robotic surgical procedures

机器人外科手术
  • 文章类型: Case Reports
    腹腔镜胆囊切除术中溢出的胆结石可能会导致患者严重的并发症。我们介绍了一个在胆囊切除术中出现胆结石溢出的患者,几年后被发现胆结石卡在一个困难的地方,需要机器人手术。与传统的腹腔镜检查相比,机器人方法允许更大的视角。患者成功耐受了机器人手术,随访期间未报告患者症状.此案例解决了困难的解剖位置保留的胆结石,并证实了机器人腹部方法是安全的,微创选择。
    Spilled gallstones during laparoscopic cholecystectomy can potentially lead to serious complications in patients. We present a case of a patient with gallstone spillage during cholecystectomy who was found years later to have gallstones stuck in a difficult location, requiring robotic surgery. A robotic approach allows for greater visual angles compared to conventional laparoscopy. The patient tolerated the robotic procedure successfully, and no patient symptoms were reported during follow-up. This case addresses retained gallstones for difficult anatomical positions and confirms that a robotic abdominal approach is a safe, minimally invasive option.
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  • 文章类型: Case Reports
    背景技术逆转肠旋转不良是一种极其罕见的疾病,发病率为250000中的1。在日本,机器人辅助结直肠癌手术的应用有望增加。没有关于机器人辅助手术治疗盲肠癌伴有肠旋转不良的报道。病例报告一名84岁的日本男子上腹痛和腹胀被转诊到我院消化内科进行彻底检查。结肠镜检查显示盲肠和升结肠有半2型肿瘤。Gastrografin对比研究显示,大肠完全在患者的右侧,小肠向左侧移动。对比增强计算机断层扫描显示肿瘤附近淋巴结肿大,在肝脏观察到肿块,被认为是转移。检查后,逆转肠旋转不良和并发盲肠癌被诊断。患者被转诊到我们的部门进行手术,并接受了机器人辅助的回盲肠切除术和D3淋巴结切除术。术后病程良好,患者在术后第六天出院,没有并发症。根据日本结肠直肠分类,阑尾,和肛门癌第9版,病理诊断为pT4b(回肠),pN1b,cM1a(H1[等级A]),和IVa期癌症。在与家人协商考虑肿瘤分期和患者的整体状况后,我们决定不进行姑息性全身治疗.为患者提供了最佳的支持性护理。结论机器人辅助手术可能是有用的操作的剥离的粘连,由于其高分辨率三维成像和镊子操作的能力,使用明确的功能。
    BACKGROUND Reversed intestinal malrotation is an extremely rare disease, with an incidence of 1 in 250 000. In Japan, application of robotic-assisted colorectal cancer surgery is expected to increase. There are no reports of robot-assisted surgery for cecal cancer with reversed intestinal malrotation. CASE REPORT An 84-year-old Japanese man with epigastric pain and abdominal distention was referred to our hospital\'s Department of Gastroenterology for thorough examination. Colonoscopy revealed a semicircumferential type 2 tumor in the cecum and ascending colon. Gastrografin contrast study showed that the large intestine was entirely on the patient\'s right side and the small intestine was shifted to the left side. Contrast-enhanced computed tomography revealed enlarged lymph nodes near the tumor, and masses were observed at the liver, which were believed to be metastases. Following examination, reversed intestinal malrotation and concurrent cecal cancer was diagnosed. The patient was referred to our department for surgery and underwent robot-assisted ileocecal resection with D3 lymphadenectomy. The postoperative course was favorable, and patient was discharged on the sixth postoperative day, without complications. According to the Japanese Classification of Colorectal, Appendiceal, and Anal Carcinoma 9th edition, the pathological diagnosis was pT4b (ileum), pN1b, cM1a (H1 [grade A]), and pStage IVa cancer. After considering tumor stage and patient\'s overall condition in consultation with his family, we decided against palliative systemic therapy. The patient was provided with best supportive care. CONCLUSIONS Robot-assisted surgery might be useful in manipulation of the dissection of adhesions, owing to its capacity for high-resolution 3-dimensional imaging and forceps manipulation, using articulated functions.
