关键词： Dental implantation   Image-guided   Robotics   Registration  

摘要： Purpose One of the most important factors affecting the outcome of dental implantation is the accurate insertion of the implant into the patient's jaw bone, which requires a high degree of anatomical accuracy. With the accuracy and stability of robots, image-guided robotics is expected to provide more reliable and successful outcomes for dental implantation. Here, we proposed the use of a robot for drilling the implant site in preparation for the insertion of the implant. Methods An image-guided robotic system for automated dental implantation is described in this paper. Patient-specific 3D models are reconstructed from preoperative Cone-beam CT images, and implantation planning is performed with these virtual models. A two-step registration procedure is applied to transform the preoperative plan of the implant insertion into intra-operative operations of the robot with the help of a Coordinate Measurement Machine (CMM). Experiments are carried out with a phantom that is generated from the patient-specific 3D model. Fiducial Registration Error (FRE) and Target Registration Error (TRE) values are calculated to evaluate the accuracy of the registration procedure. Results FRE values are less than 0.30 mm. Final TRE values after the two-step registration are 1.42 +/- 0.70 mm (N = 5). Conclusions The registration results of an automated dental implantation system using image-guided robotics are reported in this paper. Phantom experiments show that the practice of robot in the dental implantation is feasible and the system accuracy is comparable to other similar systems for dental implantation.

关键词： robotic surgery   robotics   reproductive surgery   fertility preservation   myomectomy   tubal reanastomosis   ovarian transposition  

摘要： Reproductive surgery employs microsurgical techniques to achieve preservation of natural fertility and enhancement of assisted reproductive technologies. The minimalist approach of this branch of gynecology has made it the natural trailblazer of laparoscopic surgery. Minimally invasive conservative treatment of uterine, tubal, ovarian, and peritoneal pathology has long been the gold standard for women of reproductive age. Advanced laparoscopic surgery provides clear advantages over classic microsurgery, at the cost of significant technical challenges. Robot-assisted laparoscopic surgery is now posed to bridge this technical gap and promises to be the next revolution in the field of reproductive surgery.

摘要： The aim of this study was to retrospectively compare the safety, morbidity, and recurrence rate of total laparoscopic radical hysterectomy (TLRH) with lymphadenectomy and total robotic radical hysterectomy (RRH) with lymphadenectomy for early cervical carcinoma in a series of 99 consecutive women. We studied 99 consecutive patients with FIGO stage Ia1 (LVSI), Ia2, Ib1, Ib2, and IIa cervical cancer, 76 of whom underwent TLRH and 23 underwent RRH with pelvic lymph node dissection. Para-aortic lymphadenectomy, with the superior border of the dissection being the inferior mesenteric artery, was performed in all cases with positive pelvic lymph nodes discovered at frozen section evaluation. The mean blood loss was 157 ml in the RRH group (95% confidence interval [95% CI] 50-400) and 95 ml in the TLRH group (95% CI 30-500) (not significant [NS]). The median length of hospital stay was 3 days in the RRH group (95% CI 2-7) and 4 days in the TLRH group (95% CI 3-7) (NS). The mean operating time was 255 min for the TLRH group (95% CI 182-415) compared with 323 min in the RRH group (95% CI 161-433) (P < 0.05). No significant difference was found between the 2 groups when comparing the recurrence rate. Robotic radical hysterectomy can be considered a safe and effective therapeutic procedure for managing early-stage cervical cancer without significant differences, if compared with laparoscopic radical hysterectomy, in terms of the recurrence rate and intraoperative and postoperative complications, although multicenter randomized clinical trials with longer follow-up are necessary to evaluate the overall oncologic outcomes of this procedure.

关键词： Robot assisted cystectomy  

摘要： Background and Purpose: Robot-assisted laparoscopic radical cystectomy (RARC) with pelvic lymph node dissection (PLND) has gained popularity as a minimally invasive alternative to open radical cystectomy (ORC) for the treatment of patients with bladder cancer. The learning curve (LC) for laparoscopic and robotic surgery can be steep. We aim to evaluate the effect of the initial LC on operative, postoperative, and pathologic outcomes of the first 60 RARC performed at our newly established robotics program. Patients and Methods: After obtaining Institutional Review Board approval, we reviewed the clinical and pathologic data from 60 consecutive patients with clinically localized bladder cancer who underwent RARC with PLND from January 2008 to March 2010. The patients were grouped into tertiles and assessed for effect of LC using analysis of variance. Results: Patient demographics and clinical characteristics were similar across tertiles. The mean total operative time trended down from the 1st to 3rd tertile from 525 minutes to 449 minutes, respectively (P = 0.059). Mean estimated blood loss was unchanged across tertiles. Complications decreased as the LC progressed from 14 (70%) in the 1st tertile to 6 (30%) in each of the 2nd and 3rd tertiles (P < 0.013). The mean total lymph node yield and number of positive margins were unchanged across tertiles. Conclusions: RARC with PLND can be performed safely at a high-volume newly established robotic surgery program with an experienced team without compromising operative, postoperative, and short-term pathologic outcomes during the LC for surgeons who are experienced in ORC.

