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Integration of microsensor for microsurgery robot’s end-effector

HU Yida, LI Dazhai, YANG Yang, SUN Xuguang

《机械工程前沿（英文）》 2007年第2卷第2期页码 205-209 doi: 10.1007/s11465-007-0035-5

摘要： To enhance the effect of robotic microsurgery, the microsensors are integrated on the robot s end-effector. On the basis of the requirements presented for the integration design, measuring mechanism for the robotic end trephine s force and cutting depth are studied. Force microsensor and position microsensor are used to measure surgical information of the force and depth. Measuring mechanism was achieved by means of linear sliding bearing and differential measuring structure. The sensor data board was developed. With the power spectral estimation of sensor data, two digital filtering methods are proposed, to help eliminate the interference to the original microsensor signal. They are the filtering method of lowpass-bandstop serial structure suitable for a PC, and a shift average filtering algorithm suitable for the sensor data board, respectively. The experimental results show that the integration of microsensors for microsurgery robot s end-effector can satisfy the design requirements, and the robotic end trephine can accurately fulfill the surgical task of corneal cutting.

关键词： integration filtering structure suitable robotic microsurgery position microsensor

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Fertility outcome analysis after modified laparoscopic microsurgical tubal anastomosis

null

《医学前沿（英文）》 2011年第5卷第3期页码 310-314 doi: 10.1007/s11684-011-0152-8

摘要：

Modified laparoscopic microsurgical tubal anastomosis is an alternative for microsurgical anastomosis via laparotomy to reverse sterilization in women with renewed child wish. The current study aims to evaluate the fertility outcome after modified laparoscopic microsurgical tubal anastomosis. A retrospective study was performed. Fifty-eight women who underwent modified laparoscopic microsurgical tubal anastomosis were monitored to investigate the fertility outcome and characteristics of this new technology. Of the 58 patients, the cumulative pregnancy rate (PR) in the 42 patients with follow-up data was 23.8% (10/42), 57.1% (24/42), 66.7% (28/42), and 73.8% (31/42) within 6, 12, 24, and 36 months after surgery, respectively. The intrauterine PR was 69.0% (29/42). Two patients (4.8%) had ectopic pregnancies that occurred within 24 months of surgery; three cases ended in spontaneous abortion. The delivery rate was 83.9% (26/31). The length of operating time was 1.2±0.3 h, with a range of 1.0–2.5 h (60–145 min), and the mean time was approximately 75 min. The blood loss was relatively small, between 10 and 50 ml with an average amount of 22 ml. Thus, the modified laparoscopic tubal anastomosis is a highly successful procedure and a viable alternative to open abdominal microsurgical approaches. Compared with the traditional laparoscopic tubal sterilization reversal, this modified approach has three advantages: (1) less invasive approach via a trocar reduction; (2) remodeling of tube is better performing tied together after 3–4 sutures; and (3) faster operating time.

关键词： modified laparoscopy tubal anastomosis microsurgery