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At least 1,603 records · Page 89Linked to original sources

PubMed1998

Robotic transcranial Doppler sonography probes and acupuncture.

The present study shows with a sophisticated quantitative method a change in blood flow velocity in a cerebral artery in response to acupuncture. Monitoring of transcranial Doppler sonography (TCD) was examined in 12 healthy volunteers (mean age: 35.2+/-4.4 years; 26-41 years; 4 female, 8 male) before, during and after acupuncture. In all persons the same unspecific scheme of acupuncture with a "general increase of Qi-energy" was used. The measurements were performed with new robotic TCD-probes allowing three-dimensional imaging by using multi-scan methods. The results showed a significant (p < 0.01; ANOVA; Tukey test) increase in mean blood flow velocity, which was measured at different depths of the right middle cerebral artery. Quantitative determination of the physiological effects during acupuncture can lead to a better acceptance of this unconventional complementary medical method.

Acupuncture Therapy↗

PubMed2005

The impact of latency on surgical precision and task completion during robotic-assisted remote telepresence surgery.

OBJECTIVE: It has been suggested that robotic-assisted remote telepresence surgery with a signal transmission latency of greater than 300 ms may not be possible. METHODS: We evaluated the impact of four different latencies of up to 500 ms on task completion and error rate in five surgeons after completion of three different surgical tasks. RESULTS: The surgeons were able to complete all tasks with a latency of 500 ms. However, higher latency was associated with higher error rates and task completion time (TCT). There were significant variations between surgeons and different tasks. CONCLUSION: Surgeons are able to complete tasks with a signal transmission latency of up to 500 ms. The clinical impact of slower TCT and increased error rates encountered at higher latency needs to be established.

Clinical Competence↗

PubMed2006

A potential function approach to surface coverage for a surgical robot.

This paper considers some implementation issues in a path planner for achieving uniform coverage of a non-Euclidean bony surface embedded in R3 space. The target application for this planner is bone removal in orthopaedic surgery, but the technique can also be applied to other general surface-coverage problems. Specifically, we use cellular decomposition and sweep lines to generate a set of meaningful way-points for the bone-burring robot to visit, then navigate between these way-points using potential functions.

Humans↗

PubMed2006

Towards automatic skill evaluation: detection and segmentation of robot-assisted surgical motions.

This paper reports our progress in developing techniques for "parsing" raw motion data from a simple surgical task into a labeled sequence of surgical gestures. The ability to automatically detect and segment surgical motion can be useful in evaluating surgical skill, providing surgical training feedback, or documenting essential aspects of a procedure. If processed online, the information can be used to provide context-specific information or motion enhancements to the surgeon. However, in every case, the key step is to relate recorded motion data to a model of the procedure being performed. Robotic surgical systems such as the da Vinci system from Intuitive Surgical provide a rich source of motion and video data from surgical procedures. The application programming interface (API) of the da Vinci outputs 192 kinematics values at 10 Hz. Through a series of feature-processing steps, tailored to this task, the highly redundant features are projected to a compact and discriminative space. The resulting classifier is simple and effective.Cross-validation experiments show that the proposed approach can achieve accuracies higher than 90% when segmenting gestures in a 4-throw suturing task, for both expert and intermediate surgeons. These preliminary results suggest that gesture-specific features can be extracted to provide highly accurate surgical skill evaluation.

Algorithms↗

PubMed2003

Feasibility of using the potassium titanyl phosphate laser with micromanipulators in robotic neurosurgery: a preliminary study in the rat.

OBJECT: Robotic surgery can be used as a novel technology in ultramicrosurgery. A microscopic-manipulator (micromanipulator) system, which has a rigid neuroendoscope and three guiding manipulators, was developed in Japan for less invasive telerobotic neurosurgery. To apply this system in a clinical setting, it is necessary to confirm that it is capable of performing various surgical procedures including cutting, coagulation, and bleeding control. The authors chose the potassium titanyl phosphate (KTP) laser for such procedures. The aim of this paper was to evaluate the feasibility of this system mounted with the KTP laser. METHODS: A prototypical micromanipulator system was tested in rats. Two kinds of in vivo experiments were performed using the KTP laser: coagulation and biopsy. The coagulated lesions were precisely aligned and their maximum depths were proportional to the energy applied during the coagulation experiment. The diagnosable specimens were obtained during the biopsy experiment. The micromanipulator system was able to perform all surgical procedures accurately. There was no complication relating to the use of the micromanipulator system such as brain injury or uncontrollable bleeding. CONCLUSIONS: The results from this study proved that this system works precisely and safely and will become a new neurosurgical tool in managing lesions that are difficult to treat using conventional microsurgery or neuroendoscopic surgery.

