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Alabi O, Vercauteren T, Shi M. Multitask learning in minimally invasive surgical vision: A review. Med Image Anal 2025; 101:103480. [PMID: 39938343 DOI: 10.1016/j.media.2025.103480] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/09/2024] [Revised: 11/11/2024] [Accepted: 01/21/2025] [Indexed: 02/14/2025]
Abstract
Minimally invasive surgery (MIS) has revolutionized many procedures and led to reduced recovery time and risk of patient injury. However, MIS poses additional complexity and burden on surgical teams. Data-driven surgical vision algorithms are thought to be key building blocks in the development of future MIS systems with improved autonomy. Recent advancements in machine learning and computer vision have led to successful applications in analysing videos obtained from MIS with the promise of alleviating challenges in MIS videos. Surgical scene and action understanding encompasses multiple related tasks that, when solved individually, can be memory-intensive, inefficient, and fail to capture task relationships. Multitask learning (MTL), a learning paradigm that leverages information from multiple related tasks to improve performance and aid generalization, is well-suited for fine-grained and high-level understanding of MIS data. This review provides a narrative overview of the current state-of-the-art MTL systems that leverage videos obtained from MIS. Beyond listing published approaches, we discuss the benefits and limitations of these MTL systems. Moreover, this manuscript presents an analysis of the literature for various application fields of MTL in MIS, including those with large models, highlighting notable trends, new directions of research, and developments.
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Affiliation(s)
- Oluwatosin Alabi
- School of Biomedical Engineering & Imaging Sciences, King's College London, United Kingdom
| | - Tom Vercauteren
- School of Biomedical Engineering & Imaging Sciences, King's College London, United Kingdom
| | - Miaojing Shi
- College of Electronic and Information Engineering, Tongji University, China; Shanghai Institute of Intelligent Science and Technology, Tongji University, China.
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Dey R, Guo Y, Liu Y, Puri A, Savastano L, Zheng Y. An intuitive guidewire control mechanism for robotic intervention. Int J Comput Assist Radiol Surg 2025; 20:333-344. [PMID: 39370493 DOI: 10.1007/s11548-024-03279-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/17/2024] [Accepted: 09/24/2024] [Indexed: 10/08/2024]
Abstract
PURPOSE Teleoperated Interventional Robotic systems (TIRs) are developed to reduce radiation exposure and physical stress of the physicians and enhance device manipulation accuracy and stability. Nevertheless, TIRs are not widely adopted, partly due to the lack of intuitive control interfaces. Current TIR interfaces like joysticks, keyboards, and touchscreens differ significantly from traditional manual techniques, resulting in a shallow, longer learning curve. To this end, this research introduces a novel control mechanism for intuitive operation and seamless adoption of TIRs. METHODS An off-the-shelf medical torque device augmented with a micro-electromagnetic tracker was proposed as the control interface to preserve the tactile sensation and muscle memory integral to interventionalists' proficiency. The control inputs to drive the TIR were extracted via real-time motion mapping of the interface. To verify the efficacy of the proposed control mechanism to accurately operate the TIR, evaluation experiments using industrial grade encoders were conducted. RESULTS A mean tracking error of 0.32 ± 0.12 mm in linear and 0.54 ± 0.07° in angular direction were achieved. The time lag in tracking was found to be 125 ms on average using pade approximation. Ergonomically, the developed control interface is 3.5 mm diametrically larger, and 4.5 g. heavier compared to traditional torque devices. CONCLUSION With uncanny resemblance to traditional torque devices while maintaining results comparable to state-of-the-art commercially available TIRs, this research successfully provides an intuitive control interface for potential wider clinical adoption of robot-assisted interventions.
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Affiliation(s)
- Rohit Dey
- Mechanical and Materials Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.
| | - Yichen Guo
- Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
| | - Yang Liu
- Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China
| | - Ajit Puri
- Radiology, UMass Chan Medical School, Worcester, MA, USA
| | - Luis Savastano
- Neurological Surgery, University of California School of Medicine, San Francisco, CA, USA
| | - Yihao Zheng
- Mechanical and Materials Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
- Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
- Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
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Chan SL, Sit JWH, Ang WW, Lau Y. Virtual reality-enhanced interventions on preoperative anxiety symptoms in adults undergoing elective surgery: A meta-analysis and meta-regression. Int J Nurs Stud 2024; 160:104886. [PMID: 39270596 DOI: 10.1016/j.ijnurstu.2024.104886] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/15/2024] [Revised: 08/18/2024] [Accepted: 08/23/2024] [Indexed: 09/15/2024]
Abstract
BACKGROUND Virtual reality exposure and distraction are recent novel technologies for reducing preoperative anxiety symptoms. However, the effectiveness of virtual reality-enhanced interventions in adults is still controversial and has yet to be evaluated in a systematic review. OBJECTIVES The study aimed to (1) evaluate the effectiveness of virtual reality-enhanced interventions on preoperative anxiety symptoms in adults compared to comparators; and (2) identify the factors affecting the effectiveness of interventions. DESIGN Systematic review, meta-analysis, and meta-regression analysis of randomised controlled trials. METHODS We conducted a three-step systematic search from inception until May 1, 2024, using (1) eleven databases, (2) two clinical registries, and (3) citation and grey literature searches in either English or Chinese. The package meta of R software version 4.3.1 was used to perform the meta-analysis, subgroup analysis, and meta-regression analyses. We adopted the restricted maximum likelihood estimator for random-effects meta-analysis and univariate random-effects meta-regression analyses. The Cochrane risk-of-bias tool version 2 and the Grading of Recommendations, Assessment, Development, and Evaluation criteria were used to examine quality assessment and the certainty of evidence. RESULTS We selected 26 randomised controlled trials with 2357 participants from 12 different countries. Random-effects meta-analyses showed that virtual reality-enhanced interventions had a statistically significant reduction in preoperative anxiety symptoms (t = -5.58, p < 0.001) with a moderate to large effect size (Hedges' g = -0.76, 95 % confidence interval: -1.03 to -0.48) compared to usual care. Statistically significant subgroup differences were found for the nature of the intervention, geographical region, country, and type of surgery. The improvement in preoperative anxiety symptom outcomes was greater when the virtual reality-enhanced interventions were chosen by patients (g = -2.55, 95 % CI: -3.08 to -2.02) when compared to virtual reality exposure interventions with educational content (g = -0.72, 95%CI: -1.07 to -0.38) or virtual reality distraction interventions (g = -0.64, 95 % CI: -1.04 to -0.23). Trials conducted in Asia had a greater effect on preoperative anxiety symptom outcomes (g = -0.98, 95 % CI: -1.33 to -0. 62) in comparison with those conducted in non-Asia (g = -0.23, 95 % CI: -0.54 to 0.07). The random-effects meta-regression identified sample size (β = -0.008, p = 0.031) as a statistically significant covariate of preoperative anxiety symptoms. The overall certainty of the evidence was very low. CONCLUSIONS Virtual reality-enhanced interventions can be considered supplementary interventions for adults undergoing elective surgery. Future trials on a large scale with follow-up assessments are needed. REGISTRATION PROSPERO registration ID: CRD42024486343.
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Affiliation(s)
- Sin Lun Chan
- The Nethersole School of Nursing, Faculty of Medicine, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Janet Wing Hung Sit
- The Nethersole School of Nursing, Faculty of Medicine, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
| | - Wen Wei Ang
- Alice Lee Centre for Nursing Studies, Yong Loo Lin School of Medicine, National University of Singapore, Singapore
| | - Ying Lau
- The Nethersole School of Nursing, Faculty of Medicine, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong.
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Göbel B, Reiterer A, Möller K. Image-Based 3D Reconstruction in Laparoscopy: A Review Focusing on the Quantitative Evaluation by Applying the Reconstruction Error. J Imaging 2024; 10:180. [PMID: 39194969 DOI: 10.3390/jimaging10080180] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/28/2024] [Revised: 07/16/2024] [Accepted: 07/18/2024] [Indexed: 08/29/2024] Open
Abstract
Image-based 3D reconstruction enables laparoscopic applications as image-guided navigation and (autonomous) robot-assisted interventions, which require a high accuracy. The review's purpose is to present the accuracy of different techniques to label the most promising. A systematic literature search with PubMed and google scholar from 2015 to 2023 was applied by following the framework of "Review articles: purpose, process, and structure". Articles were considered when presenting a quantitative evaluation (root mean squared error and mean absolute error) of the reconstruction error (Euclidean distance between real and reconstructed surface). The search provides 995 articles, which were reduced to 48 articles after applying exclusion criteria. From these, a reconstruction error data set could be generated for the techniques of stereo vision, Shape-from-Motion, Simultaneous Localization and Mapping, deep-learning, and structured light. The reconstruction error varies from below one millimeter to higher than ten millimeters-with deep-learning and Simultaneous Localization and Mapping delivering the best results under intraoperative conditions. The high variance emerges from different experimental conditions. In conclusion, submillimeter accuracy is challenging, but promising image-based 3D reconstruction techniques could be identified. For future research, we recommend computing the reconstruction error for comparison purposes and use ex/in vivo organs as reference objects for realistic experiments.
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Affiliation(s)
- Birthe Göbel
- Department of Sustainable Systems Engineering-INATECH, University of Freiburg, Emmy-Noether-Street 2, 79110 Freiburg im Breisgau, Germany
- KARL STORZ SE & Co. KG, Dr.-Karl-Storz-Street 34, 78532 Tuttlingen, Germany
| | - Alexander Reiterer
- Department of Sustainable Systems Engineering-INATECH, University of Freiburg, Emmy-Noether-Street 2, 79110 Freiburg im Breisgau, Germany
- Fraunhofer Institute for Physical Measurement Techniques IPM, 79110 Freiburg im Breisgau, Germany
| | - Knut Möller
- Institute of Technical Medicine-ITeM, Furtwangen University (HFU), 78054 Villingen-Schwenningen, Germany
- Mechanical Engineering, University of Canterbury, Christchurch 8140, New Zealand
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Sweitzer SF, Sickbert-Bennett EE, Seidelman J, Anderson DJ, Lim MR, Weber DJ. The impact of minimally invasive surgical approaches on surgical-site infections. Infect Control Hosp Epidemiol 2024; 45:557-561. [PMID: 38167421 DOI: 10.1017/ice.2023.277] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/05/2024]
Abstract
We performed a literature review to describe the risk of surgical-site infection (SSI) in minimally invasive surgery (MIS) compared to standard open surgery. Most studies reported decreased SSI rates among patients undergoing MIS compared to open procedures. However, many were observational studies and may have been affected by selection bias. MIS is associated with reduced risk of surgical-site infection compared to standard open surgery and should be considered when feasible.
