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1.
Int. braz. j. urol ; 48(2): 363-364, March-Apr. 2022.
Article in English | LILACS | ID: biblio-1364954

ABSTRACT

ABSTRACT Background: Reports in the literature describe lymphocele formation in up to half of patients following pelvic lymph node dissection (PLND) (1) in robotic-assisted radical prostatectomy (RARP), with 1-2% requiring intervention (2). The advantage of surgical approach is permanent excision of the lymphocele capsule and fewer days with pelvic drains compared to percutaneous drainage. This study aims to describe the step-by-step surgical management of symptomatic lymphoceles using a less invasive robotic platform, the Da Vinci® Single Port (SP). Material and Methods: We describe the technique of lymphocelectomy and marsupialization with the Da Vinci® SP for symptomatic lymphocele. For this study, several treatment modalities for symptomatic lymphoceles were available, including percutaneous drainage, sclerosing agents, and surgical marsupialization. All the data for this study were obtained through the procedure via Da Vinci® SP. Results: Operative time for the case was 84 minutes. Blood loss was 25ml. No intra- or post- operative complications were reported. The patient had his drain removed in under 24 hours after surgery. The mean follow-up period was 7.7 months. There were no complications or lymphocele recurrence. Conclusion: Da Vinci® SP lymphocelectomy is safe and feasible with satisfactory outcomes. The SP enables definitive treatment of the lymphocele sac (3), reducing the number of days with abdominal drains and allows further decrease in surgical invasiveness with fewer incisions and better cosmesis.


Subject(s)
Humans , Male , Robotics , Lymphocele/surgery , Lymphocele/etiology , Robotic Surgical Procedures/adverse effects , Prostatectomy/methods , Drainage/adverse effects , Drainage/methods , Lymph Node Excision/methods
2.
Rev. chil. neuropsicol. (En línea) ; 16(1): 11-16, ene. 2022. tab, graf
Article in Spanish | LILACS | ID: biblio-1362017

ABSTRACT

Las cardiopatías congénitas se consideran una de las anomalías que alteran la irrigación y el intercambio de oxigenación adecuado a las principales venas y arterias. Esto puede generar consecuencias en el desarrollo neurológico que se puede traducir en retraso psicomotor, déficits de aprendizaje, dificultades académicas y problemas de integración social. Para mejorar los trastornos cognitivos, se propone la habilitación cognitiva basada en los principios de mecánica y robótica de LEGO® Education. El objetivo de este estudio fue medir el efecto de un programa de intervención, basado en el uso de ensamblado y programación robótica con LEGO® Education, sobre las funciones frontales básicas como primera aproximación a un modelo propuesto en pacientes cardiópatas congénitos que han sido sometidos a cirugía cardiovascular. Se trató de un estudio de serie de casos, en el que finalizaron el tratamiento una niña y dos niños con cardiopatías congénitas con RACHS 2 y 3. Se aplicaron sub-escalas BANFE-2 y el cuestionario neuropsicológico de daño frontal antes y después del tratamiento; así como una escala para medir el nivel de ejecución por intervención, durante las ocho sesiones. Los resultados muestran en la escala BANFE2, cambios en las medias de las funciones frontales básicas, de daño leve-moderado y normal a normal alto, principalmente en memoria de trabajo y fluidez verbal. En esta primera aproximación, el método LEGO® Education mostró ser una buena herramienta para la habilitación neuropsicológica de estos pacientes.


Congenital heart diseases are considered to be an anomaly which alter the irrigation and the adequate exchange of oxygenation to the main veins and arteries. They can have neurodevelopmental consequences that could translate into psychomotor retardation, learning deficits, academic difficulties, and social integration problems. Cognitive empowerment based on the mechanics and robotics principles of LEGO® Education is proposed to improve cognitive disorders. In this study, the objective was to measure the effect of an intervention program, based on the use of assembly and robotic programming with LEGO® Education, upon basic frontal functions as a first approach to a proposed model in congenital heart disease patients who have undergone cardiovascular surgery. This was a case-series study, in which a girl and two boys with congenital heart disease with RACHS 2 and 3, completed the treatment. BANFE-2 subscales and the neuropsychological questionnaire of frontal damage were applied before and after the treatment; as well as a scale to measure the level of performance per intervention, through all the eight sessions. The BANFE-2 scale showed changes in the means of frontal functions, from mild-moderate damage and normal to high normal, mainly in working memory and verbal fluency. In this first approach, LEGO® Education method proved to be a useful tool for the neuropsychological empowerment of these patients.


