Field experiment of a telesurgery system using a surgical robot with haptic feedback.

PURPOSE: To verify the usefulness of haptic feedback in telesurgery and improve the safety of telerobotic surgery. METHODS: The surgeon's console was installed at two sites (Fukuoka and Beppu; 140 km apart), and the patient cart was installed in Fukuoka. During the experiment, the surgeon was blinded to the haptic feedback levels and asked to grasp the intestinal tract in an animal model. The surgeon then performed the tasks at each location. RESULTS: No marked differences in task accuracy or average grasping force were observed between the surgeon locations. However, the average task completion time was significantly longer, and the system usability scale (SUS) was significantly lower rating for remote operations than for local ones. No marked differences in task accuracy or task completion time were observed between the haptic feedback levels. However, with haptic feedback, the organ was grasped with a significantly weaker force than that without it. Furthermore, with haptic feedback, experienced surgeons in robotic surgery tended to perform an equivalent task with weaker grasping forces than inexperienced surgeons. CONCLUSION: The haptic feedback function is a tool that allows the surgeon to perform surgery with an appropriate grasping force, both on site and remotely. Improved safety is necessary in telesurgery; haptic feedback will thus be an essential technology in robotic telesurgery going forward.

Ensuring communication redundancy and establishing a telementoring system for robotic telesurgery using multiple communication lines.

Assuring communication redundancy during the interruption and establishing appropriate teaching environments for local surgeons are essential to making robotic telesurgery mainstream. This study analyzes robotic telesurgery with telementoring using standard domestic telecommunication carriers. Can multiple carriers guarantee redundancy with interruptions? Three commercial optical fiber lines connected Hirosaki University and Mutsu General Hospitals, 150 km apart. Using Riverfield, Inc. equipment, Hirosaki had a cockpit, while both Mutsu used both a cockpit and a surgeon's console. Experts provided telementoring evaluating 14 trainees, using objective indices for operation time and errors. Subjective questionnaires addressed image quality and surgical operability. Eighteen participants performed telesurgery using combined lines from two/three telecommunication carriers. Manipulation: over 30 min, lines were cut and restored every three minutes per task. Subjects were to press a switch when noticing image quality or operability changes. Mean time to task completion was 1510 (1186-1960) seconds: local surgeons alone and 1600 (1152-2296) seconds for those under remote instructor supervision, including expert intervention time. There was no significant difference (p = 0.86). The mean error count was 0.92 (0-3) for local surgeons and 0.42 (0-2) with remote instructors. Image quality and operability questionnaires found no significant differences. Results communication companies A, B, and C: the A/B combination incurred 0.17 (0-1) presses of the environment change switch, B/C had 0, and C/A received 0.67 (0-3), showing no significant difference among provider combinations. Combining multiple communication lines guarantees communication redundancy and enables robotic telementoring with enhanced communication security.

Workspace and dexterity analysis of the hybrid mechanism master robot in Sinaflex robotic telesurgery system: An in vivo experiment.

Sinaflex robotic telesurgery system has been introduced recently to provide ergonomic postures for the surgeon along with dexterous workspace for robotic telesurgery. The robot is described, and the forward and inverse kinematics are derived and validated by an experiment. The robot and operational workspaces and their dexterity are investigated and compared using the data collected during a dog vasectomy robotic telesurgery by Sinaflex. According to the simulation results, the workspace of the end effector is as large as 914.56 × 105 mm3, which can completely cover the ergonomic human hand workspace. The dexterity of the robot for the total and operational workspace is 0.4557 and 0.6565, respectively. In terms of the workspace size and the amount of dexterity, Sinaflex master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems.

Technical evaluation of robotic tele-cholecystectomy: a randomized single-blind controlled pilot study.

Although robotic telesurgery is growing in popularity, the benefits of telesurgery compared to local surgery are unclear. This study aimed to evaluate the performance of robotic tele-cholecystectomy with a commercial line using the Saroa™ (Riverfield, Inc., Tokyo, Japan) system. The operation rooms of the Hokkaido University Hospital and Kushiro City General Hospital were connected using a best effort-type line (1 Gbps), with a distance of 250 km between the two hospitals. In this experimental single-blind randomized crossover trial, eight expert robotic surgeons performed robotic cholecystectomy in an artificial organ model using the Saroa™ system and were randomized to begin with either local surgery or telesurgery. All surgeons were assessed on task completion time, total path length of the right- and left- hand forceps and camera, Global Evaluative Assessment of Robotic Skills (GEARS), Global Operative Assessment of Laparoscopic Skills (GOALS), and System and Piper Fatigue Scale-12 (PFS-12). In all experiments, the communication environment was stable and the mean communication delay was 8 ms (3-31 ms). All tele-cholecystectomies were performed safely. There was no significant difference in completion time (P = 0.495), score of GEARS (P = 0.258), GOALS (P = 0.180), or PFS-12 (P = 0.528) between local surgery and telesurgery. The total path of the forceps tended to be longer in tele-cholecystectomy, particularly with significantly longer left-hand forceps total path length (P = 0.041). Robotic tele-cholecystectomy using a commercial line can be performed safely as same as local robotic surgery, but the total path of the left-hand forceps was prolonged in robotic tele-cholecystectomy due to overshoot. Therefore, a solution for overshooting will be required in the future.