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Affiliation(s)
- Stephanie F Sweitzer
- Division of Infectious Diseases, Department of Medicine, University of North Carolina at Chapel Hill, Chapel Hill, North Carolina
| | - Emily E Sickbert-Bennett
- Division of Infectious Diseases, Department of Medicine, University of North Carolina at Chapel Hill, Chapel Hill, North Carolina
- Department of Infection Prevention, University of North Carolina Hospitals, Chapel Hill, North Carolina
| | - Jessica Seidelman
- Division of Infectious Diseases, Department of Medicine, Duke University School of Medicine, Durham, North Carolina
| | - Deverick J Anderson
- Division of Infectious Diseases, Department of Medicine, Duke University School of Medicine, Durham, North Carolina
| | - Moe R Lim
- Department of Orthopedics, University of North Carolina, Chapel Hill, North Carolina
| | - David J Weber
- Division of Infectious Diseases, Department of Medicine, University of North Carolina at Chapel Hill, Chapel Hill, North Carolina
- Department of Infection Prevention, University of North Carolina Hospitals, Chapel Hill, North Carolina
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Li CY, Wang YF, Luo LK, Yang XJ. Present situation of minimally invasive surgical treatment for early gastric cancer. World J Gastrointest Oncol 2024; 16:1154-1165. [PMID: 38660633 PMCID: PMC11037069 DOI: 10.4251/wjgo.v16.i4.1154] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 09/20/2023] [Revised: 12/05/2023] [Accepted: 02/02/2024] [Indexed: 04/10/2024] Open
Abstract
Minimally invasive surgery is a kind of surgical operation, which is performed by using professional surgical instruments and equipment to inactivate, resect, repair or reconstruct the pathological changes, deformities and wounds in human body through micro-trauma or micro-approach, in order to achieve the goal of treatment, its surgical effect is equivalent to the traditional open surgery, while avoiding the morbidity of conventional surgical wounds. In addition, it also has the advantages of less trauma, less blood loss during operation, less psychological burden and quick recovery on patients, and these minimally invasive techniques provide unique value for the examination and treatment of gastric cancer patients. Surgical minimally invasive surgical techniques have developed rapidly and offer numerous options for the treatment of early gastric cancer (EGC): endoscopic mucosal resection (EMR), underwater EMR (UEMR), endoscopic submucosal dissection (ESD), endoscopic full-thickness resection (EFTR), endoscopic submucosal excavation (ESE), submucosal tunnel endoscopic resection), laparoscopic and endoscopic cooperative surgery (LECS); Among them, EMR, EFTR and LECS technologies have a wide range of applications and different modifications have been derived from their respective surgical operations, such as band-assisted EMR (BA-EMR), conventional EMR (CEMR), over-the-scope clip-assisted EFTR, no-touch EFTR, the inverted LECS, closed LECS, and so on. These new and improved minimally invasive surgeries are more precise, specific and effective in treating different types of EGC.
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Affiliation(s)
- Chun-Yan Li
- The First Clinical Medical School, Lanzhou University, Lanzhou 730000, Gansu Province, China
| | - Yi-Feng Wang
- The First Clinical Medicine College, Gansu University of Chinese Medicine, Lanzhou 730000, Gansu Province, China
| | - Li-Kang Luo
- The First Clinical Medicine College, Gansu University of Chinese Medicine, Lanzhou 730000, Gansu Province, China
| | - Xiao-Jun Yang
- The First Clinical Medical School, Lanzhou University, Lanzhou 730000, Gansu Province, China
- General Surgery Clinical Centre, Gansu Provincial Hospital, Lanzhou 730000, Gansu Province, China
- The Second Department of General Surgery, Gansu Provincial Hospital, Lanzhou 730000, Gansu Province, China
- Lanzhou University People's Clinical Hospital, Lanzhou 730000, Gansu Province, China
- Gansu Research Center of Prevention and Control Project for Digestive Oncology, Gansu Provincial Hospital, Lanzhou 730000, Gansu Province, China
- Gansu Key Laboratory of Molecular Diagnostics and Precision Medicine for Surgical Oncology, Gansu Provincial Hospital, Lanzhou 730000, Gansu Province, China
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Cannon PC, Setia SA, Klein-Gardner S, Kavoussi NL, Webster RJ, Herrell SD. Are 3D Image Guidance Systems Ready for Use? A Comparative Analysis of 3D Image Guidance Implementations in Minimally Invasive Partial Nephrectomy. J Endourol 2024; 38:395-407. [PMID: 38251637 PMCID: PMC10979686 DOI: 10.1089/end.2023.0059] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/23/2024] Open
Abstract
Introduction: Three-dimensional image-guided surgical (3D-IGS) systems for minimally invasive partial nephrectomy (MIPN) can potentially improve the efficiency and accuracy of intraoperative anatomical localization and tumor resection. This review seeks to analyze the current state of research regarding 3D-IGS, including the evaluation of clinical outcomes, system functionality, and qualitative insights regarding 3D-IGS's impact on surgical procedures. Methods: We have systematically reviewed the clinical literature pertaining to 3D-IGS deployed for MIPN. For inclusion, studies must produce a patient-specific 3D anatomical model from two-dimensional imaging. Data extracted from the studies include clinical results, registration (alignment of the 3D model to the surgical scene) method used, limitations, and data types reported. A subset of studies was qualitatively analyzed through an inductive coding approach to identify major themes and subthemes across the studies. Results: Twenty-five studies were included in the review. Eight (32%) studies reported clinical results that point to 3D-IGS improving multiple surgical outcomes. Manual registration was the most utilized (48%). Soft tissue deformation was the most cited limitation among the included studies. Many studies reported qualitative statements regarding surgeon accuracy improvement, but quantitative surgeon accuracy data were not reported. During the qualitative analysis, six major themes emerged across the nine applicable studies. They are as follows: 3D-IGS is necessary, 3D-IGS improved surgical outcomes, researcher/surgeon confidence in 3D-IGS system, enhanced surgeon ability/accuracy, anatomical explanation for qualitative assessment, and claims without data or reference to support. Conclusions: Currently, clinical outcomes are the main source of quantitative data available to point to 3D-IGS's efficacy. However, the literature qualitatively suggests the benefit of accurate 3D-IGS for robotic partial nephrectomy.
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Affiliation(s)
- Piper C. Cannon
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, USA
| | - Shaan A. Setia
- Department of Urologic Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, USA
| | - Stacy Klein-Gardner
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, USA
| | - Nicholas L. Kavoussi
- Department of Urologic Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, USA
| | - Robert J. Webster
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, USA
| | - S. Duke Herrell
- Department of Urologic Surgery, Vanderbilt University Medical Center, Nashville, Tennessee, USA
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Rahyussalim AJ, Iskandar WW, Winartomo A, Besri NN, Sulaiman AR. Ancient schwannoma of the thoracic spine treated with vertebroplasty: A case report. Int J Surg Case Rep 2024; 116:109273. [PMID: 38368670 PMCID: PMC10943631 DOI: 10.1016/j.ijscr.2024.109273] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/08/2023] [Revised: 01/11/2024] [Accepted: 01/12/2024] [Indexed: 02/20/2024] Open
Abstract
INTRODUCTION Intraosseous schwannomas or neurilemomas are rare benign neoplasms. Total resection of the intraosseous schwannoma is considered risky in immunocompromised patients, thus minimally invasive vertebroplasty was conducted in this study. CASE REPORT In this case, we presented A 40-year-old male presented with intermittent back pain for the last two years. Imaging and histopathological examination conclude the diagnosis of intraosseous schwannoma. Vertebroplasty was conducted without the resection of the tumor. Excellent pain improvement and functional outcome were reported on one-year follow-up. CLINICAL DISCUSSION Minimally invasive surgery could decrease post-operative pain and morbidity such as atelectasis and venous thrombosis, earlier hospital discharge, and improved cosmetics. We considered the use of minimally invasive vertebroplasty due to HIV infection comorbidities in the subject. Extensive tumor resection in this population could increase the risks of infection significantly thus affecting the outcome of the surgery. The aim of percutaneous vertebroplasty is to increase the stability of the collapsed vertebra and improve the symptoms, especially with severe back pain. CONCLUSION Intraosseous schwannoma of the vertebrae could be treated effectively with vertebroplasty with excellent pain improvement and functional outcome.
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Affiliation(s)
- A J Rahyussalim
- Divion of Spine, Department of Orthopaedics and Traumatology, Faculty of Medicine, Universitas Indonesia-Cipto Mangunkusumo Hospital, Jakarta, Indonesia; Department of Orthopaedics and Traumatology, Faculty of Medicine, Universitas Indonesia-Cipto Mangunkusumo Hospital, Jakarta, Indonesia
| | - Wilton Wylie Iskandar
- Department of Orthopaedics and Traumatology, Faculty of Medicine, Universitas Indonesia-Cipto Mangunkusumo Hospital, Jakarta, Indonesia.
| | - Aryo Winartomo
- Department of Orthopaedics and Traumatology, Faculty of Medicine, Universitas Indonesia-Cipto Mangunkusumo Hospital, Jakarta, Indonesia
| | - Nanda Notario Besri
- Department of Orthopaedics and Traumatology, Faculty of Medicine, Universitas Indonesia-Cipto Mangunkusumo Hospital, Jakarta, Indonesia
| | - Andi Rama Sulaiman
- Department of Orthopaedics and Traumatology, Faculty of Medicine, Universitas Indonesia-Cipto Mangunkusumo Hospital, Jakarta, Indonesia
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Pirtea L. Editorial: Minimally invasive surgery in benign gynecological pathology. Front Med (Lausanne) 2024; 11:1379505. [PMID: 38455475 PMCID: PMC10918588 DOI: 10.3389/fmed.2024.1379505] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Accepted: 02/06/2024] [Indexed: 03/09/2024] Open
Affiliation(s)
- Laurentiu Pirtea
- Department of Obstetrics and Gynaecology, Victor Babes University of Medicine and Pharmacy, Timisoara, Romania
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Avramidou E, Terlemes K, Lymperopoulou A, Katsanos G, Antoniadis N, Kofinas A, Vasileiadou S, Karakasi KE, Tsoulfas G. Minimally Invasive Surgery in Liver Transplantation: From Living Liver Donation to Graft Implantation. LIVERS 2024; 4:119-137. [DOI: 10.3390/livers4010009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 07/26/2024] Open
Abstract
Since the end of the 20th century and the establishment of minimally invasive techniques, they have become the preferred operative method by many surgeons. These techniques were applied to liver surgery for the first time in 1991, while as far as transplantation is concerned their application was limited to the living donor procedure. We performed a review of the literature by searching in Pubmed and Scopus using the following keywords: Liver transplantation, Minimally invasive surgery(MIS) living liver donor surgery. Applications of MIS are recorded in surgeries involving the donor and the recipient. Regarding the recipient surgeries, the reports are limited to 25 patients, including combinations of laparoscopic, robotic and open techniques, while in the living donor surgery, the reports are much more numerous and with larger series of patients. Shorter hospitalization times and less blood loss are recorded, especially in centers with experience in a large number of cases. Regarding the living donor surgery, MIS follows the same principles as a conventional hepatectomy and is already the method of choice in many specialized centers. Regarding the recipient surgery, significant questions arise mainly concerning the safe handling of the liver graft.
