A Novel Retractable Robotic Device for Colorectal Endoscopic Submucosal Dissection.

Background/Aims: : Appropriate tissue tension and clear visibility of the dissection area using traction are essential for effective and safe endoscopic submucosal dissection (ESD). In this study, we developed a retractable robot-assisted traction device and evaluated its performance in colorectal ESD. Methods: : An experienced endoscopist performed ESD 18 times on an ex vivo porcine colon using the robot and 18 times using the conventional method. The outcome measures were procedure time, dissection speed, procedure-related adverse events, and blind dissection rate. Results: : Thirty-six colonic lesions were resected from ex vivo porcine colon samples. The total procedure time was significantly shorter in robot-assisted ESD (RESD) than in conventional ESD (CESD) (20.1±4.1 minutes vs 34.3±8.3 minutes, p<0.05). The submucosal dissection speed was significantly faster in the RESD group than in the CESD group (36.8±9.2 mm2/min vs 18.1±4.7 mm2/min, p<0.05). The blind dissection rate was also significantly lower in the RESD group (12.8%±3.4% vs 35.1%±3.9%, p<0.05). In an in vivo porcine feasibility study, the robotic device was attached to a colonoscope and successfully inserted into the proximal colon without damaging the colonic wall, and ESD was successfully performed. Conclusions: : The dissection speed and safety profile improved significantly with the retractable RESD. Thus, our robotic device has the potential to provide simple, effective, and safe multidirectional traction during colonic ESD.

A Lower-Back Exoskeleton With a Four-Bar Linkage Structure for Providing Extensor Moment and Lumbar Traction Force.

Lower back pain and related injuries are prevalent and serious problems in various industries, and high compression force to the lumbosacral (L5/S1) region has been known as one of the key factors. Previous research on passive lower back exoskeletons focused on reducing lumbar muscle activation by providing an extensor moment. Additionally, lumbar traction forces can reduce the compression force, and is a common treatment method for lower back pain in clinics. In this paper, we propose a novel passive lower back exoskeleton that provides both extensor moment and lumbar traction force. The working principle of the exoskeleton, extending the coil springs during lumbar flexion, and its design criteria regarding the amount of each force element were provided. The kinematic model explained its operation, and the dynamic simulation estimated its performance and validated its satisfaction with the design criteria. The biomechanical model provided a brief insight into the expected exoskeleton's effect on the reduced lower back compression force. Ten subjects performed static holding and dynamic lifting tasks, and the generated force elements in two directions, parallel and perpendicular to the trunk, were evaluated using a force sensor and electromyography sensors, respectively. The experiment demonstrated a pulling force opposite to the direction of intradiscal pressure and reduced erector spinae activation. This implies the effect of wearing the exoskeleton to decrease the intervertebral pressure during static back bending or heavy lifting tasks.

Endoscopic submucosal dissection using a detachable assistant robot: a comparative in vivo feasibility study (with video).

BACKGROUND: Appropriate tissue tension and clear visibility of the dissection area using traction are essential for effective and safe endoscopic submucosal dissection (ESD). We developed a robotic assistive traction device for flexible endoscopy and compared its safety and efficiency in ESD between experienced and novice endoscopists. METHODS: Robotic ESD was performed by experienced and novice endoscopist groups (n = 2, each). The outcomes included time to complete each ESD step, total procedure time, size of the dissected mucosa, rate of en bloc resection, and major adverse events. Furthermore, incision and dissection speeds were compared between groups. RESULTS: Sixteen gastric lesions were resected from nine live pigs. The submucosal incision speed was significantly faster in the expert group than in the novice group (P = 0.002). There was no significant difference in the submucosal dissection speed between the groups (P = 0.365). No complications were reported in either group. CONCLUSIONS: When the robot was assisting in the ESD procedure, the dissection speed improved significantly, especially in the novice surgeons. Our robotic device can provide simple, effective, and safe multidirectional traction during ESD.

A Pilot Study of Endoscopic Submucosal Dissection Using an Endoscopic Assistive Robot in a Porcine Stomach Model.

Background/Aims: Endoscopic assistive devices have been developed to reduce the complexity and improve the safety of surgeries involving the use of endoscopes. We developed an assistive robotic arm for endoscopic submucosal dissection (ESD) and evaluated its efficiency and safety in this in vitro pilot study. Methods: ESD was performed using an auxiliary transluminal endoscopic robot. An in vitro test bed replicating the intra-abdominal environment and pig stomachs were used for the experiment. Participants were divided into skilled operators and unskilled operators. Each group performed ESD 10 times by using both conventional and robot-assisted methods. The perforation incidence, operation time, and resected mucous membrane size were measured. Results: For the conventional method, significant differences were noted between skilled and unskilled operators regarding operation time (11.3 minutes vs 26.7 minutes) and perforation incidence (0/10 vs 6/10). Unskilled operators showed a large decrease in the perforation incidence with the robot-assisted method (conventional method vs robot-assisted method, 6/10 vs 1/10). However, the operation time did not differ between the conventional and robot-assisted methods. On the other hand, skilled operators did not show differences in the operation time and perforation incidence between the conventional and robot-assisted methods. Among both skilled and unskilled operators, the operation time decreased with the robot-assisted method as the experiment proceeded. Conclusions: The surgical safety of unskilled operators greatly improved with robotic assistance. Thus, our assistive robotic arm was beneficial for ESD. Our findings suggest that endoscopic assistive robots have positive effects on surgical safety.

