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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery     hand−eye calibration     intuitive control     surgical robot     dual quaternion    

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Strategies of minimally invasive treatment for intrahepatic and extrahepatic bile duct stones

null

《医学前沿（英文）》 2017年 第11卷 第4期   页码 576-589 doi: 10.1007/s11684-017-0536-5

摘要：

Cholelithiasis is a kind of common and multiple diseases. In recent years, traditional laparotomy has been challenged by a minimally invasive surgery. Through literature review, the therapeutic method, effect, and complications of minimally invasive treatment of intrahepatic and extrahepatic bile duct stones by combining our practical experience were summarized as follows. (1) For intrahepatic bile duct stones, the operation may be selected by laparoscopic liver resection, laparoscopic common bile duct exploration (LCBDE), or percutaneous transhepatic cholangioscopy. (2) For concomitant gallstones and common bile duct stones, the surgical approach can be selected as follows: laparoscopic cholecystectomy (LC) combined with endoscopic sphincterotomy (EST) or endoscopic papillary balloon dilatation, LC plus laparoscopic transcystic common bile duct exploration, LC plus LCBDE, and T-tube drainage or primary suture. (3) For concomitant intrahepatic and extrahepatic bile duct stones, laparoscopic liver resection, choledochoscopy through the hepatic duct orifice on the hepatectomy cross section, LCBDE, EST, and percutaneous transhepatic cholangioscopic lithotripsy could be used. According to the abovementioned principle, the minimally invasive treatment approach combined with the surgical technique and equipment condition will be significant in improving the therapeutic effect and avoiding the postoperative complications or hidden dangers of intrahepatic and extrahepatic bile duct stones.

关键词： laparoscopy     choledochoscopy     duodenoscopy     cholelithiasis     minimally invasive treatment    

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A new minimally invasive treatment for anal fistula

null

《医学前沿（英文）》 2015年 第9卷 第1期   页码 77-81 doi: 10.1007/s11684-014-0352-0

摘要：

In colorectal surgery, eradicating the fistula and maintaining continence are still complex challenges for a colorectal surgeon. A minimally invasive method using a novel device was performed to consecutively treat 14 patients with anal fistula from August 2008 to November 2009. After a follow-up period of 36 months, 13 patients achieved successful closure of their fistula tracts, and recurrence occurred only in one patient. Recurrence was due to the delay of dressing change. No patient had interference with continence, and no major intra- and post-operative complications were identified. Using the novel device with invasive methods can be a promising alternative for managing anal fistulas.

关键词： anal fistula     surgery     device    

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Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 70-79 doi: 10.1007/s11465-013-0365-4

摘要：

In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

关键词： parallel robot     minimally invasive surgery     kinematics     simulation    

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State-of-the-art of intelligent minimally invasive surgical robots

Masakatsu G. Fujie, Bo Zhang

《医学前沿（英文）》 2020年 第14卷 第4期   页码 404-416 doi: 10.1007/s11684-020-0743-3

摘要： A number of developed countries are rapidly turning into super-aged societies. Consequently, the demand for reduced surgical invasiveness and enhanced efficiency in the medical field has increased due to the need to reduce the physical burden on older patients and shorten their recovery period. Intelligent surgical robot systems offer high precision, high safety, and reduced invasiveness. This paper presents a review of current intelligent surgical robot systems. The history of robots and three types of intelligent surgical robots are discussed. The problems with current surgical robot systems are then analyzed. Several aspects that should be considered in designing new surgical systems are discussed in detail. The paper ends with a summary of the work and a discussion of future prospects for surgical robot development.