Subject(s)
Humans , Male , Female , Child , Robotics , Cognition Disorders/rehabilitation , Heart Defects, Congenital/rehabilitation , Mechanics , Frontal Lobe/physiology , Learning
3.
Agora (Rio J.) ; 25(1): 89-96, jan.-abr. 2022.
Article in Portuguese | LILACS, INDEXPSI | ID: biblio-1383521

ABSTRACT

RESUMO: Neste artigo, que tem como suporte teórico o conceito de "paixão pelo autômato", analisam-se duas ordens de produções culturais contemporâneas: em uma, desponta o enlace erótico entre humanos e robôs onde antes predominava o tema da guerra; em outra, sobressai a ideia da compatibilidade amorosa a priori entre humanos, a qual poderia ser calculada por meio de algoritmos. A fim de pensar estes aspectos do pathos erótico atual, lançamos mão, por um lado, do conceito de condomínio digital (tendência à formação de bolhas narcísicas) e, por outro, do conceito de ciborgue (tendência à dissolução da cisão moderna homem/máquina).


Abstract: This article, which has as its theoretical basis the concept of passion for the automaton, analyzes two orders of contemporary cultural productions: in one, the erotic bond between humans and robots where the theme of war used to prevail; in another, stands out the idea of a priori love compatibility between humans, which could be calculated by algorithms. In order to think about these aspects of the current erotic pathos, we use, on the one hand, the concept of digital condominium (tendency to narcissistic bubbles formation) and, on the other, the concept of cyborg (tendency to dissolve the modern split man/machine).


Subject(s)
Psychoanalysis , Robotics , Erotica , Sex
4.
Rev. SOBECC (Online) ; 27: 1-7, 01-01-2022.
Article in Portuguese, French | LILACS, BDENF | ID: biblio-1372995

ABSTRACT

Objetivo: Descrever a construção e a implantação dos protocolos PEWS e NEWS na recuperação anestésica com recurso da automação robó-tica. Método: Relato de experiência sobre a construção e a implantação de protocolos de deterioração clínica na recuperação anestésica em um hospital filantrópico de grande porte localizado no município de São Paulo. O processo de trabalho envolveu a determinação dos protocolos, a construção das regras operacionais para o sistema, o desenvolvimento do sistema eletrônico e a implantação com treinamento da equipe assistencial. Resultados: Foi implantado o processo de deterioração clínica com os protocolos PEWS e NEWS de forma automatizada e sinalizado o acionamento por meio de um iconograma no painel da sala de recuperação pós-anestésica. Conclusão: A implantação dos protocolos foi concluída com sucesso; o uso da automação robótica pode simplificar os fluxos de trabalho e o tempo de coleta de sinais vitais para fornecer uma pontuação do escore. Protocolos de deterioração clínica auxiliam na tomada de decisão das enfermeiras da recuperação anestésica, desde que aplicados em conjunto com o julgamento clínico.


Objective: To describe the development and implementation of the PEWS and NEWS protocols in post-anesthesia recovery using robotic automation. Method: Experience report on the development and implementation of clinical deterioration protocols in post-anesthesia recovery in a large philanthropic hospital located in the city of São Paulo, Brazil. The work involved the determination of protocols, construction of operational rules for the system, development of the electronic system and implementation with training of the assistance team. Results: Prediction of clinical deterio-ration was implemented with the PEWS and NEWS protocols in an automated way, and activation was signaled through an iconogram in the panel of the post-anesthesia care unit. Conclusion: The implementation of the protocols was successfully completed; the use of robotic automation can simplify workflows and reduce the time to collect vital signs to provide a score. Clinical deterioration protocols help nurses' decision-making in anesthesia reco-very, as long as they are applied in conjunction with clinical judgment.


Objetivo: Describir la construcción e implementación de los protocolos PEWS y NEWS en recuperación anestésica utilizando automatiza-ción robótica. Método: Relato de experiencia sobre la construcción e implementación de protocolos de deterioro clínico en la recuperación anestésica en un gran hospital filantrópico de la ciudad de São Paulo. El proceso de trabajo implicó la determinación de protocolos, construcción de reglas de fun-cionamiento del sistema, desarrollo en sistema electrónico e implementación con capacitación del equipo de asistencia. Resultados: Signos de deterioro clínico utilizando los puntajes PEWS y NEWS, lo construimos de forma automatizada e identificamos mediante un signo compuesto por una iconogra-fía en el panel multiprofesional de la unidad, de forma visible para cualquier miembro del equipo. Conclusión: La implementación de los protocolos se completó con éxito, el uso de la automatización robótica puede simplificar los flujos de trabajo y el tiempo de recopilación de signos vitales para pro-porcionar una puntuación. Los protocolos de deterioro clínico auxilian la toma de decisiones del enfermero en la recuperación anestésica, siempre que sean aplicados en conjunto con el juicio clínico.