Effect of Resistance Training Maintaining the Joint Angle-torque Profile Using a Haptic-based Machine on Shoulder Internal and External Rotation.

[Purpose] The aim of this study was to present an individualized resistance training method to enable exercise while maintaining an exercise load that is set according to an individual's joint angle-torque using a haptic-based resistance training machine. [Methods] Five participants (machine group) performed individualized shoulder internal and external rotation training with a haptic resistance training machine, while another five participants performed general dumbbell-based shoulder internal and external rotation training for eight weeks. Internal and external rotation powers of subjects were measured using an isokinetic machine before and after training. [Results] The average powers of both shoulder internal and external rotation has been improved after training (25.72%, 13.62%). The improvement in power of external rotation in the machine group was significantly higher than that in the control group. [Conclusion] This study proposes a haptic-based individualized rotator cuff muscle training method. The training protocol maintaining the joint angle-torque profile showed better improvement of shoulder internal/external rotation than dumbbell training.

The Effect of Shoulder Flexion Angles on the Recruitment of Upper-extremity Muscles during Isometric Contraction.

The purpose of this study was to investigate the differences in muscle activation patterns of the biceps brachii (BB) and flexor carpi radialis (FCR) muscles, while measuring the resultant force (RF) at different shoulder flexion angles. [Subjects] Thirteen healthy males (age 24.85±3.4 years, weight; 77.8±7.9 kg; height, 1.7±0.05 m) were enrolled in this study. [Methods] The resultant force was measured by a force transducer . The elbow angle remained constant and the flexion shoulder angle was changed (30°, 45°, 60°, 75° and 90°). [Results] The results of the surface EMG show the largest muscle activities occurred at a shoulder flexion of 75° for BB and 90° for FCR. The largest resultant force was measured at a shoulder flexion angle of 75°. We conclude, that when performing the biceps curl exercise using an arm curl machine, the shoulder should be flexed at 75° to maximize the focus of the exercise for the BB. [Conclusion] These results are useful from the perspective of design as they highlight the differences in the muscle activation of BB and FCR with postural change. Ultimately this knowledge can be used in the design of rehabilitation training for the shoulder as they show that posture can affect muscle activation.

Estimation of muscle response using three-dimensional musculoskeletal models before impact situation: a simulation study.

When car crash experiments are performed using cadavers or dummies, the active muscles' reaction on crash situations cannot be observed. The aim of this study is to estimate muscles' response of the major muscle groups using three-dimensional musculoskeletal model by dynamic simulations of low-speed sled-impact. The three-dimensional musculoskeletal models of eight subjects were developed, including 241 degrees of freedom and 86 muscles. The muscle parameters considering limb lengths and the force-generating properties of the muscles were redefined by optimization to fit for each subject. Kinematic data and external forces measured by motion tracking system and dynamometer were then input as boundary conditions. Through a least-squares optimization algorithm, active muscles' responses were calculated during inverse dynamic analysis tracking the motion of each subject. Electromyography for major muscles at elbow, knee, and ankle joints was measured to validate each model. For low-speed sled-impact crash, experiment and simulation with optimized and unoptimized muscle parameters were performed at 9.4 m/h and 10 m/h and muscle activities were compared among them. The muscle activities with optimized parameters were closer to experimental measurements than the results without optimization. In addition, the extensor muscle activities at knee, ankle, and elbow joint were found considerably at impact time, unlike previous studies using cadaver or dummies. This study demonstrated the need to optimize the muscle parameters to predict impact situation correctly in computational studies using musculoskeletal models. And to improve accuracy of analysis for car crash injury using humanlike dummies, muscle reflex function, major extensor muscles' response at elbow, knee, and ankle joints, should be considered.

Dynamic analysis of above-knee amputee gait.

BACKGROUND: It is important to understand the characteristics of amputee gait to develop more functional prostheses. The aim of this study is to quantitatively evaluate amputee gait by dynamic analysis of the musculoskeletal system during level walking and stair climbing. METHODS: Dynamic analysis using gait analysis, electromyography and musculoskeletal modeling for above-knee amputees (n=8) and healthy adults (n=10) was performed to evaluate the muscle balance, muscle force, and moment of each major muscle in each ambulatory task. Time-distance parameters and the kinematic parameter of gait analysis were calculated, and a root mean square electromyogram of major muscles and hamstring and tibialis anterior coactivity was measured using electromyography. Lastly, dynamic analyses of above-knee amputee gaits were performed using musculoskeletal models with scaled bones and redefined muscles for each subject. FINDINGS: Most kinematic parameters showed statistically no difference among the tasks, excluding pelvic tilt, pelvic obliquity, and hip abduction. Major muscle activities and coactivities of the hamstring and tibialis anterior showed that the stair ascent task needed more muscle activity than the stair descent task and level walking. The muscle activity and coactivity of amputees were greater than those of healthy subjects, excluding the hamstring coactivity during stair ascent (P<0.05). Lastly, dynamic analysis showed that weakened abductor and excessive adductor and then inadequate torque during all tasks were quantitatively observed. INTERPRETATION: Dynamic analysis of amputee gait enabled us to quantify the contribution of major muscles at the hip and knee joint mainly in daily ambulatory tasks of above-knee amputees and may be helpful in designing functional prostheses.