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Affiliation(s)
- Eleni Avramidou
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Konstantinos Terlemes
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Afroditi Lymperopoulou
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Georgios Katsanos
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Nikolaos Antoniadis
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Athanasios Kofinas
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Stella Vasileiadou
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Konstantina-Eleni Karakasi
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
| | - Georgios Tsoulfas
- Department of Transplant Surgery, Center for Research and Innovation in Solid Organ Transplantation Aristotle University of Thessaloniki School of Medicine, 54642 Thessaloniki, Greece
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Mao R, Gao L, Gang W, Wen L. Literature Review of Handheld Articulating Instruments in Minimally Invasive Surgery. J Laparoendosc Adv Surg Tech A 2024; 34:47-54. [PMID: 37870762 DOI: 10.1089/lap.2023.0366] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/24/2023] Open
Abstract
Background: Minimally invasive surgery (MIS) using handheld articulating instruments (HAIs) has emerged as an innovative approach, offering enhanced dexterity and accessibility compared with conventional straight tools. There has been a significant surge in market interest surrounding HAIs. However, the question about the potential benefits of these devices for surgeons and patients in clinical applications remains unclear. Methods: We thoroughly searched relevant literature about the HAIs with clinical applications. This article reviews the feasibility, safety, outcomes, ergonomics, and learning curve associated with utilizing HAIs, including notable commercial products FlexDex, ArtiSential, and HandX. This study also investigates the comparisons of the use of HAIs with traditional laparoscopy and the da Vinci robotic system in terms of surgical outcomes and operational efficiency. Results: Early clinical studies demonstrate the applicability of HAIs across gastrointestinal, urologic, cardiothoracic, and general surgery, with promising results and few complications reported. Comparisons with conventional laparoscopy reveal no significant differences in surgical outcomes. However, HAIs present a more prolonged learning curve than robotic surgery for novice users. Combining three-dimensional visualization techniques facilitate performance. Further research with larger sample sizes is warranted to establish definitive superiority in surgical efficiency and characterize optimal training methodology. Conclusions: Overall, the maneuverability and lower cost of HAIs present new possibilities in MIS, potentially expanding accessibility for smaller health care organizations and benefiting more patients.
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Affiliation(s)
- Rui Mao
- Department of Medical Equipment, Sichuan Provincial People's Hospital, School of Medicine, University of Electronic Science and Technology of China, Chengdu, China
- School of Biological Science and Medical Engineering, Beihang University, Beijing, China
| | - Lei Gao
- Department of Medical Equipment, Sichuan Provincial People's Hospital, School of Medicine, University of Electronic Science and Technology of China, Chengdu, China
| | - Wu Gang
- Hepatobiliary and Pancreatic Surgery Department, Sichuan Provincial People's Hospital, Chengdu, China
| | - Lin Wen
- Department of Medical Equipment, Sichuan Provincial People's Hospital, School of Medicine, University of Electronic Science and Technology of China, Chengdu, China
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12
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Yang Y, Zhao X, Wang S, Zhang Y, Yang A, Cheng Y, Chen X. Ultra-durable cell-free bioactive hydrogel with fast shape memory and on-demand drug release for cartilage regeneration. Nat Commun 2023; 14:7771. [PMID: 38012159 PMCID: PMC10682016 DOI: 10.1038/s41467-023-43334-8] [Citation(s) in RCA: 46] [Impact Index Per Article: 23.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2022] [Accepted: 11/07/2023] [Indexed: 11/29/2023] Open
Abstract
Osteoarthritis is a worldwide prevalent disease that imposes a significant socioeconomic burden on individuals and healthcare systems. Achieving cartilage regeneration in patients with osteoarthritis remains challenging clinically. In this work, we construct a multiple hydrogen-bond crosslinked hydrogel loaded with tannic acid and Kartogenin by polyaddition reaction as a cell-free scaffold for in vivo cartilage regeneration, which features ultra-durable mechanical properties and stage-dependent drug release behavior. We demonstrate that the hydrogel can withstand 28000 loading-unloading mechanical cycles and exhibits fast shape memory at body temperature (30 s) with the potential for minimally invasive surgery. We find that the hydrogel can also alleviate the inflammatory reaction and regulate oxidative stress in situ to establish a microenvironment conducive to healing. We show that the sequential release of tannic acid and Kartogenin can promote the migration of bone marrow mesenchymal stem cells into the hydrogel scaffold, followed by the induction of chondrocyte differentiation, thus leading to full-thickness cartilage regeneration in vivo. This work may provide a promising solution to address the problem of cartilage regeneration.
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Affiliation(s)
- Yuxuan Yang
- Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research, College of Stomatology, Xi'an Jiaotong University, Xi'an, 710049, China.
| | - Xiaodan Zhao
- Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research, College of Stomatology, Xi'an Jiaotong University, Xi'an, 710049, China
| | - Shuang Wang
- Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research, College of Stomatology, Xi'an Jiaotong University, Xi'an, 710049, China
| | - Yanfeng Zhang
- School of Chemistry, Xi'an Jiaotong University, Xi'an, 710049, China
| | - Aiming Yang
- Department of Nuclear Medicine, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an Jiaotong University, Xi'an, 710061, China
| | - Yilong Cheng
- School of Chemistry, Xi'an Jiaotong University, Xi'an, 710049, China.
- Department of Nuclear Medicine, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an Jiaotong University, Xi'an, 710061, China.
| | - Xuesi Chen
- Key Laboratory of Polymer Ecomaterials, Changchun Institute of Applied Chemistry, Chinese Academy of Sciences, Changchun, 13022, China
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13
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Trivedi VV, Wallach EL, Bader KB, Shekhar H. Contrast-Enhanced Imaging of Histotripsy Bubble Clouds Using Chirp-Coded Excitation and Volterra Filtering. IEEE TRANSACTIONS ON ULTRASONICS, FERROELECTRICS, AND FREQUENCY CONTROL 2023; 70:989-998. [PMID: 37379172 DOI: 10.1109/tuffc.2023.3289918] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/30/2023]
Abstract
Histotripsy is a focused ultrasound therapy that ablates tissue via bubble cloud activity. Real-time ultrasound image guidance is used to ensure safe and effective treatment. Plane-wave imaging enables tracking of histotripsy bubble clouds at a high frame rate but lacks adequate contrast. Furthermore, bubble cloud hyperechogenicity is reduced in abdominal targets, making the development of contrast-specific sequences for deep-seated targets an active area of research. Chirp-coded subharmonic imaging was reported previously to enhance histotripsy bubble cloud detection by a modest 4-6 dB compared to the conventional sequence. Incorporating additional steps into the signal processing pipeline could enhance bubble cloud detection and tracking. In this study, we evaluated the feasibility of combining chirp-coded subharmonic imaging with Volterra filtering for enhancing bubble cloud detection in vitro. Chirped imaging pulses were used to track bubble clouds generated in scattering phantoms at a 1-kHz frame rate. Fundamental and subharmonic matched filters were applied to the received radio frequency signals, followed by a tuned Volterra filter to extract bubble-specific signatures. For subharmonic imaging, the application of the quadratic Volterra filter improved the contrast-to-tissue ratio from 5.18 ± 1.29 to 10.90 ± 3.76 dB, relative to the application of the subharmonic matched filter. These findings demonstrate the utility of the Volterra filter for histotripsy image guidance.
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14
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Mazzone C, Sofia M, Sarvà I, Litrico G, Di Stefano AML, La Greca G, Latteri S. Awake laparoscopic cholecystectomy: A case report and review of literature. World J Clin Cases 2023; 11:3002-3009. [PMID: 37215416 PMCID: PMC10198068 DOI: 10.12998/wjcc.v11.i13.3002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 09/14/2022] [Revised: 10/21/2022] [Accepted: 11/10/2022] [Indexed: 04/25/2023] Open
Abstract
BACKGROUND Laparoscopic cholecystectomy (LC) is one of the most widely practiced surgical procedures in abdominal surgery. Patients undergo LC during general anaesthesia; however, in recent years, several studies have suggested the ability to perform LC in patients who are awake. We report a case of awake LC and a literature review.
CASE SUMMARY A 69-year-old patient with severe pulmonary disease affected by cholelithiasis was scheduled for LC under regional anaesthesia. We first performed peridural anaesthesia at the T8-T9 level and then spinal anaesthesia at the T12-L1 level. The procedure was managed in total comfort for both the patient and the surgeon. The intra-abdominal pressure was 8 mmHg. The patient remained stable throughout the procedure, and the postoperative course was uneventful.
CONCLUSION Evidence has warranted the safe use of spinal and epidural anaesthesia, with minimal side effects easily managed with medications. Regional anaesthesia in selected patients may provide some advantages over general anaesthesia, such as no airway manipulation, maintenance of spontaneous breathing, effective postoperative analgesia, less nausea and vomiting, and early recovery. However, this technique for LC is not widely used in Europe; this is the first case reported in Italy in the literature. Regional anaesthesia is feasible and safe in performing some types of laparoscopic procedures. Further studies should be carried out to introduce this type of anaesthesia in routine clinical practice.
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Affiliation(s)
- Chiara Mazzone
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
| | - Maria Sofia
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
| | - Iacopo Sarvà
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
| | - Giorgia Litrico
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
| | - Andrea Maria Luca Di Stefano
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
| | - Gaetano La Greca
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
| | - Saverio Latteri
- Dipartimento di Scienze Mediche, Chirurgiche e Tecnologie Avanzate "G.F. Ingrassia", Università degli Studi di Catania, Catania 95123, Italy
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15
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Brockmeyer P, Wiechens B, Schliephake H. The Role of Augmented Reality in the Advancement of Minimally Invasive Surgery Procedures: A Scoping Review. Bioengineering (Basel) 2023; 10:501. [PMID: 37106688 PMCID: PMC10136262 DOI: 10.3390/bioengineering10040501] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2023] [Revised: 04/13/2023] [Accepted: 04/20/2023] [Indexed: 04/29/2023] Open
Abstract
The purpose of this review was to analyze the evidence on the role of augmented reality (AR) in the improvement of minimally invasive surgical (MIS) procedures. A scoping literature search of the PubMed and ScienceDirect databases was performed to identify articles published in the last five years that addressed the direct impact of AR technology on MIS procedures or that addressed an area of education or clinical care that could potentially be used for MIS development. A total of 359 studies were screened and 31 articles were reviewed in depth and categorized into three main groups: Navigation, education and training, and user-environment interfaces. A comparison of studies within the different application groups showed that AR technology can be useful in various disciplines to advance the development of MIS. Although AR-guided navigation systems do not yet offer a precision advantage, benefits include improved ergonomics and visualization, as well as reduced surgical time and blood loss. Benefits can also be seen in improved education and training conditions and improved user-environment interfaces that can indirectly influence MIS procedures. However, there are still technical challenges that need to be addressed to demonstrate added value to patient care and should be evaluated in clinical trials with sufficient patient numbers or even in systematic reviews or meta-analyses.
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Affiliation(s)
- Phillipp Brockmeyer
- Department of Oral and Maxillofacial Surgery, University Medical Center Goettingen, D-37075 Goettingen, Germany
| | - Bernhard Wiechens
- Department of Orthodontics, University Medical Center Goettingen, D-37075 Goettingen, Germany
| | - Henning Schliephake
- Department of Oral and Maxillofacial Surgery, University Medical Center Goettingen, D-37075 Goettingen, Germany
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16
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Mei H, Tang S. Robotic-assisted surgery in the pediatric surgeons' world: Current situation and future prospectives. Front Pediatr 2023; 11:1120831. [PMID: 36865692 PMCID: PMC9971628 DOI: 10.3389/fped.2023.1120831] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 12/10/2022] [Accepted: 01/24/2023] [Indexed: 02/16/2023] Open
Abstract
Robotic-assisted surgery has been fully embraced by surgeons for the adult population; however, its acceptance is too slow in the world of pediatric surgeons. It is largely due to the technical limitations and the inherent high cost associated with it. In the past two decades, indeed, there has been considerable advancement in pediatric robotic surgery. A large number of surgical procedures were performed on children with the assistance of robots, even with comparative success rates to standard laparoscopy. As a newly developing field, it still has many challenges and obstacles. This work is centered on the current status and progression of pediatric robotic surgery as well as the future perspectives in the field of pediatric surgery.