Subject(s)
Humans , Recovery Room , Anesthesia , Nurses , Powders , Automation , Robotics
5.
Article in Chinese | WPRIM | ID: wpr-928899

ABSTRACT

The high incidence of cardiovascular diseases is a serious threat to human health, and endovascular surgery has become the standard treatment for most interventional cardiovascular diseases. The robotassisted endovascular surgery system further enhances surgeons' ability to perform minimally invasive endovascular procedures in interventional cardiology. This study presents a new robotic technique for coronary intervention from the perspective of clinical application. Aiming at clinical application scenarios, this scheme proposed an intuitive guide wire catheter mechanism design, which accurately and perfectly simulates the doctor's hand movements, realizes the positive and negative direction translation of the guide wire catheter, accurate torque control of the guide wire rotation and locking. The results of animal test showed that the R-OneTM has a high degree of dexterity, accuracy and stability,and meets the clinical needs.


Subject(s)
Animals , Cardiovascular Diseases , Catheterization , Equipment Design , Robotic Surgical Procedures , Robotics
6.
Article in Chinese | WPRIM | ID: wpr-928889

ABSTRACT

Aiming at the medical service robot used in the indoor environment, this study proposes a method to test the pose accuracy of its working surface based on the binocular vision system. This method uses a binocular vision coordinate system to measure targets fixed on the working surface of the service robot, aligns the measurement system with the robot base coordinate system through the nonlinear least squares method, and integrates the multi-eye image data to achieve the accuracy test of the working surface. Finally, the vision test program was tested and verified on a mobile service robot model ABIR X8. According to the accuracy index given in GB/T 38124 Service Robot Performance Test Method, the test results of its pose accuracy were obtained.


Subject(s)
Optical Devices , Robotics , Vision, Binocular
7.
Article in Chinese | WPRIM | ID: wpr-928878

ABSTRACT

Intelligent and precision medical treatment is the future development trend of surgical operations. We proposed a core architecture of orthopedic robots with human-like thinking based on the growing demand for orthopedic robots and disadvantages of current robots, it consists of brain, eyes and hands three modules according to functions. The architecture design is extremely in line with the doctor's logic so that the work process of the orthopedic robot is similar to the process of traditional surgery which is mainly done by the doctor's brain-eye-hand coordination. It realizes the digitization of the doctor's thinking, the immediacy and visualization of surgical information and the accuracy of surgical operation process. The clinical application proved that the orthopedic robot has the advantages of higher accuracy, less radiation and shorter operation time, which can be further promoted clinically.


Subject(s)
Hand , Humans , Robotics
8.
Article in Chinese | WPRIM | ID: wpr-928874

ABSTRACT

Spatiotemporal gait parameters provide important information for the rehabilitation of patients with gait dysfunction. These parameters are often obtained by complex systems such as optical motioncapture system and pressure plates. However, these systems cannot be deployed at the lower-limb rehabilitation robot easily because of high costs, large area occupation and wearable requirements. We present a gait measurement system with a Light Detection And Ranging(LIDAR) laser sensor based on the lower-limb rehabilitation robot. Firstly, to calculate gait parameters, the data are aggregated into left and right legs by the clustering algorithm and the legs contour is fitted with two circles respectively according to the least square method. Then, the spatiotemporal gait parameters are defined based on the time and position of initial contact(IC) and toe off(TO). Finally, to verify the validity of the proposed system, we compared the results of the proposed system with a 3D motion capture system based on a lower-limb rehabilitation robot. Experimental results showed that the gait detection system can measure the parameters within a small range of error that testified the validation of the proposed system. This system proved to be a valid and reliable method for the measurement of gait parameters.


Subject(s)
Biomechanical Phenomena , Gait , Humans , Lasers , Lower Extremity , Motion , Robotics
9.
Article in Chinese | WPRIM | ID: wpr-928865

ABSTRACT

To provide accurate information for registration and safety evaluation of surgical robot, the pose repeatability measurement method was proposed. According to the terminal instrument of the master-slave surgical robot (such as high-frequency electric knife, ultrasonic knife), a suitable target ball fixture was designed. The node data at 10%, 50% and 100% rated speed were measured respectively. Through data analysis, the pose repeatability property of the tested samples at different speeds was obtained. It has high applicability and repeatability, and can meet the requirements of data traceability and registration testing.


