and magneto encephalography (MEG), with high resolution in space, time, and tissue density. Neurosurgical robots currently available at the operating level are being described. Future evolutions, indications and ethical aspects are examined.

Humans↗

PubMed1991

Health managers' attitudes toward robotics and artificial computer intelligence: an empirical investigation.

An empirical investigation of the perceived role of robotics and artificial computer intelligence in the future of health care reveals factors favoring a positive attitude by health administrators. The study employed a two-part survey administered in late 1989 and early 1990 to health care managers in hospitals and nursing homes. Part One of the survey asked about the participant, his or her work habits and work environment. Part Two obtained a psychological profile of rationality vs. intuition in problem solving. Through bivariate and multivariate post hoc statistical tests, we discovered the following variables which significantly determined attitudes toward robotics and artificial computer intelligence: sex; number of employees supervised; perceptions of waste and inefficiency in the workplace; perceptions of time-consuming personnel problems; perceived need to make more efficient use of time, money, and facilities; and perceived favorable climate for innovation. Among the factors which did not have an effect on attitudes toward advanced technology were three measures of rationality vs. intuition in problem solving.

Artificial Intelligence↗

PubMed1996

Automating combinatorial chemistry: a primer on benchtop robotic systems.

Benchtop robotic systems are inexpensive, flexible automation tools with potential applications in a wide array of disciplines such as combinatorial chemistry, high-throughput screening, and genomics. We explain the basic components of a benchtop system and explore factors to consider when purchasing or customizing a robot, such as automation benefits, vendor selection, and current system limitations. Issues involving system specification, software design, and hardware customization are then discussed. Additionally, system optimization, validation, and support are detailed. Given a properly designed and implemented system, the combinatorial laboratory can markedly increase compound synthesis and purification.

Computers↗

PubMed2004

Hybrid event based control architecture for tele-robotic systems controlled through Internet.

A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is proposed in this paper. Different from the traditional event based control method, the new framework does not require every part of the system to be strictly event synchronized. Instead, it allows time referenced control components to be integrated into this framework, which makes it more convenient to develop Internet based control systems. Since there are two reference variables, time and event, in this architecture, how to coordinate these components with different references to keep the stability of the whole system is discussed in detail in this paper. To verify this new idea, an experiment was conducted to control the end effector of a PUMA robot tracking a continuous state trajectory given on-line by the remote operator. Experimental results confirmed the stability of such systems being controlled through the Internet in real-time.

Algorithms↗

PubMed1994

Robotically assisted laparoscopic surgery. From concept to development.

The evolution of laparoscopy from a monocular view to the video screen has enabled all in the operating room to see the procedure. This has meant the surgeon must rely on an assistant to hold the scope, which has many drawbacks. Robotic enhancement technology creates a symbiotic relationship between the surgeon and robot and leads to great improvement in the performance of the case.

Humans↗

PubMed2005

[Development of an active robot system for multi-modal paranasal sinus surgery].

BACKGROUND: Severe complications in endoscopic paranasal sinus surgery are rare, however, when they occur they are often fatal. Injuries to the optic nerve or the internal carotid artery mostly occur after penetration of the sphenoid sinus' anterior wall. METHODS: We present the robot system "A 73" with its newly designed 4-canal-microendoscope and special instruments that meets the demands of endoscopic paranasal sinus surgery. A fully automated perforation of the sphenoid sinus' anterior wall was performed in five cadaveric specimens. RESULTS: The sphenoid sinus' anterior wall could be perforated without damaging the surrounding structures in all cases. Subsequently, the approach was enlarged to the desired diameter using telemanipulation mode. The analysis of both the transformation error and intraopertive accuracy showed values in the submillimeter range. CONCLUSIONS: Using a newly developed robotic system, a fully automated perforation of the sphenoid sinus' anterior wall was performed precisely and reproducibly. This approach can be enlarged in a telemanipulation mode.

Cadaver↗

PubMed1997

[Computer-assisted robotics in hip endoprosthesis implantation].

The most important prerequisite for permanent fixation of an implant is primary stability. Osteointegration of the implant is a major goal in cementless total hip replacement (THR). This means direct contact between bone and implant leading to fixation of the implant in the bone without the interference of fibrous tissue. In addition to the design of the implant, the structure of the implant surface and the material of the implant, the specific operational technique plays a major role in permanent fixation. Only the conical fixation of femoral implants guarantees high primary stability in cementless THR. The type of fixation of the implant in the femoral cavity and the resulting load transfer from implant to bone has a decisive effect on the durability of the prostheses. In order to achieve optimal primary fixation of the implant, robot-assisted implantation of the cementless implant has been performed at the Berufsgenossenschaftliche Unfallklinik Frankfurt am Main since the summer of 1994. After preoperative planning at a three-dimensional graphic work station these data are transferred to the robot, which transforms the preoperative planning by milling the femoral cavity with the highest precision. So far this type of surgery has been performed on 300 patients. The encouraging postoperative results prompted us to install the second system of Robodoc at the Berufsgenossenschaftliche Unfallklinik Frankfurt.