Animals↗

PubMed1992

Accuracy and precision of a robotic sample processor.

The accuracy and precision of the Packard Probe 1000, a computer-driven robotic sample processor, were determined using NCCLS Guideline 18-P, employing a rigorous gravimetric procedure. For volumes of 25, 100, and 200 muL, inaccuracy ranged from -0.5 to +0.6% (saline) and -0.8 to +0.7% (human serum), and imprecision from 0.1 to 0.6% (saline) and 0.02 to 0.8% (human serum), in the dip and sip mode of pipetting. For the same volumes of saline in the dispense-through pipetting mode, inaccuracy ranged from -0.1 to -0.9% and imprecision from 0.1 to 0.5%. To obtain this level of performance, the instrument's operating parameters were changed from the factory default settings. This automated liquid-handling system is capable of impressive accuracy and precision, but it must be calibrated in the same manner as any other volumetric device. Performance varies with the volume, type of liquid, and mode of pipetting. Inaccuracy of less than or equal to 1.0% and imprecision of less than =1.0% can be attained along with rapid, walkaway pipetting of calibrators, controls, and large numbers of patient samples.

Chemistry, Clinical↗

PubMed1998

Planning and simulation of medical robot tasks.

Complex techniques for planning and performing surgery revolutionize medical interventions. In former times preoperative planning of interventions usually took place in the surgeons mind. Today's new computer techniques allow the surgeon to discuss various operation methods for a patient and to visualize them three-dimensionally. The use of computer assisted surgical planning helps to get better results of a treatment and supports the surgeon before and during the surgical intervention. In this paper we are presenting our planning and simulation system for operations in maxillo-facial surgery. All phases of a surgical intervention are supported. Chapter 1 gives a description of the medical motivation for our planning system and its environment. In Chapter 2 the basic components are presented. The planning system is depicted in Chapter 3 and a simulation of a robot assisted surgery can be found in Chapter 4. Chapter 5 concludes the paper and gives a survey about our future work.

Algorithms↗

PubMedDate not supplied

Laparoscopic adrenalectomy with the aid of the AESOP 2000 robot.

The authors describe a left adrenalectomy for Cushing's disease with the aid of an AESOP (Automated Endoscopic System for Optimal Positioning) 2000 voice controlled robot. This device facilitated the procedure by producing a constant, stable picture allowing the operative team to concentrate principally on the dissection.

Adenoma↗

PubMed1999

Tools for precision enhancement in minimally invasive cardiac surgery: three dimensional visualization, computer enhancement and robotics.

This article is a current update of the rationale for development of new enabling technologies in minimally invasive cardiac surgery. Specifically the potential advantages of three dimensional visualization, computer enhancement technology and robotics in performance of totally endoscopic coronary artery bypass grafts will be addressed.

Computer Systems↗

PubMed1999

Human--machine load sharing in rehabilitation robotics.

A force-assist mechanism has been developed to mount on the Chameleon - a wheelchair mounted rehabilitation robot. The device will amplify the forces applied by the user, making it possible to lift a large weight with a small force. This paper describes the test-bed development; instrumentation of the Chameleon with power assistance; and preliminary results on system efficacy.

Biomechanical Phenomena↗

PubMed2000

A more efficient method of texture use in surgical robot simulation.

Texture mapping is a crucial supplement to modeling in 3D graphic simulation technology. Relatively small objects in a simulation environment can be represented with textures rather than by modeling, which helps economize on precious data storage space. Textures also lend some surfaces a more realistic appearance, both for the user and the viewer. The production of a texture, however, is a very complex process of repeated trial-and-error approximations. This inspired the idea of using mathematical formulas to determine the optimal texture so that the desired simulation environment is achieved with maximum effect and efficiency. In this paper the mathematical formulas for producing optimal texture are described. The results are presented as applied in a surgical robot simulation environment in an operating room.

Computer Graphics↗

PubMed2000

A real-time CORBA based system architecture for robot assisted craniofacial surgery.

We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Our concept includes a fundamental behaviour oriented communication model and some fundamental software safety considerations. We've developed a standard library for the integration of new services and devices into our system architecture. It decreases development time noticeably. We tested the performance and usability of our concept on an evaluation set up consisting of a surgery robot system, an infrared navigation system, a force-torque sensor and a visualisation software, obtaining excellent results. Future work will consist in the integration of further devices and the extension of our safety concept. An accurate clinical evaluation will take place continuously.

Computer Graphics↗

PubMed2000

Computer and robotic assisted osteotomy around the knee.

