A popular design choice in current surgical robotics is to use mechanical cables to transmit mechanical energy from actuators located outside of the body, through a minimally invasive port, to instruments on the inside of the body. These cables enable high performance surgical manipulations including high bandwidth control, precision position control, and high force ability. However, cable drives become less efficient for longer distances, for paths that involve continuous curves, and for transmissions involving multiple degrees of freedom. In this paper, we consider the design tradeoffs for two methods of transmitting power through an access port with limited cross sectional area and curved paths - tendon/sheath mechanical transmissions and electrical wire transmissions. We develop a series of analytic models examining fundamental limits of efficiency, force and power as constrained by access geometry, material properties, and safety limits of heat and electrical hazards for these two transmission types. These models are used to investigate the potential of achieving the required mechanical power requirements needed for surgery with smaller access ports and more difficult access pathways. We show that an electrical transmission is a viable way of delivering more than sufficient power needed for surgery, highlighting the opportunity for next-generation actuators to enable more minimally invasive surgical devices.
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http://dx.doi.org/10.3389/frobt.2018.00050 | DOI Listing |
Pediatr Surg Int
January 2025
Department of Pediatric Surgery, First Affiliated Hospital, Zhengzhou University, Zhengzhou, 450052, China.
Objective: To review and compare robot-assisted ipsilateral ureteroureterostomy (RALUU) and laparoscopic ipsilateral uretero-ureterostomy (LUU) in terms of efficacy and outcomes.
Methods: Clinical data of 65 children with complete renal ureteral duplication deformity admitted to the First Affiliated Hospital of Zhengzhou University from January 2015 to December 2022 were collected. Among these, 42 patients underwent laparoscopic ureteroureterostomy (LUU), designated as the LUU group, while 23 patients received robot-assisted laparoscopic ureteroureterostomy (RALUU), designated as the RALUU group.
Eur Arch Otorhinolaryngol
January 2025
Department of Otolaryngology-Head and Neck Surgery, IRCCS Regina Elena National Cancer Institute, Istituti Fisioterapici Ospitalieri (IFO), Via Elio Chianesi 53, 00144, Rome, Italy.
Objectives: we evaluated the hypothesis that level of ctHPVDNA on the first postoperative day (POD-1); and at 15 days (POD-15) could be associated with the need for adjuvant therapy and the presence of recurrence.
Materials And Methods: this is a prospective observational study on biomarkers, focusing on the longitudinal monitoring of ctHPVDNA in a cohort of HPV-OPSCC patients undergoing TORS. Blood samples were collected according to the following schema: (1) pretreatment; (2) on first postoperative day (POD 1); and (3) at 15 days (POD 15).
J Shoulder Elbow Surg
January 2025
Roth | McFarlane Hand & Upper Limb Center, St Joseph's Health Care London, London, ON, Canada.
Background: Precise and accurate glenoid preparation is important for the success of shoulder arthroplasty. Despite advancements in preoperative planning software and enabling technologies, most surgeons execute the procedure manually. Patient-specific instrumentation (PSI) facilitates accurate glenoid guide pin placement for cannulated reaming; however, few commercially available systems offer depth of reaming control.
View Article and Find Full Text PDFArthroscopy
January 2025
Department of Orthopaedics, Lanzhou University Second Hospital, Lanzhou City, Gansu Province, China; Orthopaedics Clinical Medical Research Center of Gansu Province, Lanzhou University Second Hospital, Lanzhou City, Gansu Province, China; Intelligent Orthopaedic Industry Technology Center of Gansu Province, Lanzhou University Second Hospital, Lanzhou City, Gansu Province, China. Electronic address:
Purpose: To review patients with recurrent patellar dislocation surgically treated with robot-assisted medial patellofemoral ligament (MPFL) reconstruction compared with patients who underwent surgery using the traditional freehand technique.
Methods: A retrospective cohort study was performed to identify patients who underwent MPFL reconstruction from January 2020 to December 2023 in our hospital. The inclusion criteria were: patients aged from 15 to 50 years; patellar dislocation occurred two or more times; a Merchant view or computed tomography (CT) scan indicating patellofemoral joint malalignment, external patellar inclination, or lateral patellar dislocation; underwent MPFL reconstruction via robot-assisted or traditional freehand technique; complete medical records and imaging data before and after surgery; a minimum of 1 year of postoperative follow-up.
Curr Oncol Rep
January 2025
Department of General, Visceral and Thoracic Surgery, University Medical Center Hamburg- Eppendorf, Martinistraße 52, D-20246, Hamburg, Germany.
Purpose Of Review: Neuroendocrine tumours (NET) are rare entities arising from hormone producing cells in the gastroentero-pancreatic (GEP) tract. Surgery is the most common treatment of GEP-NETs.
Recent Findings: Improvements in surgical techniques allow for more locally advanced and metastasised GEP-NETs to be resected.
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