关键词： robot history     medical robot     surgical robot     radiofrequency ablation     organ model    

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面向机器人微创手术的新型遥控柔性机器人 Article

李峥, Jan Feiling, 任洪亮, Haoyong Yu

《工程（英文）》 2015年 第1卷 第1期   页码 73-78 doi: 10.15302/J-ENG-2015011

摘要：

本文介绍了基于约束型蛇形拉线机构（CTSM）的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比，基于CTSM的机器人具有更大的工作空间，更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控， 包括两种操作模式——直接映射模式和增量模式。在每一种模式下，该机器人都可以采用“最大刚度”方案或“最小运动”方案来操控。CTSM的以上优点在仿真模拟和实验中均得以验证。

关键词： 外科手术机器人     柔性机械臂     拉线机构     机器人微创手术    

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Evaluation of the harmonic scalpel in open surgery for abdominal aortic aneurysm

null

《医学前沿（英文）》 2012年 第6卷 第1期   页码 85-88 doi: 10.1007/s11684-012-0174-x

摘要：

The harmonic scalpel is a hemostatic device primarily designed for use in laparoscopic surgery. During the last few years, many surgeons have begun to use the harmonic scalpel in open surgery. Several papers have cited the benefits of the device compared with conventional knot-tying techniques; however, no evidence showing the advantages of using the harmonic scalpel in complicated abdominal aortic aneurysm (AAA) surgery has been presented. The aim of the present study is to determine the value of the harmonic scalpel in open operation for AAA. A total of 153 patients who underwent open surgery for AAA at the Department of Vascular Surgery of Guangdong General Hospital, China between January 2001 and December 2010, were retrospectively analyzed. Open surgery performed with the harmonic scalpel on 105 patients was compared with open operation using conventional knot-tying techniques on 48 patients. The operative time, intraoperative blood loss, total postoperative drainage fluid volumes, hospital stay, and postoperative complications between the two groups were compared. The harmonic scalpel group was associated with a shorter operation time (113.2±23.6 min vs. 232.1±39.2 min, P<0.01) and lower intraoperative blood loss (126.1±96.6 ml vs. 592.1±207.2 ml, P<0.01). Postoperative drainage fluid volumes were greater in the conventional surgery group than in the harmonic scalpel group (702.1±192.8 ml vs. 198.5±97.4 ml, P<0.01). The hospital stay was shorter for the harmonic scalpel group than for the conventional surgery group (10.7±3.3 d vs. 16.5±4.7 d, P<0.05). No differences between the postoperative complications or hospital mortality of the two groups were found. The harmonic scalpel is a safe and minimally invasive tool in open surgery for AAA and is associated with shorter operative time, shorter hospital stay, and lower intraoperative blood loss and postoperative drainage fluid volumes compared with conventional knot-tying techniques.

关键词： abdominal aortic aneurysm     harmonic scalpel     minimally invasive    

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Laparoscopic surgery for pancreatic lesions: current status and future

Taiping Zhang, Xiao Du, Yupei Zhao

《医学前沿（英文）》 2011年 第5卷 第3期   页码 277-282 doi: 10.1007/s11684-011-0147-5

摘要： Laparoscopic pancreatic surgery has been gaining increasing recognition in recent years, and its practice has increased despite its highly complex procedure and longer learning curve compared with surgeries for other abdominal organs. Laparoscopic distal pancreatectomy and tumor enucleation are two of the fastest-growing techniques and are currently in wide use because of their comparable technical simplicity. Literature review showed that laparoscopic distal pancreatectomy and enucleation are safe and efficient approaches for benign and low-degree malignant tumors; however, the indication for malignant tumors remains controversial. Laparoscopic pancreaticoduodenectomy is practiced in a limited number of surgical centers and presented as case reports or in small series. Although its feasibility was demonstrated by many surgeons, whether the laparoscopic procedure can achieve benefits comparable to or even more prominent than those of an open procedure has not been clinically proven. Prospective, randomized, controlled trials of laparoscopic operation versus open pancreatic surgery are necessary to justify the wide application and routine practice of the laparoscopic procedure for pancreatic lesions.