Subject(s)
Equipment Design , Lasers , Robotic Surgical Procedures , Robotics , Surgery, Computer-Assisted
10.
Article in Chinese | WPRIM | ID: wpr-928855

ABSTRACT

Based on the biomechanical mechanism of human upper limb, the disadvantages of traditional rehabilitation training and the current status of upper limb rehabilitation robot, a six degree of freedom, flexible adjustment, wearable upper limb rehabilitation exoskeleton design scheme is proposed. Firstly, the mechanics of each joint of the upper limb is analyzed, and the virtual prototype design of the whole mechanical structure of the upper limb rehabilitation wearable exoskeleton is carried out by using CATIA three-dimensional software. The tooth transmission of the forearm and the upper arm single row four point contact ball bearing with internal/external rotation and the shoulder flexible passive adjustment mechanism (viscoelastic damper) are innovatively designed. Then, the joints of the upper limb rehabilitation exoskeleton are analyzed, theoretical analysis and calculation of the driving torque, the selection of the motor and gearbox of each driving joint are carried out. Finally, the whole finite element analysis of the upper limb exoskeleton is carried out. The research and experimental results showed that the design scheme of the upper limb exoskeleton assist structure is highly feasible, which can help the patients with upper limb paralysis and motor dysfunction self-rehabilitation.


Subject(s)
Biomechanical Phenomena , Exoskeleton Device , Humans , Robotics , Stroke Rehabilitation , Torque , Upper Extremity , Wearable Electronic Devices
11.
Article in Chinese | WPRIM | ID: wpr-928782

ABSTRACT

BACKGROUND@#Immunoneoadjuvant therapy opens a new prospect for local advanced lung cancer. The aim of our study was to explore the safety and feasibility of robotic-assisted bronchial sleeve resection in patients with locally advanced non-small cell lung cancer (NSCLC) after neoadjuvant chemoimmunotherapy.@*METHODS@#Data of 13 patients with locally advanced NSCLC that underwent bronchial sleeve resection after neoadjuvant chemoimmunotherapy during August 2020 and February 2021 were retrospectively included. According to the surgical methods, patients were divided into thoracotomy bronchial sleeve resection (TBSR) group and robot-assisted bronchial sleeve resection (RABSR) group. Oncology, intraoperative, and postoperative data in the two groups were compared.@*RESULTS@#The two groups of patients operated smoothly, the postoperative pathology confirmed that all the tumor lesions achieved R0 resection, and RABSR group no patient was transferred to thoracotomy during surgery. Partial remission (PR) rate and major pathological remissions (MPR) rate of patients in the TBSR group were 71.43% and 42.86%, respectively. Complete pathological response (pCR) was 28.57%. They were 66.67%, 50.00% and 33.33% in RABSR group, respectively. There were no significant differences in operative duration, number of lymph nodes dissected, intraoperative blood loss, postoperative drainage time and postoperative hospital stay between the two groups, but the bronchial anastomosis time of RABSR group was relatively short. Both groups of patients had a good prognosis. Successfully discharged from the hospital and post-operative 90-d mortality rate was 0.@*CONCLUSIONS@#In patients with locally advanced central NSCLC after neoadjuvant chemoimmunotherapy can achieve the tumor reduction, tumor stage decline and increase the R0 resection rate, bronchial sleeve resection is safe and feasible. Under the premise of following the two principles of surgical safety and realizing the tumor R0 resection, robot-assisted bronchial sleeve resection can be preferred.


Subject(s)
Carcinoma, Non-Small-Cell Lung/surgery , Humans , Lung Neoplasms/surgery , Neoadjuvant Therapy , Pneumonectomy/methods , Retrospective Studies , Robotics , Thoracotomy , Treatment Outcome
12.
Article in Chinese | WPRIM | ID: wpr-928281

