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Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu
《医学前沿（英文）》 2020年 第14卷 第4期 页码 382-403 doi: 10.1007/s11684-020-0781-x
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
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。
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《医学前沿（英文）》 2015年 第9卷 第3期 页码 356-360 doi: 10.1007/s11684-015-0404-0
Robotic system has been increasingly used in pancreatectomy. However, the effectiveness of this method remains uncertain. This study compared the surgical outcomes between robot-assisted laparoscopic distal pancreatectomy and conventional laparoscopic distal pancreatectomy. During a 15-year period, 35 patients underwent minimally invasive approach of distal pancreatectomy in our center. Seventeen of these patients had robot-assisted laparoscopic approach, and the remaining 18 had conventional laparoscopic approach. Their operative parameters and perioperative outcomes were analyzed retrospectively in a prospective database. The mean operating time in the robotic group (221.4 min) was significantly longer than that in the laparoscopic group (173.6 min) (P = 0.026). Both robotic and conventional laparoscopic groups presented no significant difference in spleen-preservation rate (52.9% vs. 38.9%) (P = 0.505), operative blood loss (100.3 ml vs. 268.3 ml) (P = 0.29), overall morbidity rate (47.1% vs. 38.9%) (P = 0.73), and post-operative hospital stay (11.4 days vs. 14.2 days) (P = 0.46). Both groups also showed no perioperative mortality. Similar outcomes were observed in robotic distal pancreatectomy and conventional laparoscopic approach. However, robotic approach tended to have the advantages of less blood loss and shorter hospital stay. Further studies are necessary to determine the clinical position of robotic distal pancreatectomy.
关键词： distal pancreatectomy pancreatic neoplasm robotic surgery
New spinal robotic technologies
Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore
《医学前沿（英文）》 2019年 第13卷 第6期 页码 723-729 doi: 10.1007/s11684-019-0716-6
关键词： robotics spine surgery Mazor ExcelsiusGPS ROSA pedicle screw
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
关键词： minimally invasive surgery pancreatic surgery pancreatic neoplasm distal pancreatic lesions pancreatic fistula
Nonlinear dynamic analysis for elastic robotic arms
M. H. KORAYEM, H. N. RAHIMI
《机械工程前沿（英文）》 2011年 第6卷 第2期 页码 219-228 doi: 10.1007/s11465-011-0218-y
The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are carried out and results are discussed. Hence, advantages and disadvantages of each method are illustrated. Then, adding the joint flexibility to the system is dealt with and the obtained model is demonstrated. Finally, a brief description of the optimal motion generation is presented and the simulation is carried out to investigate the role of robot dynamic modeling in the control of robots.
关键词： robotic arms elastic link elastic joint nonlinear dynamics optimal control
Advances in tissue state recognition in spinal surgery: a review
Hao Qu, Yu Zhao
《医学前沿（英文）》 2021年 第15卷 第4期 页码 575-584 doi: 10.1007/s11684-020-0816-3
关键词： spinal surgery tissue state recognition image force sensing bioelectrical impedance
Current progress on natural orifice transluminal endoscopic surgery (NOTES)
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《医学前沿（英文）》 2012年 第6卷 第2期 页码 187-194 doi: 10.1007/s11684-012-0198-2
Natural orifice transluminal endoscopic surgery (NOTES) has received considerable interest in recent years as a novel surgical technique. Here, we aim to review the current progress on NOTES, particularly focusing on the advantages and complications related to NOTES, the recent advances of surgical approaches, new instruments for closure of the natural orifice incision, and the newly developed platform for NOTES. Finally, we make a prediction of the conceivable applications of NOTES on human subjects.
关键词： natural orifice transluminal endoscopic surgery (NOTES) laparotomy laparoscopy
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《医学前沿（英文）》 2013年 第7卷 第4期 页码 520-522 doi: 10.1007/s11684-013-0302-2
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
《机械工程前沿（英文）》 2011年 第6卷 第1期 页码 45-60 doi: 10.1007/s11465-011-0205-3
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.
