The Usefulness of Ultrasonography for Supporting the Differentiation, Diagnosis, and Treatment of Atypical Fibroxanthoma and Pleomorphic Dermal Sarcoma.

Atypical fibroxanthoma (AFX) and pleomorphic dermal sarcoma (PDS) are rare histomorphological variants of a disease spectrum. After ruling out other tumor entities by immunohistochemistry, PDS can be differentiated from AFX by infiltration into the subcutis, while AFX remains confined to the dermis. The therapeutic approach is more aggressive in PDS as it can potentially metastasize. We assessed the usefulness of preoperative sonography in differentiating between the two tumor entities by identifying a potential subcutaneous infiltration. In our patients (n = 13), preoperative sonography identified and differentiated AFX and PDS with 100% accuracy and even changed the initial histological suspicion of AFX to PDS in 3 cases (23%), which was confirmed after tumor resection. Preoperative sonography of these tumors could strengthen the clinical diagnosis, avoid a delay in therapy initiation and improve patient counseling. While for AFX, micrographic-controlled surgery suffices, for PDS, resection with 2 cm safety margins and lymph node sonography to rule out lymphonodal involvement is necessary. Hence, ultrasonography can improve clinical practice by providing helpful information for dermatosurgeons, which cannot be obtained during clinical examination.

PLAFOKON: a new concept for a patient-individual and intervention-specific flexible surgical platform.

BACKGROUND: Research in the field of surgery is mainly driven by aiming for trauma reduction as well as for personalized treatment concepts. Beyond laparoscopy, other proposed approaches for further reduction of the therapeutic trauma have failed to achieve clinical translation, with few notable exceptions. We believe that this is mainly due to a lack of flexibility and high associated costs. We aimed at addressing these issues by developing a novel minimally invasive operating platform and a preoperative design workflow for patient-individual adaptation and cost-effective rapid manufacturing of surgical manipulators. In this article, we report on the first in-vitro cholecystectomy performed with our operating platform. METHODS: The single-port overtube (SPOT) is a snake-like surgical manipulator for minimally invasive interventions. The system layout is highly flexible and can be adapted in design and dimensions for different kinds of surgery, based on patient- and disease-specific parameters. For collecting and analyzing this data, we developed a graphical user interface, which assists clinicians during the preoperative planning phase. Other major components of our operating platform include an instrument management system and a non-sterile user interface. For the trial surgery, we used a validated phantom which was further equipped with a porcine liver including the gallbladder. RESULTS: Following our envisioned preoperative design workflow, a suitable geometry of the surgical manipulator was determined for our trial surgery and rapidly manufactured by means of 3D printing. With this setup, we successfully performed a first in-vitro cholecystectomy, which was completed in 78 min. CONCLUSIONS: By conducting the trial surgery, we demonstrated the effectiveness of our PLAFOKON operating platform. While some aspects - especially regarding usability and ergonomics - can be further optimized, the overall performance of the system is highly promising, with sufficient flexibility and strength for conducting the necessary tissue manipulations.

Robotic Endoscope Control - State of the Art of Voice Control and Other Options for Laparoscopic Camera Robot Guidance.

In video-based surgery (VBS), the surgeon is no longer the master of his or her view. Visualization of the surgical field is mediated by a video camera guided by an assistant. The separation of visualization and surgical activities leads to significant drawbacks. Early in the history of VBS, active camera holders controlled directly by the surgeon were introduced to replace the human camera assistant. However, despite remarkable technological advances over the past 25 years, robotic camera guidance systems (RCGS) still play only a marginal role. This is less due to inadequate mechanical designs or kinematics, and mainly due to inadequate human-machine interaction. In most cases, a simple task-shift is required that increases the surgeon's mental workload instead of reducing it. The current state of the art in robotic camera guidance, as represented by the SOLOASSIST II RCGS (AKTORmed, Neutraubling, Germany), includes a sophisticated combination of direct manual control, joystick navigation and high-quality voice control that provides the most intuitive surgeon-machine interaction currently available. An in-depth analysis of further clinical needs and promising developments in operating room integration suggests that the addition of context sensitivity could actually enhance the assistive effect of RCGS, making them potentially superior to the average human camera guidance.