ABSTRACT

OBJECTIVE@#To investigate the efficacy of single oblique lumbar interbody fusion(OLIF) with robot-assisted posterior internal fixation for the treatment of lumbar degenerative diseases.@*METHODS@#The clinical data of 67 patients with lumbar degenerative diseases treated from September 2019 to December 2020 was retrospectively analyzed. According to different surgical methods, the patients were divided into traditional group and robot group. The traditional group received traditional OLIF with posterior fluoroscopy percutaneous nail fixation, and the robot group received OLIF with robot-assisted posterior internal fixation. There were 33 patients in traditional group, including 13 males and 20 females, aged from 44 to 82 years old with an average of (59.7±9.1) years; and 34 cases in robot group, including 7 males and 27 females, aged from 45 to 81 years old with an average of(61.6±8.8) years. The operation time, fluoroscopy time, intraoperative blood loss, postoperative out of bed time and hospital stay were recorded. The visual analogue scale (VAS) of low back pain and Oswestry Disability Index(ODI) were compared before operation and 3 days, 3 months after operation between two groups. The accuracy of nail placement was evaluated by postoperative CT scan.@*RESULTS@#Both groups of patients successfully completed the operation and were followed up for more than 3 months. The operation time, fluoroscopy time, intraoperative blood loss, postoperative out of bed time and hospital stay in traditional group were(299.85±15.79) min, (62.58±10.83) min, (118.33±10.80) ml, (2.5±0.7) d, (9.67±2.13) d;and robot group was(248.53±14.22) min, (19.47±3.51) min, (115.74±9.86) ml, (2.3±0.6) d, (9.44±1.93) d, respectively. The symptoms of postoperative low back pain, lower limb pain and numbness were significantly improved in all patients. The operation time and fluoroscopy time in robot group were significantly less than those of traditional group. There was no significant difference in intraoperative blood loss, postoperative out of bed time, hospital stay, VAS and ODI before and after operation (P>0.05). The accuracy of nail placement in robot group was 98.8% (2/160), which was higher than 89.9% (16/158) in traditional group.@*CONCLUSION@#Treatment of lumbar degenerative diseases with single body position OLIF with robot-assisted posterior minimally invasive internal fixation has less operation time and fluoroscopy time, high nail placement accuracy and accurate surgical effect, which is worthy to be popularized in clinic.


Subject(s)
Adult , Aged , Aged, 80 and over , Female , Humans , Lumbar Vertebrae/surgery , Lumbosacral Region , Male , Middle Aged , Retrospective Studies , Robotics , Spinal Fusion/methods , Treatment Outcome
13.
Article in Chinese | WPRIM | ID: wpr-928279

ABSTRACT

OBJECTIVE@#To evaluate the safety and accuracy of Renaissance robot navigation system in minimally invasive surgery for thoracolumbar fracture.@*METHODS@#The clinical data of patients with thoracolumbar fracture who underwent posterior minimally invasive pedicle screw internal fixation from July 2016 to July 2019 was retrospectively analyzed. And the patients were divided into robot group and artificial group. Robot navigation assisted screw placement was used in robot group, and traditional unarmed screw placement was used in artificial group. There were 20 patients in robot group, including 13 males and 7 females, aged from 23 to 69 years old with an average of(45.05±11.81)years old, one case was T11 fracture, 2 cases were T12, 10 cases were L1, 6 cases were L2 and 1 case was L3. There were 20 patients in artificial group, including 11 males and 9 females, aged from 26 to 65 years old with an average of(43.40±11.22)years old, 2 cases were T11 fractures, 7 cases were T12, 10 cases were L1, and 1 case was L3. The numbers of fluoroscopy, operation time and intraoperative blood loss were observed. The screw position was evaluated by Neo method.@*RESULTS@#A total of 126 screws were implanted in robot group and 124 screws were implanted in artificial group. The operation time, fluoroscopy times, intraoperative blood loss were(115.75±14.26) min, (7.95±0.89) times and (132.50±29.36) ml in robot group and (129.50±10.50) min, (14.40±2.56) times and(182.50±23.14) ml in artificial group, respectively, there was significant difference between the groups(P<0.05). According to Neo classification method, there were 122 screws at grade 0, 4 screws at grade 1 in robot group, and there were 108 screws at grade 0, 9 screws at grade 1 and 7 screws at grade 2 in artificial group. The accuracy of the robot group was better than that of artificial group(P<0.05).@*CONCLUSION@#Compared with free hand screw placement, Renaissance robot navigation system can effectively improve the accuracy of pedicle screw placement, reduce the number of fluoroscopy times and intraoperative blood loss, thereby improving the safety of operation.