关键词： robotics   credentialing   currency   competency  

摘要： The rapid growth of robot-assisted surgery has created new challenges for hospitals to establish credentialing guidelines for new surgeons. Developing and maintaining these skills requires frequent practice. Borrowing from the aviation model that requires maintaining currency and demonstrating proficiency, robotic credentialing guidelines are being developed that will enable hospitals to insure patient safety and optimal outcomes. The utilization of computerized robotic simulators will, like flight simulators, also help surgeons to maintain and improve skills.

关键词： Legged walking machines   Tripod walking robots   Leg mechanisms   Dynamics simulation  

摘要： A mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev-Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks (R) engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC. ADAMS (R) environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

关键词： 23  

摘要： Background. Endoscopic coronary bypass has been a difficult procedure to perform. The recent introduction of the Intuitive EndoWrist stabilizer (Intuitive Surgical, Sunnyvale, CA) has facilitated this procedure robotically on the beating heart. The addition of anastomotic connectors allows a significant improvement in the execution of this technically demanding procedure. We report on our first 120 cases of totally endoscopic, beating heart connector coronary artery bypass grafting integrating these technologies. Methods. From January 2008 to April 2010, 120 patients (age range 43 to 86 years, 72% male) underwent either single or multivessel all arterial, totally endoscopic coronary artery bypass grafting using the da Vinci robot with the aid of the Flex A distal anastomotic device (Cardica, Redwood City, CA). Patients with multivessel disease involving branches of the right coronary and circumflex arteries underwent hybrid revascularization with stents. Early and midterm clinical outcomes were evaluated for all patients. Eighty-five internal mammary artery grafts in 68 patients were evaluated at a mean of 4 months using multidetector computed tomography and formal angiography (in 18 hybrid patients). Results. Mean hospital stay was 3.3 +/- 2.4 days. There was 1 postoperative death (the same patient had a stroke secondary to carotid disease), and 1 postoperative myocardial infarction. Two patients were converted to minithoracotomy and 1 patient was converted to sternotomy. One patient required cardiopulmonary bypass support through the femoral cannulation during the procedure. Mean intraoperative transit time flow in all the internal mammary artery grafts was 76 cc/minute +/- 43, and pulsatility index of 1.5 +/- 0.5. Of the 85 grafts evaluated angiographically, 80 were patent at a mean of 4 months (94.1%). Conclusions. Totally endoscopic beating heart connector coronary bypass using the da Vinci robot with the Flex A anastomotic device is a safe and reproducible pro

关键词： 机器人   减重   simulation  

摘要： 针对竞赛机器人对重量有特殊要求，按照经验采取的打减重孔的方案对减重的结果和减重后整个机器系统性能的影响有待验证。为了检验本届亚太大学生机器人竞赛中本小组机器人方铝管结构减重方案的合理性，我们采用有限元分析软件simulation进行相关性能分析并对比减重前后相关性能指标的变化情况，在验证经验减重法合理性的同时，为以后的机器人竞赛中减重方案提供理论依据。经过分析，表明经验减重法在中等载荷范围内具有很好的综合效果，为机器人的制作及调试带来很好的效果。

关键词： 双臂空间机器人   闭环   多体系统   自由漂浮   空间算子代数  

摘要： 为了对闭环双臂空间机器人本体位姿进行实时定位跟踪,推导了基于旋量的递推牛顿-欧拉运动学方程,结合自由漂浮空间机器人的线动量和角动量守恒理论,建立了基于空间算子代数理论的自由漂浮双臂空间机器人闭环系统的动力学方程.使用序贯滤波和光滑化最优估计理论方法对广义质量矩阵进行了分解与求逆,实现了O(n)次高效率计算.在Mathematica 6.0中编制了程序对2个平面3自由度机械臂闭环系统进行仿真验证.仿真结果与ADAMS结果进行的对比表明,基于空间算子代数的方法的仿真结果正确,计算效率高,可应用于空间复杂多体系统实时动力学仿真以及控制系统的建模分析.