Machine Learning in the OR: A Collaborative Environment for Surgical Interventions in Visceral Medicine.

Modern surgical methods are becoming increasingly sophisticated and the number of technical devices that are used during these interventions is increasing. However, the surgical operating room (OR) remains a mere conglomerate of unconnected medical devices. The increase in the complexity of device functionality, in addition to the demands of surgery, pushes human mental capacity to its limit. Hence, an "intelligent" collaborative support system would be more than welcome. We envision a "human-like" intelligent system, which could support the surgical team as a situation-aware consultant. This so-called "active collaborative support system" (ACSS) is based on four main pillars: real-time data inflow, a comprehensive knowledge-base, access to the Internet of Things (surgical devices), and an understanding of human language through natural language processing. Recent advances in the area of AI are bringing this ambitious goal within reach, but there is still a considerable amount of work to be done, including the establishment of a new way of thinking in the collaboration between surgeons and computer scientists/engineers, and possibly one day with intelligent machines-provided that AI systems can be sufficiently trusted.

Rationale for Using High-Frequency Ultrasound as a Routine Examination in Skin Cancer Surgery: A Practical Approach.

Ultrasound and high-frequency ultrasound assessment of melanoma and non-melanoma skin cancer in the pre-therapeutical setting is becoming increasingly popular in the field of dermatosurgery and dermatooncology, as it can provide clinicians with relevant, "in vivo" parameters regarding tumor lateral and depth extension as well as potential locoregional spread, cancelling the need of more extensive imaging methods and avoiding a delay in diagnosis. Furthermore, preoperative sonography and color Doppler can aid in orienting the clinical diagnosis, being able in numerous situations to differentiate between benign and malignant lesions, which require a different therapeutic approach. This preoperative knowledge is of paramount importance for planning an individualized treatment regimen. Using sonography at the time of diagnosis, important surgical complications, such as neurovascular damage, can be avoided by performing a preoperative neurovascular mapping. Furthermore, sonography can help reduce the number of surgical steps by identifying the lesions' extent prior to surgery, but it can also spare unnecessary surgical interventions in cases of locally advanced lesions, which infiltrate the bone or already present with locoregional metastases, which usually require modern radiooncological therapies in accordance to European guidelines. With this review, we intend to summarize the current indications of sonography in the field of skin cancer surgery, which can help us improve the therapeutic attitude toward our patients and enhance patient counseling. In the era of modern systemic radiooncological therapies, sonography can help better select patients who qualify for surgical procedures or require systemic treatments due to tumoral extension.

Model-based individual life-spanning documentation in visceral surgery: a proof of concept.

INTRODUCTION: Surgical documentation has many implications. However, its primary function is to transfer information about surgical procedures to other medical professionals. Thereby, written reports describing procedures in detail are the current standard, impeding comprehensive understanding of patient-individual life-spanning surgical course, especially if surgeries are performed at a timely distance and in diverse facilities. Therefore, we developed a novel model-based approach for documentation of visceral surgeries, denoted as 'Surgical Documentation Markup-Modeling' (SDM-M). MATERIAL AND METHODS: For scientific evaluation, we developed a web-based prototype software allowing for creating hierarchical anatomical models that can be modified by individual surgery-related markup information. Thus, a patient's cumulated 'surgical load' can be displayed on a timeline deploying interactive anatomical 3D models. To evaluate the possible impact on daily clinical routine, we performed an evaluation study with 24 surgeons and advanced medical students, elaborating on simulated complex surgical cases, once with classic written reports and once with our prototypical SDM-M software. RESULTS: Leveraging SDM-M in an experimental environment reduced the time needed for elaborating simulated complex surgical cases from 354 ± 85 s with the classic approach to 277 ± 128 s. (p = 0.00109) The perceived task load measured by the Raw NASA-TLX was reduced significantly (p = 0.00003) with decreased mental (p = 0.00004) and physical (p = 0.01403) demand. Also, time demand (p = 0.00041), performance (p = 0.00161), effort (p = 0.00024), and frustration (p = 0.00031) were improved significantly. DISCUSSION: Model-based approaches for life-spanning surgical documentation could improve the daily clinical elaboration and understanding of complex cases in visceral surgery. Besides reduced workload and time sparing, even a more structured assessment of individual surgical cases could foster improved planning of further surgeries, information transfer, and even scientific evaluation, considering the cumulative 'surgical load.' CONCLUSION: Life-spanning model-based documentation of visceral surgical cases could significantly improve surgery and workload.