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Affiliation(s)
- Hong Mei
- Department of Pediatric Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, China
| | - Shaotao Tang
- Department of Pediatric Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, China
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17
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Song T, Sommersperger M, Baran TA, Seibold M, Navab N. HAPPY: Hip Arthroscopy Portal Placement Using Augmented Reality. J Imaging 2022; 8:302. [PMID: 36354875 PMCID: PMC9695387 DOI: 10.3390/jimaging8110302] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/06/2022] [Revised: 10/31/2022] [Accepted: 11/03/2022] [Indexed: 08/17/2024] Open
Abstract
Correct positioning of the endoscope is crucial for successful hip arthroscopy. Only with adequate alignment can the anatomical target area be visualized and the procedure be successfully performed. Conventionally, surgeons rely on anatomical landmarks such as bone structure, and on intraoperative X-ray imaging, to correctly place the surgical trocar and insert the endoscope to gain access to the surgical site. One factor complicating the placement is deformable soft tissue, as it can obscure important anatomical landmarks. In addition, the commonly used endoscopes with an angled camera complicate hand-eye coordination and, thus, navigation to the target area. Adjusting for an incorrectly positioned endoscope prolongs surgery time, requires a further incision and increases the radiation exposure as well as the risk of infection. In this work, we propose an augmented reality system to support endoscope placement during arthroscopy. Our method comprises the augmentation of a tracked endoscope with a virtual augmented frustum to indicate the reachable working volume. This is further combined with an in situ visualization of the patient anatomy to improve perception of the target area. For this purpose, we highlight the anatomy that is visible in the endoscopic camera frustum and use an automatic colorization method to improve spatial perception. Our system was implemented and visualized on a head-mounted display. The results of our user study indicate the benefit of the proposed system compared to baseline positioning without additional support, such as an increased alignment speed, improved positioning error and reduced mental effort. The proposed approach might aid in the positioning of an angled endoscope, and may result in better access to the surgical area, reduced surgery time, less patient trauma, and less X-ray exposure during surgery.
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Affiliation(s)
- Tianyu Song
- Chair for Computer Aided Medical Procedures & Augmented Reality, Technical University Munich, 85748 Munich, Germany
| | - Michael Sommersperger
- Chair for Computer Aided Medical Procedures & Augmented Reality, Technical University Munich, 85748 Munich, Germany
| | - The Anh Baran
- Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21205, USA
| | - Matthias Seibold
- Research in Orthopedic Computer Science, Balgrist University Hospital, University of Zurich, 8008 Zurich, Switzerland
| | - Nassir Navab
- Chair for Computer Aided Medical Procedures & Augmented Reality, Technical University Munich, 85748 Munich, Germany
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18
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Su H, Zhang J, She Z, Zhang X, Fan K, Zhang X, Liu Q, Ferrigno G, De Momi E. Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint. COMPLEX INTELL SYST 2022. [DOI: 10.1007/s40747-021-00418-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
Abstract
AbstractRemote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.
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19
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Fosch-Villaronga E, Khanna P, Drukarch H, Custers B. The Role of Humans in Surgery Automation. Int J Soc Robot 2022. [DOI: 10.1007/s12369-022-00875-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
Abstract
AbstractInnovation in healthcare promises unparalleled potential in optimizing the production, distribution, and use of the health workforce and infrastructure, allocating system resources more efficiently, and streamline care pathways and supply chains. A recent innovation contributing to this is robot-assisted surgeries (RAS). RAS causes less damage to the patient's body, less pain and discomfort, shorter hospital stays, quicker recovery times, smaller scars, and less risk of complications. However, introducing a robot in traditional surgeries is not straightforward and brings about new risks that conventional medical instruments did not pose before. For instance, since robots are sophisticated machines capable of acting autonomously, the surgical procedure's outcome is no longer limited to the surgeon but may also extend to the robot manufacturer and the hospital. This article explores the influence of automation on stakeholder responsibility in surgery robotization. To this end, we map how the role of different stakeholders in highly autonomous robotic surgeries is transforming, explore some of the challenges that robot manufacturers and hospital management will increasingly face as surgical procedures become more and more automated, and bring forward potential solutions to ascertain clarity in the role of stakeholders before, during, and after robot-enabled surgeries (i.e. a Robot Impact Assessment (ROBIA), a Robo-Terms framework inspired by the international trade system 'Incoterms', and a standardized adverse event reporting mechanism). In particular, we argue that with progressive robot autonomy, performance, oversight, and support will increasingly be shared between the human surgeon, the support staff, and the robot (and, by extent, the robot manufacturer), blurring the lines of who is responsible if something goes wrong. Understanding the exact role of humans in highly autonomous robotic surgeries is essential to map liability and bring certainty concerning the ascription of responsibility. We conclude that the full benefits the use of robotic innovations and solutions in surgery could bring to healthcare providers and receivers cannot be realized until there is more clarity on the division of responsibilities channeling robot autonomy and human performance, support, and oversight; a transformation on the education and training of medical staff, and betterment on the complex interplay between manufacturers, healthcare providers, and patients.
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20
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Sakes A, Lageweg M, van Starkenburg RIB, Sontakke S, Spronck JW. Crossing Total Occlusions Using a Hydraulic Pressure Wave: Development of the Wave Catheter. FRONTIERS IN MEDICAL TECHNOLOGY 2022; 4:851927. [PMID: 35434702 PMCID: PMC9010673 DOI: 10.3389/fmedt.2022.851927] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2022] [Accepted: 02/23/2022] [Indexed: 11/23/2022] Open
Abstract
With the ongoing miniaturization of surgical instruments, the ability to apply large forces on tissues for resection becomes challenging and the risk of buckling becomes more real. In an effort to allow for high force application in slender instruments, in this study, we have investigated using a hydraulic pressure wave (COMSOL model) and developed an innovative 5F cardiac catheter (L = 1,000 mm) that allows for applying high forces up to 9.0 ± 0.2 N on target tissues without buckling. The catheter uses high-speed pressure waves to transfer high-force impulses through a slender flexible shaft consisted of a flat wire coil, a double braid, and a nylon outer coating. The handle allows for single-handed operation of the catheter with easy adjusting of the input impulse characteristic, including frequency (1–10 Hz), time and number of strokes using a solenoid actuator, and easy connection of an off-the-shelf inflator for catheter filling. In a proof-of-principle experiment, we illustrated that the Wave catheter was able to penetrate a phantom model of a coronary Chronic Total Occlusion (CTO) manufactured out of hydroxyapatite and gelatin. It was found that the time until puncture decreased from 80 ± 5.4 s to 7.8 ± 0.4 s, for a stroke frequency of 1–10 Hz, respectively. The number of strikes until puncture was approximately constant at 80 ± 5.4, 76.7 ± 2.6, and 77.7 ± 3.9 for the different stroke frequencies. With the development of the Wave catheter, first steps have been made toward high force application through slender shafts.
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Affiliation(s)
- Aimee Sakes
- Department of BioMechanical Engineering, Faculty of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, Netherlands
- *Correspondence: Aimee Sakes
| | - Menno Lageweg
- Department of Electronic and Mechanical Support Division (DEMO), Delft University of Technology, Delft, Netherlands
| | - Remi I. B. van Starkenburg
- Department of Electronic and Mechanical Support Division (DEMO), Delft University of Technology, Delft, Netherlands
| | - Saurabh Sontakke
- Department of Precision and Microsystems Engineering, Faculty of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, Netherlands
| | - Jo W. Spronck
- Department of Precision and Microsystems Engineering, Faculty of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, Netherlands
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21
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Hasan MK, Calvet L, Rabbani N, Bartoli A. Detection, segmentation, and 3D pose estimation of surgical tools using convolutional neural networks and algebraic geometry. Med Image Anal 2021; 70:101994. [PMID: 33611053 DOI: 10.1016/j.media.2021.101994] [Citation(s) in RCA: 28] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2020] [Revised: 01/27/2021] [Accepted: 02/01/2021] [Indexed: 02/06/2023]
Abstract
BACKGROUND AND OBJECTIVE Surgical tool detection, segmentation, and 3D pose estimation are crucial components in Computer-Assisted Laparoscopy (CAL). The existing frameworks have two main limitations. First, they do not integrate all three components. Integration is critical; for instance, one should not attempt computing pose if detection is negative. Second, they have highly specific requirements, such as the availability of a CAD model. We propose an integrated and generic framework whose sole requirement for the 3D pose is that the tool shaft is cylindrical. Our framework makes the most of deep learning and geometric 3D vision by combining a proposed Convolutional Neural Network (CNN) with algebraic geometry. We show two applications of our framework in CAL: tool-aware rendering in Augmented Reality (AR) and tool-based 3D measurement. METHODS We name our CNN as ART-Net (Augmented Reality Tool Network). It has a Single Input Multiple Output (SIMO) architecture with one encoder and multiple decoders to achieve detection, segmentation, and geometric primitive extraction. These primitives are the tool edge-lines, mid-line, and tip. They allow the tool's 3D pose to be estimated by a fast algebraic procedure. The framework only proceeds if a tool is detected. The accuracy of segmentation and geometric primitive extraction is boosted by a new Full resolution feature map Generator (FrG). We extensively evaluate the proposed framework with the EndoVis and new proposed datasets. We compare the segmentation results against several variants of the Fully Convolutional Network (FCN) and U-Net. Several ablation studies are provided for detection, segmentation, and geometric primitive extraction. The proposed datasets are surgery videos of different patients. RESULTS In detection, ART-Net achieves 100.0% in both average precision and accuracy. In segmentation, it achieves 81.0% in mean Intersection over Union (mIoU) on the robotic EndoVis dataset (articulated tool), where it outperforms both FCN and U-Net, by 4.5pp and 2.9pp, respectively. It achieves 88.2% in mIoU on the remaining datasets (non-articulated tool). In geometric primitive extraction, ART-Net achieves 2.45∘ and 2.23∘ in mean Arc Length (mAL) error for the edge-lines and mid-line, respectively, and 9.3 pixels in mean Euclidean distance error for the tool-tip. Finally, in terms of 3D pose evaluated on animal data, our framework achieves 1.87 mm, 0.70 mm, and 4.80 mm mean absolute errors on the X,Y, and Z coordinates, respectively, and 5.94∘ angular error on the shaft orientation. It achieves 2.59 mm and 1.99 mm in mean and median location error of the tool head evaluated on patient data. CONCLUSIONS The proposed framework outperforms existing ones in detection and segmentation. Compared to separate networks, integrating the tasks in a single network preserves accuracy in detection and segmentation but substantially improves accuracy in geometric primitive extraction. Overall, our framework has similar or better accuracy in 3D pose estimation while largely improving robustness against the very challenging imaging conditions of laparoscopy. The source code of our framework and our annotated dataset will be made publicly available at https://github.com/kamruleee51/ART-Net.
