sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary Study.

Robotic surgery represents a major breakthrough in the evolution of medical technology. Accordingly, efficient skill training and assessment methods should be developed to meet the surgeon's need of acquiring such robotic skills over a relatively short learning curve in a safe manner. Different from conventional training and assessment methods, we aim to explore the surface electromyography (sEMG) signal during the training process in order to obtain semantic and interpretable information to help the trainee better understand and improve his/her training performance. As a preliminary study, motion primitive recognition based on sEMG signal is studied in this work. Using machine learning (ML) technique, it is shown that the sEMG-based motion recognition method is feasible and promising for hand motions along 3 Cartesian axes in the virtual reality (VR) environment of a commercial robotic surgery training platform, which will hence serve as the basis for new robotic surgical skill assessment criterion and training guidance based on muscle activity information. Considering certain motion patterns were less accurately recognized than others, more data collection and deep learning-based analysis will be carried out to further improve the recognition accuracy in future research.

Submucosal tunneling endoscopic resection for upper gastrointestinal submucosal tumors originating from the muscularis propria layer.

OBJECTIVE: To estimate the safety and efficacy of submucosal tunneling endoscopic resection (STER) for upper gastrointestinal submucosal tumors (SMTs) originating from the muscularis propria layer. METHODS: During October 2011 and May 2014, a total of 80 patients with SMTs underwent STER at our hospital. A submucosal tunnel was created from 3-5 cm above the tumor. Endoscopic submucosal dissection of the SMT was performed, and then the mucosal incision was closed with several clips after the tumor was removed. RESULTS: All the 80 patients underwent STER successfully, with a mean operation time of 61.2 min. Eighty-three SMTs were removed; among these, 67 were located in the esophagus and 16 in the gastric cardia, 68 were leiomyoma, and 15 were gastrointestinal stromal tumors, and 13 had a diameter no less than 35 mm. The mean tumor size was 23.2 mm; en-bloc resection was performed in 97.6% (81/83) of the tumors. Complications were noted in 8.75% (7/80) of the cases, and all of them resolved without the need for additional surgery. No recurrence was noted during a mean follow-up of 10.2 months. CONCLUSION: STER appears to be a feasible, safe, and effective method for upper gastrointestinal SMTs originating from the muscularis propria layer, even when the size of the tumor was larger than 35 mm.