关键词： anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization
Achievements in burn surgery over the past 50 years in China
WANG Shiliang
《医学前沿（英文）》 2008年 第2卷 第4期 页码 332-336 doi: 10.1007/s11684-008-0063-5
关键词： immunology scientific nutritional microbiology engineering
Stiffness analysis and experimental validation of robotic systems
Giuseppe CARBONE
《机械工程前沿（英文）》 2011年 第6卷 第2期 页码 182-196 doi: 10.1007/s11465-011-0221-3
Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.
关键词： robotics stiffness performance numerical and experimental estimations
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《医学前沿（英文）》 2011年 第5卷 第1期 页码 53-60 doi: 10.1007/s11684-011-0121-2
Video-assisted thoracoscopic surgery (VATS) provides a new approach for treating early-stage lung cancer. Lobectomy by VATS has many advantages over conventional thoracotomy, such as shorter recovery time, less postoperative pain, and faster resumption of a normal lifestyle. However, there is still much debate on the role of VATS in lobectomy for the treatment of lung cancer. Concerns regarding safety, the extent of mediastinal lymph node dissection, and long-term survival have made some surgeons apprehensive of its validity for lung cancer. In this paper, we review the development of thoracoscopy, the present status of VATS for early stage of non-small cell lung cancer (NSCLC), and comparison between VATS and open thoracotomy in the management of NSCLC.
关键词： non-small cell lung cancer video-assisted thoracoscopic surgery lobectomy
A novel task-oriented framework for dual-arm robotic assembly task
《机械工程前沿（英文）》 2021年 第16卷 第3期 页码 528-545 doi: 10.1007/s11465-021-0638-2
关键词： dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
Risk factors for ventilator-associated pneumonia among patients undergoing major oncological surgery
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《医学前沿（英文）》 2017年 第11卷 第2期 页码 239-246 doi: 10.1007/s11684-017-0509-8
Patients undergoing major oncological surgery for head and neck cancer (SHNC) have a particularly high risk of nosocomial infections. We aimed to identify risk factors for ventilator-associated pneumonia (VAP) in patients undergoing SHNC. The study included 465 patients who underwent SHNC between June 2011 and June 2014. The rate of VAP, risk factors for VAP, and biological aspects of VAP were retrospectively evaluated. The incidence of VAP was 19.6% (n=95) in patients who required more than 48 h of mechanical ventilation. Staphylococcus (37.7%), Enterobacteriaceae (32.1%), Pseudomonas(20.8%), and Haemophilus (16.9%) were the major bacterial species that caused VAP. The independent risk factors for VAP were advanced age, current smoking status, chronic obstructive pulmonary disease, and a higher simplified acute physiology score system II upon admission. Tracheostomy was an independent protective factor for VAP. The median length of stay in the ICU for patients who did or did not develop VAP was 8.0 and 6.5 days, respectively (P=0.006). Mortality among patients who did or did not develop VAP was 16.8% and 8.4%, respectively (P<0.001). The potential economic impact of VAP was high because of the significantly extended duration of ventilation. A predictive regression model was developed with a sensitivity of 95.3% and a specificity of 69.4%. VAP is common in patients who are undergoing SHNC and who require more than 48 h of mechanical ventilation. Therefore, innovative preventive measures should be developed and applied in this high-risk population.
关键词： ventilator-associated pneumonia (VAP) pneumonia risk factors surgery for head and neck cancer (SHNC)
标题 作者 时间 类型 操作
Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives
Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu
期刊论文
Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study
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期刊论文
New spinal robotic technologies
Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore
期刊论文
Laparoscopic surgery for pancreatic lesions: current status and future
Taiping Zhang, Xiao Du, Yupei Zhao
期刊论文
hepatectomy: comments on “Expert Consensus on Laparoscopic Hepatectomy (2013 Version) by National Hepatic SurgeryGroup, Society of Surgery, Chinese Medical Association”
null
期刊论文
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
期刊论文
Lobectomy by video-assisted thoracoscopic surgery (VATS) for early stage of non-small cell lung cancer
null
期刊论文
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