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Affiliation(s)
- Md Kamrul Hasan
- EnCoV, Institut Pascal, UMR 6602 CNRS/Université Clermont-Auvergne, Clermont-Ferrand, France; Department of Electrical and Electronic Engineering, Khulna University of Engineering & Technology, Khulna 9203, Bangladesh.
| | - Lilian Calvet
- EnCoV, Institut Pascal, UMR 6602 CNRS/Université Clermont-Auvergne, Clermont-Ferrand, France
| | - Navid Rabbani
- EnCoV, Institut Pascal, UMR 6602 CNRS/Université Clermont-Auvergne, Clermont-Ferrand, France
| | - Adrien Bartoli
- EnCoV, Institut Pascal, UMR 6602 CNRS/Université Clermont-Auvergne, Clermont-Ferrand, France
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22
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A Hybrid Electromagnetic and Tendon-Driven Actuator for Minimally Invasive Surgery. ACTUATORS 2020. [DOI: 10.3390/act9030092] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Minimally invasive surgery (MIS) is a surgical technique that facilitates access to the internal tissues and organs of a patient’s body via a limited number of small incisions or natural orifice of the patients. Such a technique requires specialized slender surgical instruments with a high levels of dexterity and functionality. However, the currently available MIS instruments are rigid and could offer only limited degrees of freedom (DOFs) that hampers the surgeon’s effort to perform the required operation accurately. In this study, we have developed a hybrid electromagnetic and tendon-driven actuator as an integral part of MIS surgical instruments to provide them with optimum angulation. The design uses a novel electromagnetic structure to lock the position of individual joints, and a tendon-driven structure for the articulation of the surgical instrument. The finite element method (FEM) was utilized to predict the performance of the actuator, which was experimentally validated. Subsequently, a prototype was assembled, and corresponding kinematics analysis was presented to visualize the improvement of the developed mechanism on the functional workspace of the MIS instruments. It was concluded that the developed mechanism could offer three additional DOFs for the surgical instrument and angulation of 180° for each articulated joint.
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23
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Esposito C, Masieri L, Castagnetti M, Pelizzo G, De Gennaro M, Lisi G, Cobellis G, Gamba P, Di Benedetto V, Escolino M. Current Status of Pediatric Robot-Assisted Surgery in Italy: Epidemiologic National Survey and Future Directions. J Laparoendosc Adv Surg Tech A 2020. [DOI: 10.1089/lap.2019.0516] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2022] Open
Affiliation(s)
- Ciro Esposito
- Pediatric Surgery Unit, Federico II University of Naples, Naples, Italy
| | - Lorenzo Masieri
- Pediatric Urology Unit, Meyer Children Hospital, Florence, Italy
| | | | - Gloria Pelizzo
- Pediatric Surgery Unit, Children's Hospital G. Di Cristina, ARNAS Civico-Di Cristina-Benfratelli, Palermo, Italy
| | - Mario De Gennaro
- Pediatric Urology Unit, Bambin Gesù Children Hospital, Rome, Italy
| | - Gabriele Lisi
- Pediatric Surgery Unit, G. D'Annunzio University of Chieti, Pescara, Italy
| | - Giovanni Cobellis
- Pediatric Surgery Unit, Azienda Ospedaliero-Universitaria, Ancona, Italy
| | | | | | - Maria Escolino
- Pediatric Surgery Unit, Federico II University of Naples, Naples, Italy
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24
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Sheth KR, Koh CJ. The Future of Robotic Surgery in Pediatric Urology: Upcoming Technology and Evolution Within the Field. Front Pediatr 2019; 7:259. [PMID: 31312621 PMCID: PMC6614201 DOI: 10.3389/fped.2019.00259] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 01/24/2019] [Accepted: 06/06/2019] [Indexed: 12/22/2022] Open
Abstract
Since the introduction of the Da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, CA) in 1999, the market for robot assisted laparoscopic surgery has grown with urology. The initial surgical advantage seen in adults was for robotic prostatectomy, and over time this expanded to the pediatric population with robotic pyeloplasty. The introduction of three-dimensional visualization, tremor elimination, a 4th arm, and 7-degree range of motion allowed a significant operator advantage over laparoscopy, especially for anastomotic suturing. After starting with pyeloplasty, the use of robotic technology with pediatric urology has expanded to include ureteral reimplantation and even more complex reconstructive procedures, such as enterocystoplasty, appendicovesicostomy, and bladder neck reconstruction. However, limitations of the Da Vinci Surgical Systems still exist despite its continued technological advances over multiple generations in the past 20 years. Due to the smaller pediatric market, less focus appears to have been placed on the development of the smaller 5 mm instruments. As pediatric urology continues to utilize robotic technology for minimally invasive surgery, there is hope that additional pediatric-friendly instruments and components will be developed, either by Intuitive Surgical or one of the new robotic platforms in development that are working to address many of the shortcomings of current systems. These new robotic platforms include improved haptic feedback systems, flexible scopes, easier maneuverability, and even adaptive machine learning concepts to bring robotic assisted laparoscopic surgery to the next level. In this report, we review the present and upcoming technological advances of the current Da Vinci surgical systems as well as various new robotic platforms, each offering a unique set of technological advantages. As technology progresses, the understanding of and access to these new robotic platforms will help guide pediatric urologists into the next forefront of minimally invasive surgery.
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Affiliation(s)
- Kunj R. Sheth
- Division of Urology, Department of Surgery, Texas Children's Hospital, Houston, TX, United States
- Scott Department of Urology, Baylor College of Medicine, Houston, TX, United States
| | - Chester J. Koh
- Division of Urology, Department of Surgery, Texas Children's Hospital, Houston, TX, United States
- Scott Department of Urology, Baylor College of Medicine, Houston, TX, United States
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25
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Bader KB, Vlaisavljevich E, Maxwell AD. For Whom the Bubble Grows: Physical Principles of Bubble Nucleation and Dynamics in Histotripsy Ultrasound Therapy. ULTRASOUND IN MEDICINE & BIOLOGY 2019; 45:1056-1080. [PMID: 30922619 PMCID: PMC6524960 DOI: 10.1016/j.ultrasmedbio.2018.10.035] [Citation(s) in RCA: 118] [Impact Index Per Article: 19.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/28/2018] [Revised: 09/28/2018] [Accepted: 10/03/2018] [Indexed: 05/04/2023]
Abstract
Histotripsy is a focused ultrasound therapy for non-invasive tissue ablation. Unlike thermally ablative forms of therapeutic ultrasound, histotripsy relies on the mechanical action of bubble clouds for tissue destruction. Although acoustic bubble activity is often characterized as chaotic, the short-duration histotripsy pulses produce a unique and consistent type of cavitation for tissue destruction. In this review, the action of histotripsy-induced bubbles is discussed. Sources of bubble nuclei are reviewed, and bubble activity over the course of single and multiple pulses is outlined. Recent innovations in terms of novel acoustic excitations, exogenous nuclei for targeted ablation and histotripsy-enhanced drug delivery and image guidance metrics are discussed. Finally, gaps in knowledge of the histotripsy process are highlighted, along with suggested means to expedite widespread clinical utilization of histotripsy.
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Affiliation(s)
- Kenneth B Bader
- Department of Radiology and Committee on Medical Physics, University of Chicago, Chicago, Illinois, USA.
| | - Eli Vlaisavljevich
- Department of Biomedical Engineering and Mechanics, Virginia Tech University, Blacksburg, Virginia, USA
| | - Adam D Maxwell
- Department of Urology, University of Washington School of Medicine, Seattle, Washington, USA
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Taylor AJ, Slutzky T, Feuerman L, Ren H, Tokuda J, Nilsson K, Tse ZTH. MR-Conditional SMA-Based Origami Joint. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2019; 24:883-888. [PMID: 32774079 PMCID: PMC7413301 DOI: 10.1109/tmech.2019.2891993] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create slimline devices that can be inserted through small incisions. Origami also has the potential to cut costs by reducing the amount of material required for assembly. Origami devices are especially suitable for MRI-guided procedures, where instruments must be nonmagnetic because origami is more suitable for flexible, non-metallic materials. MR conditional surgical instruments enable intraoperative MRI procedures that provide superior imaging capabilities to physicians to allow for safer procedures. This work presents an MR conditional joint developed using origami techniques that reduces costs by eliminating assembly of various components and has potential applications in endoscopy. The joint is a compliant rolling-contact element that employs curved-folding origami techniques. A chain of these joints can be constructed from a single sheet of material, eliminating assembly of numerous materials to produce a final product, which is specifically advantageous for constructing low-cost, disposable surgical devices. The prototype contains a degree of bending of ±9 degrees per joint, a response time of less than 4 seconds and an actuation force of 0.5 N using a 1.25 A current. The MRI results showed a minimal artifact of less than 1 mm measured from the boundary of the joint chain and a SNR reduction of less than 10%.
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Affiliation(s)
- Austin J Taylor
- College of Electrical and Computer Engineering, University of Georgia, Athens, GA 30602 USA
| | | | - Leah Feuerman
- Department of Physics, Occidental College, Los Angeles, CA 90041 USA
| | - Hongliang Ren
- Department of Biomedical Engineering, National University of Singapore, Singapore 119077
| | - Junichi Tokuda
- Department of Radiology, Brigham and Women's Hospital, Boston MA 02115 USA
| | - Kent Nilsson
- Department of Cardiology, Piedmont Athens Regional, Athens, GA 30606
| | - Zion Tsz Ho Tse
- College of Electrical and Computer Engineering, University of Georgia, Athens, GA 30602 USA
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Kim J, Choi W, Park EY, Kang Y, Lee KJ, Kim HH, Kim WJ, Kim C. Real-Time Photoacoustic Thermometry Combined With Clinical Ultrasound Imaging and High-Intensity Focused Ultrasound. IEEE Trans Biomed Eng 2019; 66:3330-3338. [PMID: 30869607 DOI: 10.1109/tbme.2019.2904087] [Citation(s) in RCA: 40] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
High-intensity focused ultrasound (HIFU) treatment is a promising non-invasive method for killing or destroying the diseased tissues by locally delivering thermal and mechanical energy without damaging surrounding normal tissues. In HIFU, measuring the temperature at the site of delivery is important for improving therapeutic efficacy, controlling safety, and appropriately planning a treatment. Several researchers have proposed photoacoustic thermometry for monitoring HIFU treatment, but they had many limitations, including the inability to image while the HIFU is on, inability to provide two-dimensional monitoring, and the inability to be used clinically. In this paper, we propose a novel integrated real-time photoacoustic thermometry system for HIFU treatment monitoring. The system provides ultrasound B-mode imaging, photoacoustic structural imaging, and photoacoustic thermometry during HIFU treatment in real-time for both in vitro and in vivo environments, without any interference from the strong therapeutic HIFU waves. We have successfully tested the real-time photoacoustic thermometry by investigating the relationship between the photoacoustic amplitude and the measured temperature with in vitro phantoms and in vivo tumor-bearing mice. The results show the feasibility of a real-time photoacoustic thermometry system for safe and effective monitoring of HIFU treatment.