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  • 文章类型: Journal Article
    背景:间隙张力是影响全膝关节置换术(TKA)临床结果的重要因素。传统的机械对准(MA)重视中性对准,通常需要额外的软组织释放。这可能与患者的不满有关。相反,功能对齐需要较少的软组织释放来实现间隙平衡。传统的间隙张力仪器在实践中存在几个缺点。这项研究的目的是使用改进的基于垫片的间隙工具和MAKO机械臂系统,通过FA引入一种新的间隙平衡技术。
    方法:共有22名连续患者使用MAKO机械臂系统接受了原发性TKA。在操作期间用改进的基于间隔件的间隙工具评估和调节间隙张力。术后用5分Likert量表评估患者满意度。临床结果包括下肢对齐,术前记录膝关节社会评分(KSS)和西安大略省和麦克马斯特大学关节炎指数(WOMAC),术后3个月和1年。
    结果:手术后患者的活动范围(ROM)显着增加(p<0.001),并且没有患者出现屈曲挛缩。KSS和WOMAC评分在3个月和1年随访时显著提高(均p<0.001)。在手术过程中,经调整的胫骨切口显示内翻多于计划,经调整的股骨切口显示外旋多于计划(两者p<0.05).最终的髋-膝-踝角度(HKA)也比计划的更内翻(p<0.05)。
    结论:这种基于垫片的间隙平衡技术与MAKO机械臂系统相结合,可以保证控制下肢对准并改善TKA后的功能结局。
    BACKGROUND: Gap tension is an important factor influencing the clinical outcomes of total knee arthroplasty (TKA). Traditional mechanical alignment (MA) places importance on neutral alignment and often requires additional soft tissue releases, which may be related to patient dissatisfaction. Conversely, the functional alignment requires less soft tissue release to achieve gap balance. Conventional gap tension instruments present several shortcomings in practice. The aim of this study is to introduce a new gap balancing technique with FA using the modified spacer-based gap tool and the MAKO robotic arm system.
    METHODS: A total of 22 consecutive patients underwent primary TKA using the MAKO robotic arm system. The gap tension was assessed and adjusted with the modified spacer-based gap tool during the operation. Patient satisfaction was evaluated post-operatively with a 5-point Likert scale. Clinical outcomes including lower limb alignment, Knee Society Score (KSS) and Western Ontario and McMaster Universities Arthritis Index (WOMAC) were recorded before surgery, 3 months and 1 year after surgery.
    RESULTS: The range of motion (ROM) was significantly increased (p < 0.001) and no patients presented flexion contracture after the surgery. KSS and WOMAC score were significantly improved at 3 months and 1 year follow-up (p < 0.001 for all). During the surgery, the adjusted tibial cut showed more varus than planned and the adjusted femoral cut presented more external rotation than planned (p < 0.05 for both). The final hip-knee-ankle angle (HKA) was also more varus than planned (p < 0.05).
    CONCLUSIONS: This kind of spacer-based gap balancing technique accompanied with the MAKO robotic arm system could promise controlled lower limb alignment and improved functional outcomes after TKA.
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  • 文章类型: Journal Article
    机器人辅助支气管镜(RAB)允许在肺中进行靶向支气管镜活检。在基于在三维(3D)肺上执行的映射和从手术前薄片计算机断层扫描胸部获得的气道重建建立到目标病变的路径之后,机器人辅助支气管镜在直视下导航通过气道。RAB对整个肺部的远端气道具有可操作性,精确的导管尖端铰接,和机器人手臂的稳定性。辅助成像工具,如荧光透视,径向支气管超声(r-EBUS),和锥形束计算机断层扫描(CBCT)可以与RAB一起使用。使用形状传感机器人辅助支气管镜检查(ssRAB)的研究表明,在恶性和非恶性过程中,周围肺部病变(PPL)的活检均具有良好的诊断结果和安全性。与传统的带有镊子活检的支气管镜检查相比,已证明与ssRAB结合的1.1mm冷冻探针可安全有效地诊断PPL。该技术还可用于良性过程中的靶向肺采样。本文的目的是描述一种逐步执行RAB结合荧光透视的方法。r-EBUS,和CBCT以获得靶向的经支气管肺冷冻活检(TBLC)。
    Robotic-assisted bronchoscopy (RAB) allows for targeted bronchoscopic biopsy in the lung. A robotic-assisted bronchoscope is navigated through the airways under direct vision after establishing a pathway to a target lesion based on mapping performed on a 3-dimensional (3D) lung and airway reconstruction obtained from a pre-procedure thin-slice computed tomography chest. RAB has maneuverability to distal airways throughout the lung, precise catheter tip articulation, and stability with the robotic arm. Adjunct imaging tools such as fluoroscopy, radial endobronchial ultrasound (r-EBUS), and cone beam computed tomography (CBCT) can be used with RAB. Studies using shape-sensing robotic-assisted bronchoscopy (ssRAB) have shown favorable diagnostic outcomes and safety profiles in both malignant and non-malignant processes for the biopsy of peripheral pulmonary lesions (PPLs). A 1.1 mm cryoprobe combined with ssRAB has been shown to be safe and effective for the diagnosis of PPLs compared to a traditional bronchoscopy with forceps biopsy. This technique can also be used for targeted lung sampling in benign processes. The aim of this article is to describe a stepwise approach to performing RAB combined with fluoroscopy, r-EBUS, and CBCT to obtain targeted transbronchial lung cryobiopsies (TBLC).