Subject(s)
Adult , Aged , Female , Fracture Fixation, Internal/methods , Humans , Lumbar Vertebrae/surgery , Male , Middle Aged , Minimally Invasive Surgical Procedures , Pedicle Screws , Retrospective Studies , Robotics , Spinal Fusion , Young Adult
14.
Article in Chinese | WPRIM | ID: wpr-928278

ABSTRACT

OBJECTIVE@#To explore the effect of robot-assisted internal fixation in lateral decubitus position for the treatment of ankylosing spondylitis (AS) complicated with thoracolumbar fractures.@*METHODS@#The clinical data of 26 patients with ankylosing spondylitis complicated with thoracolumbar fractures treated from January 2018 to June 2020 was retrospectively analyzed. According to different surgical methods, these patients were divided into observation group and control group. There were 8 patients in observation group, which were treated with robot-assisted percutaneous screw fixation in lateral decubitus position, including 4 males and 4 females, aged form 55 to 85 years old with an mean of (66.25±9.42) years, the course of disease was (4.00±0.76) days on average, 2 cases were T11 fracture, 2 cases were T12, 3 cases were L1 and 1 case was L2. And there were 18 patients in control group, which were treated with conventional percutaneous screw fixation in prone position, including 6 males and 12 females, aged from 48 to 81 years old with a mean of (61.22±9.53) years, the course of disease was (4.11±0.83) days on average, 2 cases were T10 injury, 3 cases were T11, 4 cases were T12, 7 cases were L1, and 2 cases were L2. The intraoperative blood loss, operation time, position time and postoperative neurological complications were compared between two groups. Postoperative visual analogue scale (VAS) at 1d and 3 months, and Oswestry Disability Index (ODI) before and 3 months after operation were observed. According to Gertzbein-Robbins standard to evaluate the accuracy of pedicle screw placement.@*RESULTS@#There was no nerve injury due to pedicle screw placement in both groups. The intraoperative blood loss in observation group and control group was (34.13±4.61) ml and (78.17±22.02) ml, operation time was(92.13±9.82) min and (106.22±11.55) min, position time was(10.00±2.14) min and (15.17±2.66) min, the differences was statistically significant(P<0.05);VAS of the two groups were (2.38±0.52) points and (4.56±0.98) points one day after surgery, respectively, with statistically significant differences (P<0.05), while VAS and ODI three months after surgery showed no statistically significant differences (P>0.05). The screw accuracy was 96.88%(62/64) in observation group and 81.48%(88/108) in control group, the difference was statistically significant(P<0.05).@*CONCLUSION@#Robot-assisted internal fixation in lateral decubitus position for the treatment of ankylosing spondylitis complicated with thoracolumbar fractures can shorten the position time and operation time, significantly improve the accuracy of internal fixation screw placement, relieve the early postoperative pain, reduce intraoperative blood loss and postoperative complications, and facilitate the fast track rehabilitation of patients.


Subject(s)
Aged , Aged, 80 and over , Female , Fracture Fixation, Internal , Humans , Lumbar Vertebrae/surgery , Male , Middle Aged , Pedicle Screws , Retrospective Studies , Robotics , Spinal Fractures/surgery , Spondylitis, Ankylosing/surgery , Thoracic Vertebrae/surgery , Treatment Outcome
15.
Article in Chinese | WPRIM | ID: wpr-928277

ABSTRACT

OBJECTIVE@#To investigate the accuracy and safety of pedicle screw placement assisted by orthopedic robot and C-arm fluoroscopy.@*METHODS@#The clinical data of 36 patients with spinal diseases underwent surgical treatment from January 2019 to August 2020 was retrospectively analyzed. Among them, 18 cases were implanted pedicle screws assisted by orthopaedic robot(observation group), including 12 males and 6 females, aged from 16 to 61 years with an average of (38.44±3.60) years;there were 1 case of adolescent scoliosis, 1 case of spinal tuberculosis, 7 cases of lumbar spondylolisthesis, 4 cases of thoracic fracture and 5 cases of lumbar fracture. Another 18 cases were implanted pedicle screws assisted by C-arm fluoroscopy(control group), including 10 males and 8 females, aged from 18 to 58 years with an average of (43.22±2.53) years;there were 1 case of adolescent scoliosis, 6 cases of lumbar spondylolisthesis, 6 cases of thoracic fracture and 5 cases of lumbar fracture. The intraoperative fluoroscopy times, nail placement time and postoperative complications were recorded in two groups. CT scan was performed after operation. The Gertzbein-Robbins standard was used to evaluate the accuracy of pedicle screw placement which was calculated.@*RESULTS@#The number of intraoperative fluoroscopy in observation group was(6.89±0.20) times, which was significantly higher than that in control group(14.00±0.18)times(P<0.05). The placement time of each screw in observation group was(2.56±0.12) min, which was significantly different from that in control group(4.22±0.17) min (P<0.05). One case of incision infection occurred in control group after operation, and recovered after active dressing change. During the follow-up period, no serious complications such as screw loosening and fracture occurred in two groups, and there was no significant difference in complications between two groups(P>0.05). A total of 107 screws were placed in observation group, including 101 screws in class A, 4 in class B, 2 in class C, 0 in class D and 0 in class E, the accuracy rate of pedicle screw placement=[(number of screws in class A+B) / the number of all screws placed in the group] ×100%=98.1%(105/107); and a total of 104 screws were placed in control group, including 90 screws in class A, 4 in class B, 5 in class C, 5 in class D and 0 in class E, the accuracy rate of pedicle screw implantation=[(number of screws in class A+B/the number of all screws placed in the group]×100%=90.3% (94/104); there was significant difference between two groups (P<0.05).@*CONCLUSION@#Orthopaedic robot assisted pedicle screw placement has the advantages of less fluoroscopy times, shorter screw placement time and higher accuracy, which can further improve the surgical safety and has a broad application prospect in the orthopaedic.