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Andolfi C, Kumar R, Boysen WR, Gundeti MS. Current Status of Robotic Surgery in Pediatric Urology. J Laparoendosc Adv Surg Tech A 2019; 29:159-166. [DOI: 10.1089/lap.2018.0745] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022] Open
Affiliation(s)
- Ciro Andolfi
- Pediatric Urology, Section of Urology, Department of Surgery, Comer Children's Hospital, The University of Chicago Pritzker School of Medicine, Chicago, Illinois
| | - Rana Kumar
- Pediatric Urology, Section of Urology, Department of Surgery, Comer Children's Hospital, The University of Chicago Pritzker School of Medicine, Chicago, Illinois
| | - William R. Boysen
- Pediatric Urology, Section of Urology, Department of Surgery, Comer Children's Hospital, The University of Chicago Pritzker School of Medicine, Chicago, Illinois
| | - Mohan S. Gundeti
- Pediatric Urology, Section of Urology, Department of Surgery, Comer Children's Hospital, The University of Chicago Pritzker School of Medicine, Chicago, Illinois
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Cavallo A, Brancadoro M, Tognarelli S, Menciassi A. A Soft Retraction System for Surgery Based on Ferromagnetic Materials and Granular Jamming. Soft Robot 2018; 6:161-173. [PMID: 30407125 DOI: 10.1089/soro.2018.0014] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/05/2023] Open
Abstract
In recent years, minimally invasive surgery (MIS) has gained wider acceptance among surgeons. MIS requires high skills for the operators, mainly due to its intrinsic technical limitations. Tissue manipulation and retraction remain the most challenging tasks; more specifically liver, stomach, and intestine are the organs mostly involved in retraction tasks for abdominal procedures. The literature reports an increasing interest toward dedicated solutions for abdominal tissue retraction tasks. To overcome the limitations of commercial systems and research prototypes, the aim of this study is the design, the realization, and the validation of a retraction system that is simple, reliable, easy to use, safe, and broadly compatible with MIS. The proposed retractor has two main components: (1) a soft central part with variable stiffness obtained by exploiting the granular jamming phenomenon for assuring, at the same time, safe introduction into the abdominal cavity and stable retraction and (2) two iron cylinders located at the two extremities of the device for anchoring the retractor to the abdominal wall by using the magnetic attraction force between these components and two external permanent magnets. System design has been performed by deeply investigating granular jamming principle and ferromagnetic properties of iron elements. Ex vivo and in vivo assessment has been carried out with the final aim to identify the most appropriate design of each retractor component and to demonstrate the advantages of using a soft system with variable stiffness during a retraction task.
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Affiliation(s)
- Aida Cavallo
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
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Oquendo YA, Riddle EW, Hiller D, Blinman TA, Kuchenbecker KJ. Automatically rating trainee skill at a pediatric laparoscopic suturing task. Surg Endosc 2017; 32:1840-1857. [PMID: 29071419 PMCID: PMC5845064 DOI: 10.1007/s00464-017-5873-6] [Citation(s) in RCA: 28] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/14/2017] [Accepted: 09/04/2017] [Indexed: 12/29/2022]
Abstract
BACKGROUND Minimally invasive surgeons must acquire complex technical skills while minimizing patient risk, a challenge that is magnified in pediatric surgery. Trainees need realistic practice with frequent detailed feedback, but human grading is tedious and subjective. We aim to validate a novel motion-tracking system and algorithms that automatically evaluate trainee performance of a pediatric laparoscopic suturing task. METHODS Subjects (n = 32) ranging from medical students to fellows performed two trials of intracorporeal suturing in a custom pediatric laparoscopic box trainer after watching a video of ideal performance. The motions of the tools and endoscope were recorded over time using a magnetic sensing system, and both tool grip angles were recorded using handle-mounted flex sensors. An expert rated the 63 trial videos on five domains from the Objective Structured Assessment of Technical Skill (OSATS), yielding summed scores from 5 to 20. Motion data from each trial were processed to calculate 280 features. We used regularized least squares regression to identify the most predictive features from different subsets of the motion data and then built six regression tree models that predict summed OSATS score. Model accuracy was evaluated via leave-one-subject-out cross-validation. RESULTS The model that used all sensor data streams performed best, achieving 71% accuracy at predicting summed scores within 2 points, 89% accuracy within 4, and a correlation of 0.85 with human ratings. 59% of the rounded average OSATS score predictions were perfect, and 100% were within 1 point. This model employed 87 features, including none based on completion time, 77 from tool tip motion, 3 from tool tip visibility, and 7 from grip angle. CONCLUSIONS Our novel hardware and software automatically rated previously unseen trials with summed OSATS scores that closely match human expert ratings. Such a system facilitates more feedback-intensive surgical training and may yield insights into the fundamental components of surgical skill.
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Affiliation(s)
- Yousi A Oquendo
- Department of Mechanical Engineering & Applied Mechanics, University of Pennsylvania, Philadelphia, USA.,Department of Computer & Information Science, University of Pennsylvania, Philadelphia, USA
| | - Elijah W Riddle
- Division of Pediatric General, Thoracic and Fetal Surgery, Children's Hospital of Philadelphia, Philadelphia, USA
| | - Dennis Hiller
- Division of Pediatric General, Thoracic and Fetal Surgery, Children's Hospital of Philadelphia, Philadelphia, USA
| | - Thane A Blinman
- Division of Pediatric General, Thoracic and Fetal Surgery, Children's Hospital of Philadelphia, Philadelphia, USA
| | - Katherine J Kuchenbecker
- Department of Mechanical Engineering & Applied Mechanics, University of Pennsylvania, Philadelphia, USA. .,Department of Computer & Information Science, University of Pennsylvania, Philadelphia, USA. .,Haptic Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany.
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Adams F, Schoelly R, Schlager D, Schoenthaler M, Schoeb DS, Wilhelm K, Hein S, Wetterauer U, Miernik A. Algorithm-Based Motion Magnification for Video Processing in Urological Laparoscopy. J Endourol 2017; 31:583-587. [PMID: 28330382 DOI: 10.1089/end.2016.0882] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
PURPOSE Minimally invasive surgery is in constant further development and has replaced many conventional operative procedures. If vascular structure movement could be detected during these procedures, it could reduce the risk of vascular injury and conversion to open surgery. The recently proposed motion-amplifying algorithm, Eulerian Video Magnification (EVM), has been shown to substantially enhance minimal object changes in digitally recorded video that is barely perceptible to the human eye. We adapted and examined this technology for use in urological laparoscopy. MATERIALS AND METHODS Video sequences of routine urological laparoscopic interventions were recorded and further processed using spatial decomposition and filtering algorithms. The freely available EVM algorithm was investigated for its usability in real-time processing. In addition, a new image processing technology, the CRS iimotion Motion Magnification (CRSMM) algorithm, was specifically adjusted for endoscopic requirements, applied, and validated by our working group. RESULTS Using EVM, no significant motion enhancement could be detected without severe impairment of the image resolution, motion, and color presentation. The CRSMM algorithm significantly improved image quality in terms of motion enhancement. In particular, the pulsation of vascular structures could be displayed more accurately than in EVM. CONCLUSIONS Motion magnification image processing technology has the potential for clinical importance as a video optimizing modality in endoscopic and laparoscopic surgery. Barely detectable (micro)movements can be visualized using this noninvasive marker-free method. Despite these optimistic results, the technology requires considerable further technical development and clinical tests.
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Affiliation(s)
- Fabian Adams
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany .,2 Department for Intelligent Systems, Micro, Nano, and Molecular Systems Lab, Max Planck Institute , Stuttgart, Germany
| | - Reto Schoelly
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany .,3 Department of Microsystems Engineering, University of Freiburg , Freiburg, Germany
| | - Daniel Schlager
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
| | - Martin Schoenthaler
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
| | - Dominik S Schoeb
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
| | - Konrad Wilhelm
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
| | - Simon Hein
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
| | - Ulrich Wetterauer
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
| | - Arkadiusz Miernik
- 1 Department of Urology, University Medical Center Freiburg , Freiburg, Germany
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Real-time surgical tool tracking and pose estimation using a hybrid cylindrical marker. Int J Comput Assist Radiol Surg 2017; 12:921-930. [PMID: 28342105 PMCID: PMC5447333 DOI: 10.1007/s11548-017-1558-9] [Citation(s) in RCA: 21] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2017] [Accepted: 03/08/2017] [Indexed: 11/01/2022]
Abstract
PURPOSE To provide an integrated visualisation of intraoperative ultrasound and endoscopic images to facilitate intraoperative guidance, real-time tracking of the ultrasound probe is required. State-of-the-art methods are suitable for planar targets while most of the laparoscopic ultrasound probes are cylindrical objects. A tracking framework for cylindrical objects with a large work space will improve the usability of the intraoperative ultrasound guidance. METHODS A hybrid marker design that combines circular dots and chessboard vertices is proposed for facilitating tracking cylindrical tools. The circular dots placed over the curved surface are used for pose estimation. The chessboard vertices are employed to provide additional information for resolving the ambiguous pose problem due to the use of planar model points under a monocular camera. Furthermore, temporal information between consecutive images is considered to minimise tracking failures with real-time computational performance. RESULTS Detailed validation confirms that our hybrid marker provides a large working space for different tool sizes (6-14 mm in diameter). The tracking framework allows translational movements between 40 and 185 mm along the depth direction and rotational motion around three local orthogonal axes up to [Formula: see text]. Comparative studies with the current state of the art confirm that our approach outperforms existing methods by providing nearly 100% detection rates and accurate pose estimation with mean errors of 2.8 mm and 0.72[Formula: see text]. The tracking algorithm runs at 20 frames per second for [Formula: see text] image resolution videos. CONCLUSION Experiments show that the proposed hybrid marker can be applied to a wide range of surgical tools with superior detection rates and pose estimation accuracies. Both the qualitative and quantitative results demonstrate that our framework can be used not only for assisting intraoperative ultrasound guidance but also for tracking general surgical tools in MIS.
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Alsabek MB, Arafat S, Aldirani A. A case report of laparoscopic cholecystectomy in situs inversus totalis: Technique and anatomical variation. Int J Surg Case Rep 2016; 28:124-126. [PMID: 27701001 PMCID: PMC5048624 DOI: 10.1016/j.ijscr.2016.09.004] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/13/2016] [Accepted: 09/12/2016] [Indexed: 01/28/2023] Open
Abstract
Situs Inversus Totalis (SIT) is a rare condition. Gallbladder diseases are difficult to diagnosed in SIT patients. Laparoscopic surgery is safe in SIT patients. Technical and Anatomical difficulties should be expected. Left-handed surgeons have advantages over Right-handed ones. Bachground Since the first laparoscopic cholecystectomy report in situs inversus totalis in 1991, the safety of this procedure has still been questionable. A few surgeons were preferred to perform an open cholecystectomy due to technical difficulties as well as various anatomical varieties that can be faced during surgery. Case presentation We report a case report of a 50 years old patient came with epigastric pain that radiated to her left shoulder, intermittent nausea, vomiting and bloating after some meals. She did not associate her symptoms with fatty food. She was a known case of situs inversus totalis and had a previous laparoscopic Nissen fundoplication that we performed 5 years ago. A laparoscopic cholecystectomy was performed by a left-handed surgeon, illustrating challenges, technique, and the advantages of left-handed surgeon over right-handed ones. Discussion After the first discovery of situs inversus totalis by Fabricus in the 1600 the standard procedure for cholelithiasis was open surgery. The introduction of the first laparoscopic cholecystectomy in patients with situs inversus put surgeons in challenge for performing laparoscopic rather than open surgery for patients with situs inversus diagnosed with gallbladder disease. Only 67 cases used laparoscopic cholecystectomy in treating situs inversus patients with cholelithiasis. Although technical difficulties and expected anatomical variation are the main challenges in those patients, the current literature confirms the safety of laparoscopy in such cases. Conclusion Despite having all these difficulties, handling this type of operations can be safe and uneventful especially with experienced surgeon.
