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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

Frontiers of Medicine 2020, Volume 14, Issue 4,   Pages 382-403 doi: 10.1007/s11684-020-0781-x

Abstract: manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgicaldetailed landscape of the system configurations, actuation schemes, and control approaches of the existing surgical

Keywords： surgical robots     keyhole surgery     endoscopic surgery    

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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0698-y

Abstract: Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument andis a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgicalPromising simulations and experimental studies were conducted to evaluate the proposed method on our surgical

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

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Cutting performance of surgical electrodes by constructing bionic microstriped structures

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0728-9

Abstract: Surgical electrodes rely on thermal effect of high-frequency current and are a widely used medical toolThis study demonstrates a promising approach for improving the cutting performance of surgical electrodes

Keywords： surgical electrodes     tissue adhesion     thermal injury     bionic structures     cutting performance     medical    

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Comparison of surgical indications for hysterectomy by age and approach in 4653 Chinese women

Jingjing Jiang,Ting Ding,Aiyue Luo,Yunping Lu,Ding Ma,Shixuan Wang

Frontiers of Medicine 2014, Volume 8, Issue 4,   Pages 464-470 doi: 10.1007/s11684-014-0338-y

Abstract: However, national data regarding the indications and the surgical approaches for hysterectomy are lackingand the relative merits of different surgical approaches for hysterectomy in Chinese women.The abdominal surgical approach was used in 84% of all hysterectomies.The surgical approaches used were also related to the scope of surgery.Both the surgical indications and the rates of bilateral oophorectomy varied by age.

Keywords： hysterectomy     surgical indications     surgical approach     bilateral oophorectomy    

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Potential indicators predict progress after surgical resection of gastrointestinal stromal tumors

Qinggang Hu, Shanglong Liu, Jianwei Jiang, Chen Zhang, Xiaowei Liu, Qichang Zheng

Frontiers of Medicine 2012, Volume 6, Issue 3,   Pages 317-321 doi: 10.1007/s11684-012-0203-9

Abstract: potential indicators predicting prognosis of malignant gastrointestinal stromal tumors (GISTs) after surgicallocation and necrosis also influence on the long-term survival of patient with malignant GISTs after surgical

Keywords： gastrointestinal stromal tumors     surgery     survival    

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

Masakatsu G. Fujie, Bo Zhang

Frontiers of Medicine 2020, Volume 14, Issue 4,   Pages 404-416 doi: 10.1007/s11684-020-0743-3

Abstract: Consequently, the demand for reduced surgical invasiveness and enhanced efficiency in the medical fieldIntelligent 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.

Keywords： robot history     medical robot     surgical robot     radiofrequency ablation     organ model    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Advances in the management of the surgical complications for congenital cataract

Fangqin Ma, Qi Wang, Lihua Wang

Frontiers of Medicine 2012, Volume 6, Issue 4,   Pages 360-365 doi: 10.1007/s11684-012-0235-1

Abstract: Some complications could be avoided by meticulous attention to surgical technique and postoperative care

Keywords： cataract/congenital     surgery     cataract/complication    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Prevention of surgical site infection under different ventilation systems in operating room environment

Zhijian Liu, Haiyang Liu, Hang Yin, Rui Rong, Guoqing Cao, Qihong Deng

Frontiers of Environmental Science & Engineering 2021, Volume 15, Issue 3, doi: 10.1007/s11783-020-1327-9

Abstract: Biological particles in the operating room (OR) air environment can cause surgical site infections (SSIsdifferent ventilation systems on the control of bacteria-carrying particles (BCPs) released from the surgicalventilation system but also on the airflow distribution, which was greatly affected by obstacles such as surgicallamps and surgical staff.

Keywords： Operating room (OR)     Bacteria-carrying particles (BCPs)     Surgical site infections (SSIs)     Ventilation    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Identification of surgical patients at high risk of OSAS using the Berlin Questionnaire to detect potential

Fei Liu, Li Liu, Fang Zheng, Xiangdong Tang, Yongxin Bao, Yunxia Zuo

Frontiers of Medicine 2018, Volume 12, Issue 2,   Pages 189-195 doi: 10.1007/s11684-017-0533-8

Abstract: This study uses Berlin Questionnaire (BQ) to identify Chinese adult surgical patients who are at a high

Keywords： obstructive sleep apnea     Berlin Questionnaire     Chinese surgical patients     adverse respiratory event    

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Challenges and opportunities in improving left ventricular remodelling and clinical outcome following surgical

Frontiers of Medicine 2021, Volume 15, Issue 3,   Pages 416-437 doi: 10.1007/s11684-021-0852-7

Abstract: Over the last half century, surgical aortic valve replacement (SAVR) has evolved to offer a durable and

Keywords： surgical aortic valve replacement     trans-catheter aortic valve implantation     left ventricular hypertrophy    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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The evolution of surgical and medical treatment of aortic root aneurysm

Xu Yu Jin,Li Yuan,Mario Petrou,John R. Pepper

Frontiers of Medicine 2014, Volume 8, Issue 4,   Pages 427-432 doi: 10.1007/s11684-014-0385-4

Abstract:

Since first report of aortic root replacement in 1968, the surgical risk and long term outcome ofIn the last 30 years, the surgical approach is also evolving towards more valve conservation with prophylacticalTranslational research has also led to emerging surgical innovation and new drug therapy.

Keywords： aortic root aneurysm     aortic root replacement     valve sparing root replacement     personalised external aortic root support    

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Title Author Date Type Operation

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

Journal Article

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

Journal Article

Cutting performance of surgical electrodes by constructing bionic microstriped structures

Journal Article

Comparison of surgical indications for hysterectomy by age and approach in 4653 Chinese women

Jingjing Jiang,Ting Ding,Aiyue Luo,Yunping Lu,Ding Ma,Shixuan Wang

Journal Article

Potential indicators predict progress after surgical resection of gastrointestinal stromal tumors

Qinggang Hu, Shanglong Liu, Jianwei Jiang, Chen Zhang, Xiaowei Liu, Qichang Zheng

Journal Article

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

Masakatsu G. Fujie, Bo Zhang

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Advances in the management of the surgical complications for congenital cataract

Fangqin Ma, Qi Wang, Lihua Wang

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Prevention of surgical site infection under different ventilation systems in operating room environment

Zhijian Liu, Haiyang Liu, Hang Yin, Rui Rong, Guoqing Cao, Qihong Deng

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Identification of surgical patients at high risk of OSAS using the Berlin Questionnaire to detect potential

Fei Liu, Li Liu, Fang Zheng, Xiangdong Tang, Yongxin Bao, Yunxia Zuo

Journal Article

Challenges and opportunities in improving left ventricular remodelling and clinical outcome following surgical

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

The evolution of surgical and medical treatment of aortic root aneurysm

Xu Yu Jin,Li Yuan,Mario Petrou,John R. Pepper

Journal Article