Surgeon-robot interface development framework

Modular robot interface for a smart operating theater

This paper discusses the architecture and implementation of a modular component of the smart operating theater digital twin, designed to control robotic equipment-the robot interface module. This interface is designed to ensure equipment operation both in a real smart operating theater and in the virtual space of its digital twin-the computer simulation. Using such an interface in the digital twin will make it possible to use it in computer-assisted training of surgeons, preliminary planning, post-analysis, and simulation, preceding the operation of real equipment. An experimental implementation of a prototype robot interface to enable the KUKA LBR Med 14 R820 medical robot operation using the FRI protocol was developed, and experiments were performed on real equipment and its digital twin.

Clinical Efficacy of Thoracoscopic Surgery with the da Vinci Surgical System versus Video-Assisted Thoracoscopic Surgery for Lung Cancer

Objective

To assess the clinical efficacy of thoracoscopic surgery with the da Vinci surgical system versus video-assisted thoracoscopic surgery (VATS) for lung cancer.

Methods

From August 2019 to December 2020, 193 patients with lung cancer assessed for eligibility scheduled for surgery in our hospital were recruited and assigned at a ratio of 1 : 1 to receive VATS (control group) or thoracoscopic surgery with the da Vinci surgical system (research group). The primary measurement is the clinical efficacy of the two surgical modalities.

Results

The baseline features of the research group were comparable with those of the control group (P > 0.05). Besides, the two groups showed similar tumor types, tumor locations, and clinicopathological staging (P > 0.05). Da Vinci surgical system-assisted thoracoscopic surgery had short operative time, less intraoperative blood loss, better lymph node dissection, and lower intraoperative conversion rates compared to VATS. Compared with the control group, the research group had significantly higher postoperative forced expiratory volume in one second (FEV1), forced vital capacity (FVC), maximal voluntary ventilation (MVV), the functional assessment of cancer therapy-general module (FACT-G) of the FACT-lung (FACT-L) Chinese version V4.0, lung cancer-specific module scores, and total scores (P < 0.05). The research group showed better postoperative drainage volume, shorter intubation duration, and length of hospital stay and a lower incidence of complications versus the control group (P < 0.05). The da Vinci surgical system reduced the probability of intraoperative mistakes and better ensured a safe and satisfactory surgery.

Conclusion

The thoracoscopic surgery with the da Vinci surgical system better reduces intraoperative and postoperative bleeding, shortens drainage and intubation duration, enhances the lung function and survival quality of patients, and lowers the risk of surgical mistakes to ensure surgical safety versus VATS.

Development of a Modular Software Architecture for Underwater Vehicles Using Systems Engineering

This paper addresses the development of a modular software architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. First, systems engineering and the Vee model are presented with the objective of defining the interactions of the stakeholders with the software architecture development team and establishing the baselines that must be met in each development phase. In the development stage, the definition of the architecture and its connection with the hardware is presented, taking into account the use of the actor model, which represents the high-level software architecture used to solve concurrency problems. Subsequently, the structure of the classes is defined both at high and low levels in the instruments using the object-oriented programming paradigm. Finally, unit tests are developed for each component in the software architecture, quality assessment tests are implemented for system functions fulfillment, and a field sea trial for testing different modules of the vehicle is described. This approach is well suited for the development of complex systems such as marine vehicles and those systems which require scalability and modularity to add functionalities.