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Affiliation(s)
- Mhd Belal Alsabek
- Department of surgery, Damascus General Hospital, Damascus, Syria; Department of surgery, Faculaty of Medicine, Syrian Private University (SPU), Syria.
| | - Shawqi Arafat
- Department of surgery, Damascus General Hospital, Damascus, Syria.
| | - Alaa Aldirani
- Department of surgery, Damascus General Hospital, Damascus, Syria.
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Soheilipour F, Jesmi F, Ahmadi M, Pazouki A, Alibeigi P, Abdolhosseini M. Minimally invasive surgical interventions in the treatment of primary persistent hyperinsulinemic hypoglycemia of infancy. ARCHIVES OF ENDOCRINOLOGY AND METABOLISM 2015; 59:466-9. [PMID: 26331229 DOI: 10.1590/2359-3997000000094] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/28/2014] [Accepted: 04/20/2015] [Indexed: 11/22/2022]
Abstract
Hyperinsulinemia, diagnosed by laboratory tests, should be diagnosed and treated as soon as possible to prevent fatal complications such as neurological damage. Patients who are resistant to medical therapy should be treated surgically. Minimally invasive surgery, a newly developed approach, is a good choice among surgical procedures to avoid unnecessary extensive pancreatectomy. Here, a 12-year-old boy is presented with diagnosis of hyperinsulinemic hypoglycemia who had recurrent attacks of hypoglycemia and seizures from infancy. Because of his unresponsiveness to medical therapy and his family's preference, he underwent laparoscopic pancreatectomy to reduce morbidity and hospital stay. Two years postsurgical follow-up revealed a normo-glycemic state.
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Affiliation(s)
- Fahimeh Soheilipour
- Minimally Invasive Surgery Research Center, Iran University of Medical Sciences, Tehran, Iran
| | - Fatemeh Jesmi
- Minimally Invasive Surgery Research Center, Iran University of Medical Sciences, Tehran, Iran
| | - Mohammad Ahmadi
- Minimally Invasive Surgery Research Center, Iran University of Medical Sciences, Tehran, Iran
| | - Abdolreza Pazouki
- Minimally Invasive Surgery Research Center, Iran University of Medical Sciences, Tehran, Iran
| | - Peyman Alibeigi
- Minimally Invasive Surgery Research Center, Iran University of Medical Sciences, Tehran, Iran
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Zani A, Zani-Ruttenstock E, Pierro A. Advances in the surgical approach to congenital diaphragmatic hernia. Semin Fetal Neonatal Med 2014; 19:364-9. [PMID: 25447986 DOI: 10.1016/j.siny.2014.09.002] [Citation(s) in RCA: 28] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/24/2022]
Abstract
Congenital diaphragmatic hernia is a birth defect that affects about one in 2500 live births. Although the overall survival has improved over the last several decades thanks to advancements in postnatal resuscitation and intensive care treatment, morbidity and mortality remain high. The surgical management of these infants is far from being standardized, and many aspects are still disputed among experts. The timing of surgical repair remains controversial and the indications for the ideal time for surgery have not been validated. The main novelty in the surgical treatment is related to the use of minimally invasive techniques, although these have been associated with intraoperative blood gas disturbances and higher recurrence rates. Herein, we report and comment on the main controversies of postnatal CDH repair in this rapidly evolving field.
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Affiliation(s)
- Augusto Zani
- Division of General and Thoracic Surgery, The Hospital for Sick Children, Toronto, Ontario, Canada
| | - Elke Zani-Ruttenstock
- Division of General and Thoracic Surgery, The Hospital for Sick Children, Toronto, Ontario, Canada
| | - Agostino Pierro
- Division of General and Thoracic Surgery, The Hospital for Sick Children, Toronto, Ontario, Canada.
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Chan E, Wayne C, Nasr A. Minimally invasive versus open repair of Bochdalek hernia: a meta-analysis. J Pediatr Surg 2014; 49:694-9. [PMID: 24851750 DOI: 10.1016/j.jpedsurg.2014.02.049] [Citation(s) in RCA: 24] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 02/01/2014] [Accepted: 02/13/2014] [Indexed: 12/12/2022]
Abstract
BACKGROUND Diaphragmatic hernia can be repaired by open or minimally invasive surgery (MIS), although it is unclear which technique has better outcomes. Our objective was to compare the outcomes of these procedures in a systematic review and meta-analysis. METHODS We sought all publications describing both techniques through MEDLINE, Embase, and CENTRAL. Our primary outcome of interest was recurrence. We conducted statistical analyses using Review Manager 5.2. RESULTS We did not identify any randomized controlled trials. Our pooled estimate of results from 10 studies showed that total recurrence was higher after MIS (OR: 2.81 [1.73, 4.56], p<0.001). Subgroup analyses indicated higher recurrence after MIS for patch repairs (OR: 4.29 [2.13, 8.67], p<0.001), but not for primary repairs. Operative time was longer for MIS (MD: 55.25 [40.21, 70.28], p<0.001), while postoperative ventilator time and postoperative mortality were higher after open surgery (MD: 1.33 [0.05, 2.62], p= 0.04; OR: 7.54 [3.36, 16.90], p<0.001, respectively). CONCLUSIONS Recurrence rate is higher after MIS than open repair when a patch is used. Operative time is also longer with MIS. Poorer outcomes after open surgery may be a result of selection bias rather than surgical technique. Surgeons should carefully consider the potential morbidity associated with MIS when deciding on a repair method.
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Affiliation(s)
- Emily Chan
- Children's Hospital of Eastern Ontario, University of Ottawa, Ottawa, ON, Canada
| | - Carolyn Wayne
- Children's Hospital of Eastern Ontario, University of Ottawa, Ottawa, ON, Canada
| | - Ahmed Nasr
- Children's Hospital of Eastern Ontario, University of Ottawa, Ottawa, ON, Canada.
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Bozkurt S, Coskun H, Atak T, Kadioglu H. Single Incision Laparoscopic Cholecystectomy in situs Inversus Totalis. J Surg Tech Case Rep 2013; 4:129-31. [PMID: 23741594 PMCID: PMC3673358 DOI: 10.4103/2006-8808.110264] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022] Open
Abstract
Situs inversus totalis (SIT) is a rare genetic anomaly characterized by arrangement of the abdominal and thoracic organs in a perfect mirror image reversal of the normal positioning. Transposition of the organs causes difficulty in diagnosis and treatment of the diseases related to abdomen and thorax. Single incision laparoscopic surgery (SILS) is a new technique and it is increasingly used with better cosmetic results. In this paper, a single incision laparoscopic cholecystectomy (SILC) performed in a patient with SIT is presented. SILC can be performed safely in the patients with SIT with better cosmetic results.
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Affiliation(s)
- Suleyman Bozkurt
- Department of Surgery, Faculty of Medicine, Bezmialem Vakif University, Istanbul, Turkey
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Salama IA, Abdullah MH, Houseni M. Laparoscopic cholecystectomy in situs inversus totalis: Feasibility and review of literature. Int J Surg Case Rep 2013; 4:711-5. [PMID: 23810920 DOI: 10.1016/j.ijscr.2013.02.030] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2013] [Revised: 02/04/2013] [Accepted: 02/27/2013] [Indexed: 12/21/2022] Open
Abstract
INTRODUCTION Situs inversus totalis is a rare anomaly characterized by transposition of organs to the opposite site of the body. Laparoscopic cholecystectomy in those patients is technically more demanding and needs reorientation of visual-motor skills to left upper quadrant. PRESENTATION OF CASE Herein, we report a 10 year old boy presented with left hypochondrium and epigastric pain 2 months duration. The patient had not been diagnosed as situs inversus totalis before. The patient exhibit a left sided "Murphy's sign". Diagnosis of situs inversus totalis was confirmed with ultrasound, computerized tomography (CT) and magnetic resonant image (MRI) with presence of multiple gall bladder stones with no intra or extrabiliary duct dilatation. The patient underwent laparoscopic cholecystectomy for cholelithiasis. DISCUSSION Feasibility and technical difficulty in diagnosis and treatment of such case pose challenge problem due to the contra lateral disposition of the viscera. Difficulty is encountered in skelatonizing the structures in Calot's triangle, which consume extra time than normally located gall bladder. A summary of additional 50 similar cases reported up to date in the medical literature is also presented. CONCLUSION Laparoscopic cholecystectomy is feasible and should be done in situs inversus totalis by experienced laparoscopic surgeon, as changes in anatomical disposition of organ not only influence the localization of symptoms and signs arising from a diseased organ but also imposes special demands on the diagnosis and surgical skills of the surgeon.
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Affiliation(s)
- Ibrahim Abdelkader Salama
- Department of Hepatobilary Surgery, National Liver Institute, Menophyia University, Shiben Elkom, Egypt.
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Abstract
A 67-year-old man underwent a laparoscopic cholecystectomy, which was complicated by an empyematous gallbladder. Postoperatively, he was found to have acute renal failure (evidenced by abdominal distension and pain, anuria and vomiting). This was thought to be secondary to pneumoperitoneum, an essential part of the laparoscopic procedure.
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Randall CL, Gultepe E, Gracias DH. Self-folding devices and materials for biomedical applications. Trends Biotechnol 2012; 30:138-46. [PMID: 21764161 PMCID: PMC3288299 DOI: 10.1016/j.tibtech.2011.06.013] [Citation(s) in RCA: 98] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2011] [Revised: 06/05/2011] [Accepted: 06/16/2011] [Indexed: 01/10/2023]
Abstract
Because the native cellular environment is 3D, there is a need to extend planar, micro- and nanostructured biomedical devices to the third dimension. Self-folding methods can extend the precision of planar lithographic patterning into the third dimension and create reconfigurable structures that fold or unfold in response to specific environmental cues. Here, we review the use of hinge-based self-folding methods in the creation of functional 3D biomedical devices including precisely patterned nano- to centimeter scale polyhedral containers, scaffolds for cell culture and reconfigurable surgical tools such as grippers that respond autonomously to specific chemicals.