Robotic scrub nurse to anticipate surgical instruments based on real-time laparoscopic video analysis.

BACKGROUND: Machine learning and robotics technologies are increasingly being used in the healthcare domain to improve the quality and efficiency of surgeries and to address challenges such as staff shortages. Robotic scrub nurses in particular offer great potential to address staff shortages by assuming nursing tasks such as the handover of surgical instruments. METHODS: We introduce a robotic scrub nurse system designed to enhance the quality of surgeries and efficiency of surgical workflows by predicting and delivering the required surgical instruments based on real-time laparoscopic video analysis. We propose a three-stage deep learning architecture consisting of a single frame-, temporal multi frame-, and informed model to anticipate surgical instruments. The anticipation model was trained on a total of 62 laparoscopic cholecystectomies. RESULTS: Here, we show that our prediction system can accurately anticipate 71.54% of the surgical instruments required during laparoscopic cholecystectomies in advance, facilitating a smoother surgical workflow and reducing the need for verbal communication. As the instruments in the left working trocar are changed less frequently and according to a standardized procedure, the prediction system works particularly well for this trocar. CONCLUSIONS: The robotic scrub nurse thus acts as a mind reader and helps to mitigate staff shortages by taking over a great share of the workload during surgeries while additionally enabling an enhanced process standardization.

Staff shortages in healthcare are an emerging problem leading to undersupply of medical experts such as scrub nurses in the operating room. The absence of these scrub nurses, who are responsible for providing surgical instruments, means that surgeries must be postponed or canceled. Robotic technologies and artificial intelligence offer great potential to address staff shortages in the operating room. We developed a robotic scrub nurse system that is able to take over the tasks of a human scrub nurse by delivering the required surgical tools. To maintain the pace of the surgery, our robotic scrub nurse system is also capable of predicting these required surgical tools in advance using artificial intelligence. The system is tested on laparoscopic cholecystectomies, a surgery, where the gallbladder is removed in a minimally invasive technique. We show that our prediction system can predict the majority of surgical instruments for this specific surgery facilitating a smoother surgical workflow and reducing the need for verbal communication. With further development, our system may help to cover the need for surgery while streamlining the surgical process through predictive support, potentially improving patient outcomes.

Intuitive teaching of medical device operation to clinical assistance robots.

PURPOSE: The adjustment of medical devices in the operating room is currently done by the circulating nurses. As digital interfaces for the devices are not foreseeable in the near future and to incorporate legacy devices, the robotic operation of medical devices is an open topic. METHODS: We propose a teleoperated learning from demonstration process to acquire the high-level device functionality with given motion primitives. The proposed system is validated using an insufflator as an exemplary medical device. RESULTS: At the beginning of the proposed learning period, the teacher annotates the user interface to obtain the outline of the medical device. During the demonstrated interactions, the system observes the state change of the device to generalize logical rules describing the internal functionality. The combination of the internal logics with the interface annotations enable the robotic system to adjust the medical device autonomously. To interact with the device, a robotic manipulator with a finger-like end-effector is used while relying on haptic feedback from torque sensors. CONCLUSION: The proposed approach is a first step towards teaching a robotic system to operate medical devices. We aim at validating the system in an extensive user study with clinical personnel. The logical rule generalization and the logical rule inference based on computer vision methods will be focused in the future.