Subject(s)
Adolescent , Adult , Female , Fluoroscopy/methods , Humans , Lumbar Vertebrae/surgery , Male , Middle Aged , Pedicle Screws , Retrospective Studies , Robotic Surgical Procedures/methods , Robotics , Scoliosis , Spinal Fusion/methods , Surgery, Computer-Assisted , Young Adult
16.
Article in Chinese | WPRIM | ID: wpr-928276

ABSTRACT

OBJECTIVE@#To compare the safety and nail placement accuracy of fluoroscopy-assisted and robot-assisted minimally invasive transforaminal lumbar interbody fusion (MIS-TLIF) in the treatment of single-space lumbar disc herniation.@*METHODS@#The clinical data of 52 patients with single-space lumbar disc herniation treated by MIS-TLIF from March 2019 to February 2020 were retrospectively analyzed. Among them, 24 patients were treated by robot-assisted MIS-TLIF(group A) and 28 patients were treated by fluoroscopy-assisted MIS-TLIF (group B). The intraoperative blood loss, operation time, intraoperative fluoroscopy times, preoperative and postoperative visual analogue scale(VAS), Japanese Orthopaedic Association(JOA) scores and operation-related complications were recorded in two groups. Gertzbein-Robbins grade according to CT scan was used to evaluate the nail placement after operation. Grade A and B were evaluated as satisfactory nail placement, and grade C, D, and E were evaluated as error placement. Babu's method was used to evaluate the screw's invasion to the superior articular process.@*RESULTS@#The operation time, intraoperative blood loss and intraoperative fluoroscopy times in group A were less than those in group B(P<0.05).VAS and JOA scores of all patients at the final follow-up were significantly improved compared with those before operation(P<0.05), but there was no statistically significant difference between the groups(P>0.05). There were 96 and 112 screws in group A and group B, respectively. Three days after operation, according to the Gertzbein-Robbins grade to evaluate the nail placement accuracy, there were 90 screws of grade A, 5 of grade B, 1 of grade C, no grade D and E in group A;there were 84 screws of grade A, 16 of grade B, 8 of grade C, 4 of grade D, no grade E in group B;the difference between two groups was statistically significant(Z=-3.709, P=0.000). The satisfactory rate of screw placement in group A was 98.96% (95/96), and that of group B was 89.29% (100/112), the difference between two groups was statistically significant (χ2=8.254, P=0.004). Three days after operation, the invasion of superior facet joints by pedicle screws was evaluated according to Babu's method, including 90 screws in grade 0, 4 in grade 1, 2 in grade 2, and 0 in grade 3 in group A;86 in grade 0, 12 in grade 1, 10 in grade 2 and 4 in grade 3 in group B, and the difference was statistically significant(Z=-3.433, P=0.001). There were no serious spinal cord, nerve and vascular injuries and other operation-related complications caused by screw implantation failure in both groups. All patients were followed up from 6 to 12(9.06±1.60) months. The neurological symptoms improved well after operation. During the follow-up period, there was no recurrence of symptoms, loosening or breakage of the internal fixation.@*CONCLUSION@#Compared with the traditional fluoroscopy-assisted MIS-TLIF, the spinal robot-assisted MIS-TLIF not only has more minimally invasive and safer, but also has higher accuracy in nail placement, lower incidence of upper articular process invasion, and more accurate decompression targets, which can be used for minimally invasive treatment of single-space lumbar disc herniation.