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  • 文章类型: Journal Article
    保留脾脏的远端胰腺切除术为传统的远端胰腺切除术联合脾切除术提供了一种替代的手术方法,以去除远端胰腺的良性和低度恶性病变。避免与脾切除术相关的并发症。该过程可以通过切除和结扎脾血管(Warshaw技术)或通过保留脾血管(Kimura技术)来完成。目前,微创手术的广泛使用已经确立了腹腔镜和机器人方法用于保留脾脏的远端胰腺切除术是治疗此类疾病的有效和安全的选择.我们的协议旨在描述如何通过机器人进行保留脾脏的远端胰腺切除术的Warshaw和Kimura技术。第一位患者是一名36岁的女性,在胰腺体内患有神经内分泌肿瘤(NET),她接受了保留脾脏的远端胰腺切除术并结扎了脾血管(WT)。第二名患者是一名76岁的男性,患有慢性胰腺炎,胰腺尾部的主胰管扩张,他接受了保留血管的方法(KT)的保留脾脏的远端胰腺切除术。
    Spleen-preserving distal pancreatectomy offers an alternative surgical approach to the traditional distal pancreatectomy combined with splenectomy for removing benign and low-grade malignant lesions in the distal pancreas, avoiding complications associated with splenectomy. This procedure can be accomplished either by resecting and ligating the splenic vessels (Warshaw technique) or by preserving them (Kimura technique). Currently, the widespread use of minimally invasive surgery has established laparoscopic and robotic approaches for spleen-preserving distal pancreatectomy as valid and safe options for treating such conditions. Our protocol aims to describe how the Warshaw and Kimura techniques of spleen-preserving distal pancreatectomy can be performed robotically. The first patient is a 36-year-old female with a neuroendocrine tumor (NET) in the pancreatic body who underwent a spleen-preserving distal pancreatectomy with the ligation of the splenic vessels (WT). The second patient is a 76-year-old male with chronic pancreatitis presenting with a dilated main pancreatic duct in the tail of the pancreas who underwent a spleen-preserving distal pancreatectomy with a vessel-preserving approach (KT).
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  • 文章类型: Journal Article
    视网膜前膜(ERM)在玻璃体视网膜病理学中提出了共同的挑战,经常导致老年人视力障碍。预眼手术系统(PSS)支持通过机器人辅助膜剥离(RA-MP)手术去除ERM。这项研究比较了使用PSS进行手动膜剥离(MMP)和RA-MP之间的手术时间和医源性出血。
    9例患者接受RA-MP和PSS,而16例患者(18只眼)接受了MMP进行比较分析。手术持续时间分为RA-MP,手动钳在PSS手术中的使用(mRA-MP),传统的MMP。累积手动操作持续时间(cMMP),仪表夹具,术中出血采用Mann-WhitneyU检验进行统计学分析。
    与MMP相比,RA-MP显示出明显更长的剥离时间(P<0.001)。方法之间的皮瓣起始抓握相似(P=0.86),RA-MP显示出剥离抓取(P=0.01)和平均每分钟抓取(P<0.001)的显著减少。虽然RA-MP导致较少的出血,与MMP相比,差异无统计学意义(P=0.08).