关键词： minimally invasive surgery     pancreatic surgery     pancreatic neoplasm     distal pancreatic lesions     pancreatic fistula    

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Surgical robotics: A look-back of latest advancement and bio-inspired ways to tackle existing challenges

Yang LIU, Jing LIU

《机械工程前沿（英文）》 2012年 第7卷 第4期   页码 376-384 doi: 10.1007/s11465-012-0352-1

摘要：

This article is dedicated to present a review on existing challenges and latest developments in surgical robotics in attempts to overcome the obstacles lying behind. Rather than to perform an exhaustive evaluation, we would emphasize more on the new insight by digesting the emerging bio-inspired surgical technologies with potentials to revolutionize the field. Typical approaches, possible applications, advantages and technical challenges were discussed. Evolutions of surgical robotics and future trends were analyzed. It can be found that, the major difficulties in the field of surgical robots may not be properly addressed by only using conventional approaches. As an alternative, bio-inspired methods or materials may shed light on new innovations. While endeavors to deal with existing strategies still need to be made, attentions should be paid to also borrow ideas from nature.

关键词： minimally invasive surgery     surgical robotics     haptic feedback     miniaturization     bio-inspiration     bionics    

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A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

《机械工程前沿（英文）》 2014年 第9卷 第4期   页码 317-330 doi: 10.1007/s11465-014-0304-z

摘要：

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.

关键词： mobile robot     obstacle avoidance     Invasive Weed Optimization     navigation    

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Application of the invasive weed optimization algorithm to economic dispatch problems

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH

《能源前沿（英文）》 2012年 第6卷 第3期   页码 255-259 doi: 10.1007/s11708-012-0202-1

摘要： In this paper the invasive weed optimization algorithm has been applied to a variety of economic dispatch (ED) problems. The ED problem is concerned with minimizing the fuel cost by optimally loading the electrical generators which are committed to supply a given demand. Some involve prohibited operating zones, transmission losses and valve point loading. In general, they are non-linear non-convex optimization problems which cannot be directly solved by conventional methods. In this work the invasive weed algorithm, a meta-heuristic method inspired by the proliferation of weeds, has been applied to four numerical examples and has resulted in promising solutions compared to published results.

关键词： economic dispatch (ED)     invasive weed optimization     non-convexity     prohibited operating zones (POZ)     valve point loading     meta-heuristic    

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Combined heat and power economic dispatch problem using the invasive weed optimization algorithm

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH, T. RAGHUNATHAN

《能源前沿（英文）》 2014年 第8卷 第1期   页码 25-30 doi: 10.1007/s11708-013-0276-4

摘要： Cogeneration units which produce both heat and electric power are found in many process industries. These industries also consume heat directly in addition to electricity. The cogeneration units operate only within a feasible zone. Each point within the feasible zone consists of a specific value of heat and electric power. These units are used along with other units which produce either heat or power exclusively. Hence the economic dispatch problem for these plants optimizing the fuel cost is quite complex and several classical and meta-heuristic algorithms have been proposed earlier. This paper applies the invasive weed optimization algorithm which is inspired by the ecological process of weed colonization and distribution. The results obtained have been compared with those obtained by other methods earlier and showed a marked improvement over earlier ones.

关键词： combined heat and power (CHP)     economic dispatch     meta-heuristic algorithm     invasive weed optimization     cogeneration    

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Non-invasive continuous blood pressure monitoring: a review of current applications

null

《医学前沿（英文）》 2013年 第7卷 第1期   页码 91-101 doi: 10.1007/s11684-013-0239-5

摘要：

Blood pressure monitoring has come a long way from the initial observations made by Reverend Hales in the 18th century. There are none that deny the importance of monitoring perioperative blood pressure; however, the limited ability of the current prevalent technology (oscillometric blood pressure monitoring) to offer continuous blood pressure measurements leaves room for improvement. Invasive monitoring is able to detect beat-to-beat blood pressure measurement, but the risks inherent to the procedure make it unsuitable for routine use except when this risk is outweighed by the benefits. This review focuses on the discoveries which have led up to the current blood pressure monitoring technologies, and especially the creation of those offering non-invasive but continuous blood pressure monitoring capabilities, including their methods of measurement and limitations.

