Objective To summary the early experience of Dixon procedures with Da Vinci robotics surgical system for rectal cancer. Methods Eleven patients with rectal cancer underwent the combination of laparoscope and Da Vinci robotics surgical system with 4 trocars in our hospital from May. 2011 to Jan. 2012. Laparoscopy was firstly used to identify the possibility of the surgical procedure， then placed the 4 trocars， and maked sure the suspension of the sigmoid colon and the uterus. Transections of rectum were performed by a conventional laparoscopic method， and endoscopic separations were performed by Da Vinci robotics surgical system. The clinical data were retrospectively analyzed and the experience was summarized. Results The Da Vinci robotics-assisted Dixon procedures were successfully performed in 11 patients and no one turned to laparotomy. The operating time was 210-330min （mean 288.6min）；the blood loss was 20-100ml （mean 40ml）； The number of lymph nodes dissected was 12-21 per case （mean 13.9 per case）；the duration of bowel movement and hospital stay were 18-26h （mean 22h） and 7-16d （mean 11.5d）， respectively. There were no intraoperative or postoperative complications related to the use of robotics， and no residual cancer cells at resection margin. Conclusions Da Vinci robotics-assisted Dixion procedure with 4 trocars and suspension of sigmoid colon are safe and feasible， and it is beneficial to the recovery of patients
Robotic catheter minimally invasive operation requires that the driver control system has the advantages of quick response, strong anti-jamming and real-time tracking of target trajectory. Since the catheter parameters of itself and movement environment and other factors continuously change, when the driver is controlled using traditional proportional-integral-derivative (PID), the controller gain becomes fixed once the PID parameters are set. It can not change with the change of the parameters of the object and environmental disturbance so that its change affects the position tracking accuracy, and may bring a large overshoot endangering patients' vessel. Therefore, this paper adopts fuzzy PID control method to adjust PID gain parameters in the tracking process in order to improve the system anti-interference ability, dynamic performance and tracking accuracy. The simulation results showed that the fuzzy PID control method had a fast tracking performance and a strong robustness. Compared with those of traditional PID control, the feasibility and practicability of fuzzy PID control are verified in a robotic catheter minimally invasive operation.
With the development of capsule endoscopy, developing active capsule endoscopy robot becomes a growing trend. Although stomach diagnosis with robot has been put into clinical test, the realization of the complete intestinal capsule endoscopy is still a difficulty. This paper reports the status quo of the research process for intestinal capsule endoscopy robot, and analyzes their advantages, defects and prospects for development, which provides reference for the research of intestinal capsule endoscopy robot.
The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using SolidWorks software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3°by comparing the angle-time curves obtained from calculation with those from motion simulation.
ObjectiveTo investigate the role of laparoscopic pancreaticoduodenectomy (LPD) for periampullary carcinoma. MethodsThis is a retrospective review of all periampullary carcinomas consecutively performed between January 2013 and January 2016 in Zhejiang Provincial People's Hospital. ResultsFifty-one patients underwent LPD. Conversion to open procedure was required in three cases. The operative time was (370±104) min, The estimated blood loss was (220.7±180.9) mL. Five cases had binding pancreaticogastric anastomosis, the other patients underwent duct to mucosa pancreaticojejunal anastomosis. Post operatively hospital stay was (14.6±11.2) days. The represented morbidity including pancreatic fistula (9 cases), postoperative intraperitoneal bleeding (2 cases), postoperative gastrointestinal bleeding (2 cases), delayed gastric emptying (4 cases), and bile leakage (4 cases). All patients underwent R0 resection. Postoperative pathological results: pancreatic adenocarcinoma: 28 cases, duodenal papillary adenocarcinoma: 12 cases, common bile duct adenocarcinoma: 11 cases. Conciusions LPD has been proven to be a safe procedure. Our LPD approach can improve the effectiveness of lymphadenectomy. It combined with resection of portal vein can improve the R0 resection rate of periampullary adenocarcinoma and is associated with better survival of those patients.
ObjectiveTo summarize the research progress of peripheral nerve surgery assisted by Da Vinci robotic system. MethodsThe recent domestic and international articles about peripheral nerve surgery assisted by Da Vinci robotic system were reviewed and summarized. ResultsCompared with conventional microsurgery, peripheral nerve surgery assisted by Da Vinci robotic system has distinctive advantages, such as elimination of physiological tremors and three-dimensional high-resolution vision. It is possible to perform robot assisted limb nerve surgery using either the traditional brachial plexus approach or the mini-invasive approach. ConclusionThe development of Da Vinci robotic system has revealed new perspectives in peripheral nerve surgery. But it has still been at the initial stage, more basic and clinical researches are still needed.