    尽管RA-MP倾向于延长手术时间,它在减少组织创伤和术中出血方面具有优势。需要进一步的研究来探索新手外科医生的学习曲线并评估RA-MP的安全性。
    RA-MP可能比手动手术具有潜在的优势,特别是在减少组织创伤和术中出血方面。尽管与手动技术相比,其持续时间更长,RA-MP可能导致更少的抓握动作和更低的出血率,从而提高玻璃体视网膜手术的安全性和精确性。
    UNASSIGNED: Epiretinal membranes (ERM) pose a common challenge in vitreoretinal pathology, often causing vision impairment in older adults. The Preceyes Surgical System (PSS) supports the surgical removal of ERM through robot-assisted membrane peeling (RA-MP). This study compares surgical times and iatrogenic hemorrhages between manual membrane peeling (MMP) and RA-MP using PSS.
    UNASSIGNED: Nine patients underwent RA-MP with PSS, whereas 16 patients (18 eyes) underwent MMP for comparative analysis. Surgical durations were categorized into RA-MP, manual forceps utilization in PSS surgeries (mRA-MP), and traditional MMP. Cumulative manual manipulation duration (cMMP), instrument grasps, and intraoperative hemorrhages were statistically analyzed using the Mann-Whitney U test.
    UNASSIGNED: RA-MP showed significantly longer peeling times compared to MMP (P < 0.001). Flap initiation grasps were similar between methods (P = 0.86), RA-MP demonstrated a significant reduction in peeling grasps (P = 0.01) and mean grasps per minute (P < 0.001). Although RA-MP resulted in fewer hemorrhages, the difference did not reach statistical significance relative to MMP (P = 0.08).
    UNASSIGNED: Although RA-MP tended to extend surgical time, it offered advantages in reducing tissue trauma and intraoperative hemorrhages. Further research is needed to explore the learning curve for novice surgeons and evaluate the safety profile of RA-MP.
    UNASSIGNED: RA-MP may offer potential advantages over manual surgery, particularly in terms of reduced tissue trauma and intraoperative hemorrhages. Despite its longer duration compared with manual techniques, RA-MP may lead to fewer grasping maneuvers and lower rates of hemorrhages, thereby enhancing the safety and precision of vitreoretinal surgeries.
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  • 文章类型: Journal Article
    成本,物流,机器人模拟机会的可用性为机器人手术训练带来了真正的挑战。我们旨在测试一种新的方法,用于介绍机器人手术会前课程。开发了两个不同的“机器人手术入门”会前课程。使用套筒/旁路的新方法,实施了腹侧TAPP和腹股沟TAPP硅胶模型.会议结束后,受训者使用1-5个Likert量表回答了评估课程和方法的问卷。共有21名参与者参加了课程,(72.2%)没有机器人手术的经验。所有学员都将课程评为良好或优秀。对于此类模拟/课程的有机硅模型的充分性,参与者之间达成了强烈的共识。受训者同意,课程给了他们更多的信心来执行真正的机器人程序,增加了他们对机器人手术的兴趣,让他们觉得准备好开始他们的机器人手术途径。大会是外科医生和机器人系统之间经常接触的方式,主要以技术演示或大会前课程的形式。我们的方法表明,可以以低成本的方式进行这种接触。这种课程受到国会代表的欢迎,并产生了积极的教育影响。尽管是“发现”课程,他们对国会有积极的影响,关于获取机器人手术技能并增加对机器人手术的兴趣。
    Cost, logistics, and availability of robotic simulation opportunities suppose a real challenge for robotic surgery training. We aimed to test a new methodology for introduction to robotic surgery pre-congress courses. Two different \"introduction to robotic surgery\" pre-congress courses were developed. A new methodology using a sleeve/bypass, a ventral TAPP and an inguinal TAPP silicone models was implemented. After the session, the trainees answered a questionnaire to evaluate the course and the methodology using 1-5 Likert scales. A total of 21 participants participated in the courses and (72.2%) had no experience in robotic surgery. All trainees rated the course as good or excellent. There was a strong agreement between participants regarding the adequacy of the silicone models for this type of simulation/course. Trainees agree that the course gave them more confidence to perform a real robotic procedure, increased their interest in robotic surgery and made them feel ready to start their robotic surgery pathway. Congresses are a frequent way of contact between surgeons and robotic systems, mostly in the form of technical demonstrations or pre-congress courses. Our methodology showed that it is possible to allow for this contact in a low-cost way. This kind of courses is well received by congress delegates and have a positive educational impact. Despite of being \"Discovery\" courses, they have a positive impact on the congress, on the acquisition of robotic surgery skills and increase the interest in robotic surgery.