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Affiliation(s)
- Christina L Randall
- Department of Biomedical Engineering, The Johns Hopkins University, Baltimore, MD 21205, USA
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Abstract
Foetal counselling is best achieved by a multidisciplinary team that can favourably influence the perinatal management of prenatally diagnosed anomalies and provide this information to prospective parents. Prenatal diagnosis has remarkably improved our understanding of surgically correctable congenital malformations. It has allowed us to influence the delivery of the baby, offer prenatal surgical management and discuss the options of termination of pregnancy for seriously handicapping or lethal conditions. Antenatal diagnosis has also defined an in utero mortality for some lesions such as diaphragmatic hernia and sacrococcygeal teratoma so that true outcomes can be measured. The limitation of in-utero diagnosis cannot be ignored. The aim of prenatal counselling is to provide information to prospective parents on foetal outcomes, possible interventions, appropriate setting, time and route of delivery and expected postnatal outcomes, immediate and long term.
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Affiliation(s)
- Kokila Lakhoo
- Children's Hospital Oxford, John Radcliffe Hospital, University of Oxford, Headley Way, Headington, Oxford, United Kingdom.
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Dannan A. Minimally invasive periodontal therapy. J Indian Soc Periodontol 2011; 15:338-43. [PMID: 22368356 PMCID: PMC3283929 DOI: 10.4103/0972-124x.92565] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/19/2010] [Accepted: 11/09/2011] [Indexed: 11/24/2022] Open
Abstract
Minimally invasive dentistry is a concept that preserves dentition and supporting structures. However, minimally invasive procedures in periodontal treatment are supposed to be limited within periodontal surgery, the aim of which is to represent alternative approaches developed to allow less extensive manipulation of surrounding tissues than conventional procedures, while accomplishing the same objectives. In this review, the concept of minimally invasive periodontal surgery (MIPS) is firstly explained. An electronic search for all studies regarding efficacy and effectiveness of MIPS between 2001 and 2009 was conducted. For this purpose, suitable key words from Medical Subject Headings on PubMed were used to extract the required studies. All studies are demonstrated and important results are concluded. Preliminary data from case cohorts and from many studies reveal that the microsurgical access flap, in terms of MIPS, has a high potential to seal the healing wound from the contaminated oral environment by achieving and maintaining primary closure. Soft tissues are mostly preserved and minimal gingival recession is observed, an important feature to meet the demands of the patient and the clinician in the esthetic zone. However, although the potential efficacy of MIPS in the treatment of deep intrabony defects has been proved, larger studies are required to confirm and extend the reported positive preliminary outcomes.
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Affiliation(s)
- Aous Dannan
- Department of Periodontology, Faculty of Dental Medicine, Witten/Herdecke University, Witten, Germany
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Ozsoy M, Haskaraca MF, Terzioglu A. Single incision laparoscopic cholecystectomy (SILS) for a patient with situs inversus totalis. BMJ Case Rep 2011; 2011:bcr.08.2011.4581. [PMID: 22679325 DOI: 10.1136/bcr.08.2011.4581] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022] Open
Abstract
Laparoscopic surgery has become the gold standard for the surgical treatment of benign disorders of bile ducts, for example, symptomatic cholelithiasis. Nowadays, laparoscopic surgery is becoming less invasive by means of the advanced technologic capabilities. In this article, the authors present a 65-year-old patient with situs inversus totalis who was examined because of abdominal pain and dyspeptic symptoms. Ultrasonography and tomography revealed cholecystitis with gallstones (calculous cholecystitis), besides, it was observed that the liver and the gall bladder were on the left side and the heart, the stomach and the spleen were located on the right side of the patient. The patient was performed single incision laparoscopic cholecystectomy. The patient was discharged on the postoperative day 1. In the present article, the authors described how easily the single incision laparoscopic cholecystectomy could resolve the technical difficulties encountered in the patients with situs inversus totalis during the conventional laparoscopic surgery.
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Affiliation(s)
- Mustafa Ozsoy
- Department of General Surgery, Manisa Merkezefendi State Hospital, Manisa, Turkey.
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Abstract
BACKGROUND Following the advent of laparoscopic surgery, cosmesis has become an important factor in surgical decision making. The circumumbilical incision combines the advantages of an open approach with an aesthetically pleasing scar on the abdomen. The aim of this paper is to examine the results of this incision in neonatal laparotomy. METHODS All neonates who underwent a supraumbilical circumferential skin incision for an exploratory laparotomy in the period 1997-2007 were reviewed. Gestational age, operative procedure, conversions to standard laparotomy, complications and follow-up were recorded. RESULTS A total of 55 neonates with a gestational age ranging from 28 to 42 weeks had 57 operative procedures. The indications were: nonrotation of midgut in 18; intestinal atresia in 18; necrotizing enterocolitis/spontaneous perforation in 10; meconium ileus in 5; intestinal duplication in 2; patent vitellointestinal duct (VID) in 2. No conversion to a standard transverse incision was necessary in any case. However, an omega extension was made in four patients. The complications encountered include wound infection in one; caecal perforation in one and incisional hernia in two cases. Subsequent follow-up revealed that all incisions had healed and the scars were almost imperceptible as affirmed by parental satisfaction during outpatient clinic consultation. CONCLUSIONS The circumumbilical approach is a safe, flexible and easily reproducible approach providing adequate exposure for most abdominal surgeries in the neonate. The low complication rate and pleasing aesthetic outcome are much appreciated by parents and operators alike.
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Henare SJ, Mellor DJ, Lentle RG, Moughan PJ. An appraisal of the strengths and weaknesses of newborn and juvenile rat models for researching gastrointestinal development. Lab Anim 2008; 42:231-45. [DOI: 10.1258/la.2007.007034] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Research on the impact of bioactive compounds on the development and functional maturation of the gastrointestinal (GI) tract using newborn and juvenile rats has greatly contributed to the knowledge of GI physiology and to the improved clinical management of both premature and full-term newborns. Of the animal models available, two types have been described for use with young rats – maintenance models and substitution models. Maintenance models are those in which the young are reared with the dam and therefore benefit from continuation of natural nutrition and maternal care. Substitution models are those in which the young are reared in the absence of the dam using artificially formulated milk delivered by various means into specific GI sites. In this review, we describe these models and their operation, and discuss the strengths and weaknesses of each. Attention is also given to questions of scientific validity and some animal welfare issues raised by the use of these models.
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Affiliation(s)
- S J Henare
- Riddet Centre, Massey University, Private Bag 11 222, Palmerston North, New Zealand
| | - D J Mellor
- Riddet Centre, Massey University, Private Bag 11 222, Palmerston North, New Zealand
- Institute of Food Nutrition and Human Health, Massey University, Palmerston North, New Zealand
| | - R G Lentle
- Institute of Food Nutrition and Human Health, Massey University, Palmerston North, New Zealand
| | - P J Moughan
- Riddet Centre, Massey University, Private Bag 11 222, Palmerston North, New Zealand
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Faure JP, Doucet C, Scepi M, Rigoard P, Carretier M, Richer JP. Abnormalities of the gallbladder, clinical effects. Surg Radiol Anat 2008; 30:285-90. [PMID: 18330492 DOI: 10.1007/s00276-008-0332-7] [Citation(s) in RCA: 23] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2007] [Accepted: 02/25/2008] [Indexed: 11/27/2022]
Abstract
The aim of this review of the literature was to present and discuss the anatomical and embryological basis of congenital abnormalities of the gallbladder, based on a case of volvulus. In the rare cases of ectopic gallbladder, diagnosis of a biliary disease could be difficult. In such cases surgery can also be dangerous, especially when it is associated with abnormalities of the intra-hepatic biliary and vascular tree. This study, based on the embryology of the extra hepatic bile duct, focused on the most frequent gallbladder abnormalities to keep them in mind.
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Affiliation(s)
- J P Faure
- Service Chirurgie Viscérale Digestive et Endocrinienne, Hôpital Jean Bernard, CHU Poitiers, Université de Poitiers, 2 rue de la Miletrie, BP 577, 86021 Poitiers Cedex, France.
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Affiliation(s)
- Kokila Lakhoo
- John Radcliffe Hospital, University of Oxford, Headley Way, Headington, Oxford, OX3 9DU, UK.
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Abstract
PURPOSE OF REVIEW Children with abdominal pain sometimes require surgical intervention, and laparoscopy is increasingly the preferred approach for the diagnosis and treatment of both acute and chronic abdominal pain in children. This review describes the current state of the art and recent developments in the application of minimally invasive surgical techniques for the treatment of children with various abdominal pain syndromes. RECENT FINDINGS Laparoscopy provides distinct advantages over traditional open surgery, including less pain, shorter recovery and improved cosmesis. Cumulative experience and ongoing outcomes research continue to substantiate the safety and efficacy of the approach when applied thoughtfully and by experienced practitioners. In fact, as minimally invasive surgery is being applied to treat more wide-ranging disorders, it is becoming apparent that for many conditions laparoscopy should be adopted as the standard of care. SUMMARY Recent advances in minimally invasive surgery have clearly benefited children with abdominal pain who need surgery, and as techniques improve and instruments get smaller we can expect this trend to continue into the future.
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Affiliation(s)
- Peter Mattei
- Department of Surgery, University of Pennsylvania School of Medicine, and Pediatric General, Thoracic and Fetal Surgery, The Children's Hospital of Philadelphia, 34th Street and Civic Center Boulevard, Philadelphia, PA 19104, USA.
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Duncan TD, Rashid Q, Speights F, Ejeh I. Endoscopic transaxillary approach to the thyroid gland: our early experience. Surg Endosc 2007; 21:2166-71. [PMID: 17479328 DOI: 10.1007/s00464-007-9325-6] [Citation(s) in RCA: 47] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/15/2006] [Revised: 12/15/2006] [Accepted: 02/07/2007] [Indexed: 10/23/2022]
Abstract
BACKGROUND Thyroid nodules are a common occurrence in clinical practice today. Most nodules are benign and can be managed nonoperatively with careful medical follow-up. However surgical extirpation occasionally becomes necessary to exclude a malignant neoplastic process. Although the majority of surgically excised thyroid lesions are histologically benign, patients are traditionally left with a permanent transverse surgical scar in a highly visible area of the neck. MATERIALS AND METHODS From August 2003 to August 2005, we performed a transaxillary endoscopic thyroid lobectomy with isthmectomy in 32 patients. We used a 3-port technique with 5-mm trocars and surgical instrumentation. A 5-mm 45-degree angled endoscope was used for visualization during the procedure. The CO(2) insufflation pressure was set to 6-8 mmHg, and dissection was carried out using a 5-mm harmonic scalpel (Ethicon Endo-Surgery). RESULTS All patients underwent successful completion of thyroid lobectomy and isthmectomy. No conversion to open operation was required in this series. The mean operating time was 138.5 min, and the mean blood loss was 36.4 ml. The recurrent laryngeal nerve was identified in each case, and there was no permanent injury to this structure. There were two cases of temporary hoarseness that resolved spontaneously. One patient in this series had to be returned to the operating room for evacuation of a postoperative hematoma from an active bleeding vessel on the surface of the pectoralis major muscle. All patients were discharged on the first postoperative day. CONCLUSIONS Transaxillary endoscopic thyroidectomy is a safe and feasible alternative to the traditional open surgical approach in select patients requiring surgical removal of the thyroid gland. The resultant improved cosmetic outcome and enhanced operative visualization may offer a practicable alternative for select patients requiring surgical removal of the thyroid gland.
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Affiliation(s)
- T D Duncan
- Morehouse School of Medicine, Atlanta Medical Center, Atlanta, Georgia, USA.
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