[Mobile C-arm-Radiation exposure and workflow killer? : Potential of an innovative assistance system for intraoperative positioning]. / Mobiler C-Bogen ­ Strahlenbelastung und Workflow-Killer? : Potenzial eines innovativen Assistenzsystems für die intraoperative Positionierung.

Despite its versatile applicability the intraoperative use of a mobile C­arm is often problematic and potentially associated with increased radiation exposure for both the patient and the personnel. In particular, the correct positioning for adequate imaging can become a problem as the nonsterile circulating nurse has to coordinate the various maneuvers together with the surgeon without having a good view of the surgical field. The sluggishness of the equipment and the intraoperative setting (sterile borders, additional hardware, etc.) pose further challenges. A light detection and ranging (LIDAR)-based assistance system shows promise to provide accurate and intuitive repositioning support as part of an initial series of experimental trials. For this purpose, the sensors are attached to the C­arm base unit and enable navigation of the device in the operating room to a stored target position using a simultaneous localization and mapping (SLAM) algorithm. An improvement of the workflow as well as a reduction of radiation exposure represent the possible potential of this system. The advantages over other experimental approaches are the lack of external hardware and the ease of use without isolating the operator from the rest of the operating room environment; however, the suitability for daily use in the presence of additional interfering factors should be verified in further studies.

Towards the OR of the future: introducing an adaptive and technology-embracing OR wing layout.

PURPOSE: Overageing and climate change cause a need for making processes in the operating room wing (OR wing) more efficient. While many promising technologies are available today, traditional OR wings are not designed for seamlessly integrating these aids. To overcome this discrepancy, we present and motivate multiple ideas on how to transform current architectural design strategies. METHODS: The presented concepts originate from expert discussions and studies of the available literature, but also from experiences made in the course of daily care delivery. Additionally, a comprehensive evaluation of current and historic OR theatre designs and the problems which are encountered herein has been conducted. RESULTS: We present three innovative concepts regarding the restructuring of traditional OR wing layouts. To achieve better process optimization, hygiene, and energy efficiency, we propose to divide the OR wing into separate "patient", "procedure" and "staff" zones. For better flexibility regarding perioperative needs and technology integration, we propose to use a hexagon shape combined with reconfigurable walls for designing operating rooms. CONCLUSION: The concepts presented herein provide a solid foundation for further considerations regarding perioperative process optimization and seamless integration of technology into modern OR wing facilities. We aim at expanding on these results to develop a comprehensive vision for the OR wing of the future.

Mobile service robots for the operating room wing: balancing cost and performance by optimizing robotic fleet size and composition.

PURPOSE: Integrating fleets of mobile service robots into the operating room wing (OR wing) has the potential to help overcome staff shortages and reduce the amount of dull or unhealthy tasks for humans. However, the OR wing has been little studied in this regard and the requirements for realizing this vision have not yet been fully identified. This includes fundamental aspects such as fleet size and composition, which we have now studied comprehensively for the first time. METHODS: Using simulation, 150 different scenarios with varying fleet compositions, robot speeds and workloads were studied for a setup based on a real-life OR wing. The simulation included battery recharging cycles and queueing due to shared resources. RESULTS: For all simulated scenarios we report results regarding total duration of execution, average task response times and fleet utilization. The relationship between these performance measures and global scenario parameters-such as fleet size, fleet composition, robot velocity and the number of operating rooms to be served-is visualized. CONCLUSION: Our simulation-based studies have proven to be a valuable tool for individualized dimensioning of mobile robotic fleets, based on realistic workflows and environmental models. Thereby, important implications for future developments of mobile robots have been identified and a basis of decision-making regarding fleet size, fleet composition, robot capabilities and robot velocities can be provided. Due to costs, space limitations and safety requirements, these aspects must be carefully considered to successfully integrate mobile robotic technology into real-world OR wing environments.