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  • 文章类型: Journal Article
    高血压脑出血(HICH),特别是影响基底神经节,是一种具有高死亡率和发病率的毁灭性疾病。传统管理,主要是保守或侵入性开颅手术,往往导致糟糕的结果。这项研究强调了机器人辅助引流作为轻度基底节出血的最佳治疗选择的潜力。机器人辅助引流和保守治疗的回顾性比较表明,手术组患者的预后显着改善。预后良好,功能恢复较好。此外,机器人辅助手术已被证明可以减少手术时间,失血,与传统神经内镜下血肿清除术相比,住院时间。虽然这些发现令人鼓舞,这项研究的局限性,包括小样本量和回顾性设计,需要进一步的研究。大规模随机对照试验对于评估机器人辅助引流对患者预后的长期成本效益和总体影响至关重要。
    Hypertensive intracerebral hemorrhage (HICH), particularly affecting the basal ganglia, is a devastating condition with high mortality and morbidity rates. Traditional management, primarily conservative or invasive craniotomy, often leads to poor outcomes. This study highlights the potential of robot-assisted drainage as a superior treatment option for minor basal ganglia hemorrhage. A retrospective comparison of robot-assisted drainage and conservative treatment demonstrated significantly improved patient outcomes in the surgical group, with higher rates of favorable prognosis and better functional recovery. Additionally, robot-assisted surgery has been shown to reduce operation time, blood loss, and hospital stay compared to traditional neuroendoscopic hematoma evacuation. While these findings are encouraging, the study\'s limitations, including small sample size and retrospective design, necessitate further research. A large-scale randomized controlled trial is essential to evaluate the long-term cost-effectiveness and overall impact of robot-assisted drainage on patient outcomes.
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  • 文章类型: Journal Article
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  • 文章类型: Journal Article
    We demonstrate robot-assisted treatment of a patient with benign pancreatic insulinoma. A 31-year-old patient suffered from attacks of weakness, numbness of the fingertips and «turbidity of consciousness» for 2 years. These symptoms occurred on an empty stomach and regressed after eating. We found pancreatic insulinoma. The patient underwent robotic enucleation of pancreatic tumor. Surgery time was 145 min. Postoperative period proceeded without complications. Hyperglycemia up to 10.5 mmol/l on the first postoperative day was followed by normalization after 4 days. The patient was discharged in 6 days after surgery. Minimally invasive robotic enucleation of insulinoma minimizes surgical trauma and provides precise resection of tumor. The key aspect of safe enucleation is localization of tumor at a distance of at least 2 mm from the pancreatic duct.
    Продемонстрирован опыт лечения пациента с инсулиномой поджелудочной железы методом робот-ассистированной энуклеации опухоли. Пациент, 31 год, в течение 2 лет отмечал приступы слабости, онемение кончиков пальцев на руках, «помутнения сознания», которые возникали натощак и купировались приемом пищи. При клинико-инструментальном обследовании обнаружена опухоль в теле-хвосте поджелудочной железы, выставлен диагноз инсулиномы. Пациенту выполнена робот-ассистированная энуклеация опухоли поджелудочной железы, длительность вмешательства составила 145 мин. Послеоперационный период протекал без осложнений. В первые послеоперационные сутки наблюдалась гипергликемия до 10,5 ммоль/л с последующей полной компенсацией гликемии до нормальных значений к 4 сут послеоперационного периода. Пациент выписан на 6-е сутки после операции. Применение робот-ассистированного мини-инвазивного доступа при выполнении энуклеации инсулином поджелудочной железы позволяет прецизионно удалить опухоль и минимизировать операционную травму. Ключевым моментом возможности безопасного выполнения энуклеации является расположение опухоли на расстоянии не менее 2 мм от протока поджелудочной железы.
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