ObjectiveTo evaluate the feasibility and safety of da Vinci robotic surgery for elderly patients with pulmonary lobectomy. MethodsWe retrospectively analyzed the clinical data of 50 patients in General Hospital of Shenyang Military Region of Thoracic Surgery between May 2012 and March 2015.The patients were divided into two groups. Twenty five patients aged over 70 years underwent radical operation of lung cancer with da Vinci Robot System were allocated into a robot group with 17 males and 8 females at age of 72.6 ±2.5 years. Another 25 senile patients with radical surgery by video-assisted thoracoscopic surgery (VATS) were allocated into a thoracoscopic group with 17 males and 8 females at age of 72.5±2.4 years. The patients in the two groups underwent pulmonary lobectomy and mediastinal lymph node dissection. The clinical effect of the two groups was compared. ResultsAll patients were diagnosed as lung cancer. Twenty five patients all completed surgery under da Vinci Robot System in the robot group. In the thoracoscopic group, one patient was converted to thoracotomy. There were statistical differences in amount of blood loss (66.2±44.2 ml vs. 356.0±349.2 ml, P=0.000), lymph node number (23.2±9.8 vs. 11.3±5.6, P=0.012), and postoperative bed time (3.5±0.9 d vs. 4.2±1.1 d, P=0.017) between the two groups. Effect in the robot group was superior to that in the thoracoscopic group. ConclusionDa Vinci robotic surgery system for elderly patients with lung cancer radical surgery is safe, effective, and less thoracoscopic surgery trauma, recovery faster.
ObjectiveTo investigate the effect of pressure control ventilation-volume guaranteed (PCV-VG) for patients undergoing da Vinci robotic-assisted pulmonary lobotomy. MethodA total of 40 patients undergoing Da Vinci robotic-assisted pulmonary lobotomy were randomly divided into two groups:a PCV-VG group (G group) and a volume-controlled ventilation (VCV) group (V group). There were 20 patients in each group with 13 males and 7 females at age of 49.0±5.5 years in the G group, 16 males and 4 females at age of 51.0±3.9 years in the V group. Haemodynamics indexes and oxygenation parameters were recorded at different times and compared between the two groups. ResultsDuring one-lung ventilation (OLV) period, the peak inspiratory pressure (Ppeak), respiratory index (RI) and arterial partial pressure of carbon dioxide (PaCO2) in the G group were statistically lower than those in the V group (P<0.05). While the Cdyn and inspired oxygen fraction(OI) were higher in the G group than those in the V group (P<0.05). ConclusionCompared with the traditional VCV ventilation mode, the PCV-VG ventilation mode improves Ppeak, Cdyn, OI, and RI of the patients undergoing da Vinci robotic-assisted pulmonary lobotomy.
ObjectiveTo estimate postoperative pain and use of analgesic of patients who underwent video-assisted thoracoscopic surgery(VATS) or robotic assisted thoracoscopic surgery(RATS). MethodsFrom October 2014 through August 2015, 339 patients were treated by surgery in Shanghai Chest Hospital. Among them, 116 patients with intrathoracic lesions who underwent RATS with the da Vinci? Surgical System were as a RATS group with 51 males and 65 females at age of 52.59±11.49 years. Another 223 patients by VATS were as a VATS group with 93 males and 130 females at age of 58.00±10.56 years. We recorded the data of the VAS score and use analgesic of the patients after surgery. ResultsThere was a significant difference in VAS score between the RATS group and the VATS group(3.01±0.18 vs. 5.19±0.14, P<0.05). Astatistical difference of analgesic use between RATS and VATS was also found(1.09±0.12 vs. 1.77±0.10, P<0.05). ConclusionCompared with VATS, the postoperative pain of the patients who underwent RATS is lighter. And the use of analgesic is less.
In order to help the patients with upper-limb disfunction go on rehabilitation training, this paper proposed an upper-limb exoskeleton rehabilitation robot with four degrees of freedom (DOF), and realized two control schemes, i.e., voice control and electromyography control. The hardware and software design of the voice control system was completed based on RSC-4128 chips, which realized the speech recognition technology of a specific person. Besides, this study adapted self-made surface eletromyogram (sEMG) signal extraction electrodes to collect sEMG signals and realized pattern recognition by conducting sEMG signals processing, extracting time domain features and fixed threshold algorithm. In addition, the pulse-width modulation(PWM)algorithm was used to realize the speed adjustment of the system. Voice control and electromyography control experiments were then carried out, and the results showed that the mean recognition rate of the voice control and electromyography control reached 93.1% and 90.9%, respectively. The results proved the feasibility of the control system. This study is expected to lay a theoretical foundation for the further improvement of the control system of the upper-limb rehabilitation robot.