Versatile end effector for laparoscopic robotic scrub nurse.

PURPOSE: Integrating robotic scrub nurses in the operating room has the potential to help overcome staff shortages and limited use of available operating capacities in hospitals. Existing approaches of robotic scrub nurses are mainly focused on open surgical procedures, neglecting laparoscopic procedures. Laparoscopic interventions offer great potential for the context-sensitive integration of robotic systems due to possible standardization. However, the first step is to ensure the safe manipulation of laparoscopic instruments. METHODS: A robotic platform with a universal gripper system was designed to pick up and place laparoscopic as well as da Vinci[Formula: see text] instruments in an efficient workflow. The robustness of the gripper system was studied using a test protocol, which included a force absorption test to determine the operational safety limits of the design and a grip test to determine the system performance. RESULTS: The test protocol shows results regarding force and torque absorption capabilities of the end effector, which are essential when transferring an instrument to the surgeon to enable a robust handover. The grip tests show that the laparoscopic instruments can be safely picked up, manipulated and returned independent of unexpected positional deviations. The gripper system also enables the manipulation of da Vinci[Formula: see text] instruments, opening the door for robot-robot interaction. CONCLUSION: Our evaluation tests have shown that our robotic scrub nurse with the universal gripper system can safely and robustly manipulate laparoscopic and da Vinci[Formula: see text] instruments. The system design will continue with the integration of context-sensitive capabilities.

"Hybrid" scientific conference: lessons learned from the digital annual meeting of the CARS international conference during the Covid-19 pandemic.

OBJECTIVES: Due to the coronavirus disease 2019 (Covid-19) pandemic, all scientific conferences in the year 2020 had to be adapted in their form of presence to accommodate for safety regulations, postponed, or canceled entirely. As organizers of the annual Computer Assisted Radiology & Surgery International Conference & Exhibition (CARS)-Conference 2020, we decided to hold a "hybrid" conference, i.e., a virtual conference with partial presence to mitigate the drawbacks of a purely virtual conference. It is the purpose of this paper to describe the results and experience gained by our first hybrid conference. METHODS: Besides technical necessities like an online conferencing tool, we introduced additional personal namely the technical chairs and communication officers ensuring a smooth flow of presentations. To measure the success of the hybrid conference, we assessed various parameters during the conference (e.g., counting of adverse events, delays, and no-shows) and sent a questionnaire to participants for evaluation after the conference. RESULTS: We offered four types of presentation formats, whereas the majority of speakers presented their pre-produced videos including live discussions. Significant delays in sessions occurred during the morning sessions, which could be reduced during lunch breaks. The analysis of the influence of the distribution of the audience's location/time zone toward the attendance rate showed a high relevance for the American zone and only little influence for the Asian-Pacific region. Based on the questionnaire, 60% of responders considered the hybrid approach as superior and 12% as inferior to purely virtual conferences. CONCLUSIONS: Most scientific associations in 2020 had to struggle with a dramatic change: Regular, traditional meetings with personal communication and exchange, networking, and creation of new visions became obsolete almost instantly. As an alternative, virtual conferences became increasingly popular, and are offering additional advantages (e.g., reduction of cost for travel, lodging, and time on transit). To overcome the drawbacks of purely virtual conferences, we introduced a hybrid concept for the CARS-Congress. While certainly, those with the privilege to take part personally on-site did benefit most from the hybrid format. Facing upcoming waves of the Covid-19 Pandemic, with ongoing changes to the regulations on meetings and transit, hybrid conferences are a viable option for scientific conferences for the future.

The hospital of the future: rethinking architectural design to enable new patient-centered treatment concepts.