Training in robotic surgery: initial experience using the Brazilian College of Surgeons model / Treinamento em cirurgia robótica: experiência inicial pelo modelo do Colégio Brasileiro de Cirurgiões

ABSTRACT Objective: to present the initial experience of the first tier of surgeons trained in the new model of robotic surgery training proposed by the CBC. Methods: we retrospectively collected data and information on training with the Da Vinci SI robotic system. The variables analyzed were, in the pre-clinical phase, time of completion of each step by surgeon and number of hours in the simulator, and in the clinical phase, operations carried out by the training group, number of surgeons who performed nine procedures in ninety days ("9 in 90"), time of docking, time of console, and results surgical. Results: we interviewed 39 surgeons before training started; 20 (51.3%) reached the clinical phase. The average age of surgeons was 47.9 years (38-62). The average time between the first interview and the delivery of the online certificate was 64 days (15-133). The surgeons have made an average of 51h and 36 minutes of robot simulation (40-83 hours). The total number of cases in which the training surgeons participated as first assistant was 418, with an average of 20.9 per surgeon. The time of pre-clinical training had an average of 116 days (48-205). Conclusion: the new model proposed had good acceptance by all surgeons trained and proved safe in the initial sample.

RESUMO Objetivo: apresentamos nesse artigo o resultado da experiência inicial do nosso programa durante o treinamento dos primeiros cirurgiões no novo modelo de treinamento em cirurgia robótica proposto pelo CBC. Métodos: avaliamos retrospectivamente por coleta de dados e informações sobre treinamento no sistema robótico Da Vinci SI. As variáveis analisadas foram: Fase Pré-clínica: tempo de conclusão de cada uma das etapas por cirurgião, número de horas no simulador; Fase clínica: operações realizadas pelo grupo em treinamento, número de cirurgiões que realizaram nove procedimentos em noventa dias ("9 em 90"), tempo de docking, tempo de console, resultados cirúrgicos. Resultados: trinta e nove cirurgiões foram entrevistados para início do treinamento, 20 (51,3%) chegaram à fase clínica. A média de idade dos cirurgiões foi de 47,9 (38 a 62) anos. O tempo médio entre a primeira entrevista e a entrega do certificado online foi de 64 dias (15 a 133). Os cirurgiões fizeram média de 51h e 36 minutos de simulação robótica (40 a 83 minutos). O número total de casos em que os cirurgiões em treinamento participaram do ato cirúrgico como primeiro assistente foi de 418 casos, com média de 20,9 por cirurgião. O tempo de treinamento pré-clínico teve média de 116 dias (48 a 205 dias). Conclusão: o novo modelo proposto teve boa aceitação por todos os cirurgiões treinados e se mostrou seguro na amostra inicial.

A atuação da enfermagem na cirurgia robótica: um relato de experiência / Nursing performance in robotic surgery: an experience report / La actuación de enfermería en cirugía robótica: un relato de experiencia

Relatar a experiência da atuação da enfermagem em cirurgia robótica no sistema Da Vinci. Método: Trata-se de um relato de experiência acerca da atuação da enfermagem em um Centro de Cirurgia Robótica de um hospital do Distrito Federal - Brasil. Resultados: Um total de 426 cirurgias foram observadas, na maioria, intervenções cirúrgicas urológicas (n=344; 80,8%). A enfermagem no centro cirúrgico estudado atua em diversas frentes de trabalho para segurança e sucesso da intervenção cirúrgica. Confere órteses, próteses e materiais especiais; monta do robô; calibra óticas de 0º e 30º; promove os treinamentos; levanta mensalmente indicadores robóticos de assistência; promove proteção ao paciente. A assistência de enfermagem na cirurgia robótica conversa com as novas técnicas e os desafios envolvidos no uso desses recursos, a fim de garantir a um procedimento cirúrgico bem-sucedido e, consequentemente, um tratamento eficaz, seguro e com menos riscos. Considerações finais: Este trabalho, ao relatar sobre essa atuação, contribui não só na divulgação da temática, mas também convida à reflexão entre os pares sobre o que permeia a assistência de enfermagem na cirurgia robótica.

Report the experience of nursing practice in robotic surgery in the Da Vinci system. Method: This is an experience report about the performance of nursing in a Robotic Surgery Center of a hospital in the Federal District - Brazil. Results: A total of 426 surgeries were observed. Most urological surgical interventions (n = 344; 80.8%). The nursing staff at the studied CC works on several work fronts for the safety and success of the surgical intervention. Checks Orthoses, Prostheses and Special Materials; Robot mounts; calibrates optics of 0º and 30º; promotes training; It raises monthly robotic assistance indicators; promotes patient protection. Nursing assistance in robotic surgery, talks to the new techniques and the challenges involved in using these resources, in order to guarantee a successful surgical procedure and consequently an effective, safe and less risky treatment. Final considerations: This report, when reporting on this performance, contributes not only to the dissemination of the theme, but also invites reflection among peers on what permeates nursing care in robotic surgery.

Relatar la experiencia de atuactuación del equipo de enfermería en cirugía robótica en sistema Da Vinci. Método: Este es un relato de experiencia sobre el desempeño de la enfermería en un Centro de Cirugía Robótica de un hospital en el Distrito Federal - Brasil. Resultados: Se observaron un total de 426 cirugías, la mayoría de las intervenciones quirúrgicas era urológica (n = 344; 80.8%). El equipo de enfermería estudiado actúa en varios frentes de trabajo para la seguridad y el éxito de la intervención quirúrgica. Verifica ortesis, prótesis y materiales especiales; montajes de robot; calibra ópticas de 0º y 30º; promueve la capacitación; recoge los indicadores mensuales de asistencia robótica; promueve la protección del paciente. La asistencia de enfermería en cirugía robótica abarca las nuevas técnicas y los desafíos involucrados en el uso de estos recursos para garantizar un procedimiento quirúrgico exitoso y, en consecuencia, un tratamiento eficaz, seguro y menos riesgos. Consideraciones finales: este informe, al relatar el desempeño, contribuye no solo a la difusión del tema, sino que también invita a la reflexión entre los pares acerca de la atención de enfermería en la cirugía robótica.