The outcome variability and failures of conventional osteotomy have been attributed to lack of preoperative planning and inaccuracy in performing the correction. We present a computer and robotic assisted surgery system that can aid in accurate surgical planning for realignment, and in precisely implementing the plan in theatre. The approach seeks to avoid the cost and risks associated with the use of CT, and the insertion of fiducial markers, which are characteristic of existing computer assisted surgical systems. The paper details the architecture of the system as a whole, placing particular emphasis on planning technique. It is anticipated that the increased accuracy possible with the system will prove particularly useful for correcting multi-plane deformities, which are more problematic with conventional techniques.

Bone Malalignment↗

PubMed1998

3D-video- and robot-assisted minimally invasive ASD closure using the Port-Access techniques.

BACKGROUND: Video-assisted minimally invasive surgical methods with endovascular-based femoral cardiopulmonary bypass (CPB) and balloon occlusion of the aorta (Port-Access technique) were used to close an ostium-secundum atrial septal defect (ASD) in 7 patients. METHODS: Minor modifications were made to the system to provide drainage of the superior vena cava. The surgery was performed through a small (3.5-5cm) right anterolateral thoracotomy with 3D video and robotic arm assistance. RESULTS: The operative procedures were completely uneventful and the patients were discharged four days postoperatively in good condition and with excellent cosmesis. CONCLUSION: Using the modifications described, the Port-Access surgical method can be recommended for minimally invasive closure of an ASD.

Adolescent↗

PubMed2001

Laser-pointing endoscope system for natural 3D interface between robotic equipments and surgeons.

Precise measurements of reference points would be mandatory of robotic equipments would be introduced in operation rooms. We develop a real-time laser-pointing endoscope using an optical galvano scanner and a 955fps high-speed camera. This system provides the scanned 3D image of the liver under the endoscopic surgery and a touch screen interface so that surgeons can intuitively indicate points of interest with precise 3D position. Some results of in-vivo experiments on a liver of pig are shown to verify the effectiveness of the proposed.

Endoscopes↗

PubMed2001

[Using robots in hip prosthesis implantation. Precision with the wrong concept?].

Robot-assisted milling permits more precise preparation of the proximal femur, without necessarily optimizing stem placement. Currently propagated implantation concepts involving maximized implant-cortical bone contact may result in major biomechanical disadvantages, such as unphysiological load transfer in the proximal femur and increased stiffening in this region and subsequent stress shielding. While equipment procurement and running costs are higher, evidence of longer prosthetic life over the long-term has not been forthcoming. Against this background, present efforts to propagate this system for general use in hip replacement surgery cannot be justified.

Arthroplasty, Replacement, Hip↗

PubMed2002

Computer-enhanced surgical systems ("robotic surgery").

Computer-linked surgical systems allow surgeons to perform procedures without coming into contact with the patient. Indications for these robotic surgery systems are expanding. This technology offers potential advantages through enabling more precise surgery, which may lead to shorter patient recovery times, fewer complications and improved patient outcomes. Limited studies indicate the promise of these systems, which appear to be safe, but their efficacy is not fully established. In some procedures, the advantages they offer may also be achieved by newer non-computer assisted techniques. Capital costs are high and cost-effectiveness has not been demonstrated. Diffusion of these systems can be expected to continue, but their place in surgical practice is not yet clear. They are most likely to be of value for centres undertaking specialized surgical services.

Canada↗

PubMed2002

Technical aids to performing thoracoscopic robotically-assisted internal mammary artery harvesting.

OBJECTIVE: This report outlines the procedures and technical aids used for performing thoracoscopic internal mammary artery (IMA) harvesting in a series of 308 patients. METHODS: As a part of atraumatic coronary artery bypass (ACAB) operations, thoracoscopic IMA harvests (294 left, 14 right, and 12 bilateral) were performed in 308 consecutive patients. Single-lung ventilation and carbon dioxide insufflation were employed in all cases to facilitate exposure and dissection. A voice-activated robotic arm controlled the camera view, and harvesting was accomplished with the electrocautery on a low setting. RESULTS: Harvest time decreased from a mean of 58.4 minutes in the first fifty procedures to 29.4 minutes in the last fifty procedures. There were no significant complications as a result of this technique, and no patients required a conversion to sternotomy as a result of IMA injury. CONCLUSIONS: Thoracoscopic internal mammary artery harvesting is an essential basic skill for cardiac surgeons interested in performing minimally invasive and atraumatic coronary bypass procedures. Thoracoscopic IMA harvesting can be successfully performed with the use of the technical aids and procedures outlined in this report.

Humans↗