Arthroplasty, Replacement, Hip↗

PubMed2003

[Value of navigation and robot-guided surgery in total knee arthroplasty].

Up to now robotics play a minor role in orthopedic surgery because the financing and daily costs of these devices overburden the budgets of normal hospitals. The technical demands are time consuming and pose an additional cost factor. The trauma to the patients in the opinion of some authors is considerable. Nevertheless, robotics play an important role in the further development of orthopedic surgery because improvements in technology will lead to a better operative outcome for the patients. Navigation devices have been developed in the last few years in different centers. From the medical point of view, it is important that navigation systems support surgeons in the analysis of all questions concerning alignment. This pertains not only to rotation analyses of the femur and tibia components but also to analyses of the cinematic gap in flexion and extension. The handling of soft tissues has an important influence on the postoperative function of the knee. It is also a medical issue that the navigation systems should be open, i.e., that different designs of implants could be implanted with one navigation device. There are some systems which offer this quality. Improvements in technology are necessary especially in rotation analyses of the lower limb.

Arthroplasty, Replacement, Knee↗

PubMed1997

[Computer-guided robot-assisted hip endoprosthesis].

Computer-guided robot-assisted surgery in cementless total hip replacement requires exact preoperative planning at the 3D workstation Orthodoc. Only the Robodoc procedure allows the precise execution of the preoperative plan in surgery. Robot-assisted surgery has been undergoing clinical evaluation at the Berufsgenossenschaftliche Unfallklinik, Frankfurt, since November 1994. In all 465 patients, the preoperative plan was successfully carried out intraoperatively. The high precision in reaming, leading to a superb bone implant contact, guarantees absolute initial stability and is likely to promote primary healing between implant and bone. The common and often published incidence of varus or valgus malpositioning and any fractures or fissures could be avoided through the use of Robodoc. Although immediate full-weight bearing was strongly recommended to the patients, no implant subsidence was seen in the treatment follow-up X ray studies.

Adult↗

PubMed2005

Evaluation of robotic training forces that either enhance or reduce error in chronic hemiparetic stroke survivors.

This investigation is one in a series of studies that address the possibility of stroke rehabilitation using robotic devices to facilitate "adaptive training." Healthy subjects, after training in the presence of systematically applied forces, typically exhibit a predictable "after-effect." A critical question is whether this adaptive characteristic is preserved following stroke so that it might be exploited for restoring function. Another important question is whether subjects benefit more from training forces that enhance their errors than from forces that reduce their errors. We exposed hemiparetic stroke survivors and healthy age-matched controls to a pattern of disturbing forces that have been found by previous studies to induce a dramatic adaptation in healthy individuals. Eighteen stroke survivors made 834 movements in the presence of a robot-generated force field that pushed their hands proportional to its speed and perpendicular to its direction of motion--either clockwise or counterclockwise. We found that subjects could adapt, as evidenced by significant after-effects. After-effects were not correlated with the clinical scores that we used for measuring motor impairment. Further examination revealed that significant improvements occurred only when the training forces magnified the original errors, and not when the training forces reduced the errors or were zero. Within this constrained experimental task we found that error-enhancing therapy (as opposed to guiding the limb closer to the correct path) to be more effective than therapy that assisted the subject.

Acceleration↗

PubMed2002

Effects of prolonged pneumoperitoneum on hemodynamics and acid-base balance during totally endoscopic robot-assisted radical prostatectomies.

Laparoscopic techniques have become a standard approach for diagnostic and therapeutic procedures in many surgical disciplines. Recent progress in endoscopic surgery is based on the integration of computer-enhanced telemanipulation systems. Because robot-assisted radical prostatectomies take up to 10 hours, the present study was performed to evaluate the effects of prolonged intraperitoneal CO2 insufflation on hemodynamics and gas exchange in 15 patients with prostate cancer. When CO2 insufflation was initiated, peak inspiratory pressure increased and reached significant values after a 1.5-hour period of intraperitoneal CO2 insufflation. With the release of CO2, peak inspiratory pressure decreased close to baseline values. A significant increase in heart rate was observed after a 4-hour period of increased intraabdominal pressure. Mean arterial blood pressure and central venous pressure remained stable during CO2 insufflation. Minute ventilation was adjusted according to repeated blood gas analyses to maintain pH, base excess (BE), bicarbonate (HCO3?), and PaCO2 within physiologic ranges. The present data show, that prolonged CO2 insufflation during totally endoscopic robot-assisted radical prostatectomy results in only minor changes in hemodynamics and acid-base status. Because of the limited experience with long-term pneumoperitoneum, we consider invasive haemodynamic monitoring and repeat blood gas analysis essential for such operations.

Acid-Base Equilibrium↗

PubMed2005

Hemodynamic and respiratory effects of robot-assisted laparoscopic fundoplication in children.