PURPOSE: Today's hospitals are designed as collections of individual departments, with limited communication and collaboration between medical sub-specialties. Patients are constantly being moved between different places, which is detrimental for patient experience, overall efficiency and capacity. Instead, we argue that care should be brought to the patient, not vice versa, and thus propose a novel hospital architecture concept that we refer to as Patient Hub. It envisions a truly patient-centered, department-less facility, in which all critical functions occur in the same building and on the same floor. METHODS: To demonstrate the feasibility and benefits of our concept, we selected an exemplary patient scenario and used 3D software to simulate resulting workflows for both the Patient Hub and a traditional hospital based on a generic hospital template by Kaiser-Permanente. RESULTS: According to our workflow simulations, the Patient Hub model effectively eliminates waiting and transfer times, drastically simplifies wayfinding, reduces overall traveling distances by 54%, reduces elevator runs by 78% and improves access to quality views from 67 to 100% for patient rooms, from 0 to 100% for exam rooms and from 0 to 38% for corridors. In addition, the interaction of related medical fields is improved while maintaining the quality of care and the relationship between patients and caregivers. CONCLUSION: With the Patient Hub concept, we aim at rethinking traditional hospital layouts. We were able to demonstrate, alas on a proof-of-concept basis, that it is indeed feasible to place the patient at the very center of operations, while increasing overall efficiency and capacity at the same time and maintaining the quality of care.

RAY-POS: a LIDAR-based assistance system for intraoperative repositioning of mobile C-arms without external aids.

PURPOSE: In current clinical practice, intraoperative repositioning of mobile C-arms is challenging due to a lack of visual cues and efficient guiding tools. This can be detrimental to the surgical workflow and lead to additional radiation burdens for both patient and personnel. To overcome this problem, we present our novel approach Lidar-based X-ray Positioning for Mobile C-arms (RAY-POS) for assisting circulating nurses during intraoperative C-arm repositioning without requiring external aids. METHODS: RAY-POS consists of a localization module and a graphical user interface for guiding the user back to a previously recorded C-Arm position. We conducted a systematic comparison of simultaneous localization and mapping (SLAM) algorithms using different attachment positions of light detection and ranging (LIDAR) sensors to benchmark localization performance within the operating room (OR). For two promising combinations, we conducted further end-to-end repositioning tests within a realistic OR setup. RESULTS: SLAM algorithm gmapping with a LIDAR sensor mounted 40 cm above the C-arm's horizontal unit performed best regarding localization accuracy and long-term stability. The distribution of the repositioning error yielded an effective standard deviation of 7.61 mm. CONCLUSION: We conclude that a proof-of-concept for LIDAR-based C-arm repositioning without external aids has been achieved. In future work, we mainly aim at extending the capabilities of our system and evaluating the usability together with clinicians.

Integrating autonomously navigating assistance systems into the clinic: guiding principles and the ANTS-OR approach.

PURPOSE: Autonomously self-navigating clinical assistance systems (ASCAS) seem highly promising for improving clinical workflows. There is great potential for easing staff workload and improving overall efficiency by reducing monotonous and physically demanding tasks. However, a seamless integration of such systems into complex human-supervised clinical workflows is challenging. As of yet, guiding principles and specific approaches for solving this problem are lacking. METHODS: We propose to treat ASCAS orchestration as a scheduling problem. However, underlying objectives and constraints for this scheduling problem differ considerably from those found in other domains (e.g., manufacturing, logistics). We analyze the clinical environment to deduce unique needs and conclude that existing scheduling approaches are not sufficient to overcome these challenges. RESULTS: We present four guiding principles, namely human precedence, command structure, emergency context and immediacy, that govern the integration of self-navigating assistance systems into clinical workflows. Based on these results, we propose our approach, namely Auto-Navigation Task Scheduling for Operating Rooms (ANTS-OR), for solving the ASCAS orchestration problem in a surgical application scenario, employing a score-based scheduling strategy. CONCLUSION: The proposed approach is a first step toward addressing the ASCAS orchestration problem for the OR wing. We are currently advancing and validating our concept using a simulation environment and aim at realizing a dynamic end-to-end ASCAS orchestration platform in the future.