Subject(s)
Case-Control Studies , Fluoroscopy , Humans , Intervertebral Disc Displacement/surgery , Lumbar Vertebrae/surgery , Minimally Invasive Surgical Procedures/methods , Pedicle Screws , Retrospective Studies , Robotics , Spinal Fusion/methods , Treatment Outcome
17.
Article in Chinese | WPRIM | ID: wpr-928233

ABSTRACT

In existing vascular interventional surgical robots, it is difficult to accurately detect the delivery force of the catheter/guidewire at the slave side. Aiming to solve this problem, a real-time force detection system was designed for vascular interventional surgical (VIS) robots based on catheter push force. Firstly, the transfer process of catheter operating forces in the slave end of the interventional robot was analyzed and modeled, and the design principle of the catheter operating force detection system was obtained. Secondly, based on the principle of stress and strain, a torque sensor was designed and integrated into the internal transmission shaft of the slave end of the interventional robot, and a data acquisition and processing system was established. Thirdly, an ATI high-precision torque sensor was used to build the experimental platform, and the designed sensor was tested and calibrated. Finally, sensor test experiments under ideal static/dynamic conditions and simulated catheter delivery tests based on actual human computed tomography (CT) data and vascular model were carried out. The results showed that the average relative detection error of the designed sensor system was 1.26% under ideal static conditions and 1.38% under ideal dynamic stability conditions. The system can detect on-line catheter operation force at high precision, which is of great significance towards improving patient safety in interventional robotic surgery.


Subject(s)
Catheters , Equipment Design , Humans , Mechanical Phenomena , Robotic Surgical Procedures/methods , Robotics
18.
Article in Chinese | WPRIM | ID: wpr-928217

ABSTRACT

Physiological studies reveal that rats rely on multiple spatial cells for spatial navigation and memory. In this paper, we investigated the firing mechanism of spatial cells within the entorhinal-hippocampal structure of the rat brain and proposed a spatial localization model for mobile robot. Its characteristics were as follows: on the basis of the information transmission model from grid cells to place cells, the neural network model of place cells interaction was introduced to obtain the place cell plate with a single-peaked excitatory activity package. Then the solution to the robot's position was achieved by establishing a transformation relationship between the position of the excitatory activity package on the place cell plate and the robot's position in the physical environment. In this paper, simulation experiments and physical experiments were designed to verify the model. The experimental results showed that compared with RatSLAM and the model of grid cells to place cells, the positioning performance of the model in this paper was more accurate, and the cumulative error in the long-time path integration process of the robot was also smaller. The research results of this paper lay a foundation for the robot navigation method that mimics the cognitive mechanism of rat brain.


Subject(s)
Animals , Cognition , Hippocampus , Models, Neurological , Place Cells , Rats , Robotics
19.
Article in Chinese | WPRIM | ID: wpr-928209

ABSTRACT

An auxiliary dining robot is designed in this paper, which implements the humanoid feeding function with theory of inventive problem solving (TRIZ) theory and aims at the demand of special auxiliary nursing equipment. Firstly, this robot simulated the motion function of human arm by using the tandem joints of the manipulator. The end-effector used a motor-driven spoon to simulate the feeding actions of human hand. Meanwhile, the eye in hand installation style was adopted to instead the human vision to realize its automatic feeding action. Moreover, the feeding and drinking actions of the dining robot were considered comprehensively with the flexibility of spatial movement under the lowest degree of freedom (DOF) configuration. The structure of the dining robot was confirmed by analyzing its stresses and discussing the specific application scenarios under this condition. Finally, the simulation results demonstrate high-flexibility of the dining robot in the workspace with lowest DOF configuration.


Subject(s)
Computer Simulation , Equipment Design , Hand , Humans , Movement , Robotics/methods
20.
Article in Chinese | WPRIM | ID: wpr-927359

ABSTRACT

Under the background of artificial intelligence, the internationalization of acupuncture and moxibustion has braced an important opportunity. Intelligent medical equipment for acupuncture and moxibustion has entered from the laboratory into the clinic. However, the current research focuses on optimizing acupuncture treatment technology rather than innovating acupuncture theory. Internationally, the westernization of traditional acupuncture and the dilution of its characteristics are worrying. It is urgent to promote the China-led international standards of acupuncture and moxibustion and the patent protection of traditional acupuncture and moxibustion. Intelligent medical equipment will play the role of media, and promote the internationalization of traditional acupuncture and moxibustion with standardized and highly-integrated intelligent medical equipment for acupuncture and moxibustion, and integrate modern scientific and technological achievements. It is a feasible way for the internationalization of acupuncture and moxibustion.


Subject(s)
Acupuncture Therapy , Artificial Intelligence , China , Moxibustion , Research , Robotics
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