Laparoscopic fundoplication is increasingly used for treating gastro-esophageal reflux disease in children. Mechanical and pharmacological effects may contribute to hemodynamic and respiratory changes during carbon dioxide pneumoperitoneum. The aim of the present study was to evaluate the hemodynamic and respiratory effects of pneumoperitoneum (PP) with an intra-abdominal pressure (IAP) of 12 mmHg in children undergoing robot-assisted laparoscopic fundoplication during total intravenous anesthesia. Ten children, aged 8-16 years, American Society of Anesthesiologists physical status II-III, scheduled for robot-assisted laparoscopic fundoplication in the reverse Trendelenburg position were investigated. Minute ventilation (MV), peak inspiratory pressure (PIP), IAP, heart rate (HR), mean arterial blood pressure (MAP) were recorded, together with pH, base excess, HCO3-, P(et)CO2, PaCO2, and PaO2 at six time points: before insufflation, 10, 30, 60, 90 minutes after creating PP and after desufflation. The IAP was maintained at 12 mmHg. During insufflation MAP increased significantly from 70.6 (+/-9.0) to 84.8 (+/-10.4) mmHg, MV was increased from 4.6 (+/-0.8) to 5.5 (+/-0.9) l min(-1), PIP increased, PaO2 and pH decreased. P(et)CO2 increased from 33.1 (+/-1.6) to 36.6 (+/-1.6) mmHg together with PaCO2. Hemodynamic and respiratory effects due to the intra-abdominal insufflation of CO2 with an IAP of 12 mmHg are well tolerated, and anesthesia with remifentanil, propofol and mivacurium facilitates extubation immediately at the end of surgery.

Adolescent↗

PubMed2006

Status of robotic cystectomy in 2005.

Minimally invasive approaches have been shown to offer considerable benefits to patients in the treatment of urologic malignancies. While open radical cystectomy remains the gold standard for the treatment of muscle invasive bladder cancer, the continued refinement of laparoscopic techniques and the success of robotic assistance in radical prostatectomy have led to great interest in minimally invasive approaches to radical cystectomy. We review the current experience with laparoscopic and robotic radical cystectomy and its role in the treatment of muscle invasive bladder cancer.

Cystectomy↗

PubMed2006

Robotic extended pyelolithotomy for treatment of renal calculi: a feasibility study.

Percutaneous nephrolithotomy (PCNL) remains the treatment of choice for staghorn renal calculi. Many reports suggest that laparoscopy can be an alternative treatment for large renal stones. We wished to evaluate the role and feasibility of laparoscopic extended pyelolithotomy (REP) for treatment of staghorn calculi. Thirteen patients underwent REP for treatment of staghorn calculi over a 12-day period. Twelve patients had partial staghorn stones and one had a complete staghorn stone. All patients had pre-operative and post-operative imaging including KUB and computed tomography. All procedures were completed robotically without conversion to laparoscopy or open surgery. Mean operative time was 158 min and mean robotic console time was 108 min. Complete stone removal was accomplished in all patients except the one with a complete staghorn calculus. Estimated blood loss was 100 cc, and no patient required post-operative transfusion. REP is an effective treatment alternative to PCNL in some patients with staghorn calculi. However, patients with complete staghorn stones are not suitable candidates for this particular technique.

Adult↗

PubMed2007

From proficiency to expert, when does the learning curve for robotic-assisted prostatectomies plateau? The Columbia University experience.

To describe our single-institution experience with our first 70 consecutive robotic-assisted laparoscopic prostatectomies (RLPs) with particular focus on effect of learning curve on operative time, length of stay and blood loss. We also report our short-term outcome data in this heterogeneous cohort of men with prostate cancer (PCa). We reviewed our institutional database for the first 70 consecutive RLPs performed by a single surgeon (DS) over a 21-month period (March 2003 to December 2004). Surgical, pathologic and postoperative outcomes were analyzed. In order to evaluate the impact of the surgeon's and institution's learning curve on outcomes, the cases were divided into quartiles and stratified accordingly to identify trends. Ninety-nine percent (69/70) of all procedures were successfully completed robotically. Mean blood loss, operative time and mean length of stay were 231 ml, 264 min and 1.9 days, respectively. At follow-up, 76% of all patients were fully continent (no pads) and 93% (62/67) had undetectable PSA. The most dramatic improvement in surgical outcomes was seen within the first quartile of cases; however a statistically significant improvement trend existed throughout the series. This included a downward trend in operative time (P < 0.00001), estimated blood loss (P < 0.00001), and length of hospital stay (P = 0.003). This trend continued when controlled for in a multivariate analysis. Our results compare favorably with other RLP series as well as conventional laparoscopic series. Proficiency is achieved within the first 20 cases; however surgical outcomes continue to improve for RLP throughout the first 70 cases and perhaps beyond.

Aged↗

PubMed2002

A model of the cerebellar pathways applied to the control of a single-joint robot arm actuated by McKibben artificial muscles.

This article describes an expanded version of a previously proposed motor control scheme, based on rules for combining sensory and motor signals within the central nervous system. Classical control elements of the previous cybernetic circuit were replaced by artificial neural network modules having an architecture based on the connectivity of the cerebellar cortex, and whose functioning is regulated by reinforcement learning. The resulting model was then applied to the motion control of a mechanical, single-joint robot arm actuated by two McKibben artificial muscles. Various biologically plausible learning schemes were studied using both simulations and experiments. After learning, the model was able to accurately pilot the movements of the robot arm, both in velocity and position.

Arm↗