关键词： non-invasive blood pressure monitoring     continuous blood pressure monitoring     invasive blood pressure monitoring     Riva-Rocci technique     oscillometric     Pe?áz technique     arterial tonometry     pulse transit time    

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Functional trait differences between native bunchgrasses and the invasive grass

Huiqin HE, Thomas A. MONACO, Thomas A. JONES

《农业科学与工程前沿（英文）》 2018年 第5卷 第1期   页码 139-147 doi: 10.15302/J-FASE-2017175

摘要： We conducted 30- and 60-d greenhouse experiments to compare functional traits of (invasive annual grass) and four perennial bunchgrasses under well-watered or drought conditions. Even under drought, experienced significantly less stress (i.e., higher xylem pressure potential and greater shoot water content, water use per day and water-use efficiency) and biomass production than the perennial grasses after 30 d. However, after 60 d, its superiority was reduced under infrequent watering. Differences among perennial grasses were more pronounced for physiological traits under infrequent watering and for morphological traits under frequent watering. (fast-growing species) had a higher transpiration rate, lower leaf temperature, and lower water-use efficiency than the other grasses after 30 d. In contrast, (slow-growing) had lower xylem pressure potential and higher leaf temperature than all other grasses under infrequent watering. Under frequent watering, shoot dry mass and specific leaf area of was matched by (moderate-growing species). Our results indicate that multiple-species plantings or seedings are necessary to foster greater weed resistance against . We also emphasize that when choosing plant material for restoration, performance during both pulse (resource-rich) and inter-pulse (resource-poor) periods should be considered.

关键词： annual grass     comparative growth     drought response     invasive plant     native grass     specific leaf area     soil-water use    

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Can intravesical bacillus Calmette-Guérin reduce recurrence in patients with non-muscle invasive bladder

null

《医学前沿（英文）》 2014年 第8卷 第2期   页码 241-249 doi: 10.1007/s11684-014-0328-0

摘要：

Approximately 70% of newly diagnosed bladder tumors are non-muscle invasive bladder cancer (NMIBC). NMIBC accounts for approximately 80% of total bladder cancer cases. Bacillus Calmette-Guérin (BCG) instillation and maintenance is considered as the standard adjuvant treatment for superficial bladder cancer. A number of randomized studies have focused on the benefit of maintenance therapy following initial BCG induction. To provide further insights into the effect of intravesical instillation on recurrence in patients with NMIBC, we analyzed this relationship by conducting an updated detailed meta-analysis. Evidence suggested that adjuvant intravesical BCG with maintenance treatment is significantly effective for the prophylaxis of tumor recurrence in patients with NMIBC.

关键词： non-muscle invasive bladder cancer     bacillus Calmette-Guérin (BCG)     meta-analysis    

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标题 作者 时间 类型 操作

Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

期刊论文

Strategies of minimally invasive treatment for intrahepatic and extrahepatic bile duct stones

null

期刊论文

A new minimally invasive treatment for anal fistula

null

期刊论文

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

期刊论文

State-of-the-art of intelligent minimally invasive surgical robots

Masakatsu G. Fujie, Bo Zhang

期刊论文

面向机器人微创手术的新型遥控柔性机器人

李峥, Jan Feiling, 任洪亮, Haoyong Yu

期刊论文

Evaluation of the harmonic scalpel in open surgery for abdominal aortic aneurysm

null

期刊论文

Laparoscopic surgery for pancreatic lesions: current status and future

Taiping Zhang, Xiao Du, Yupei Zhao

期刊论文

Surgical robotics: A look-back of latest advancement and bio-inspired ways to tackle existing challenges

Yang LIU, Jing LIU

期刊论文

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

期刊论文

Application of the invasive weed optimization algorithm to economic dispatch problems

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH

期刊论文

Combined heat and power economic dispatch problem using the invasive weed optimization algorithm

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH, T. RAGHUNATHAN

期刊论文

Non-invasive continuous blood pressure monitoring: a review of current applications

null

期刊论文

Functional trait differences between native bunchgrasses and the invasive grass

Huiqin HE, Thomas A. MONACO, Thomas A. JONES

期刊论文

Can intravesical bacillus Calmette-Guérin reduce recurrence in patients with non-muscle invasive bladder

null

期刊论文