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Luo J, Zhou X, Zeng C, Jiang Y, Qi W, Xiang K, Pang M, Tang B. Robotics Perception and Control: Key Technologies and Applications. MICROMACHINES 2024; 15:531. [PMID: 38675342 PMCID: PMC11052398 DOI: 10.3390/mi15040531] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/05/2024] [Revised: 04/10/2024] [Accepted: 04/11/2024] [Indexed: 04/28/2024]
Abstract
The integration of advanced sensor technologies has significantly propelled the dynamic development of robotics, thus inaugurating a new era in automation and artificial intelligence. Given the rapid advancements in robotics technology, its core area-robot control technology-has attracted increasing attention. Notably, sensors and sensor fusion technologies, which are considered essential for enhancing robot control technologies, have been widely and successfully applied in the field of robotics. Therefore, the integration of sensors and sensor fusion techniques with robot control technologies, which enables adaptation to various tasks in new situations, is emerging as a promising approach. This review seeks to delineate how sensors and sensor fusion technologies are combined with robot control technologies. It presents nine types of sensors used in robot control, discusses representative control methods, and summarizes their applications across various domains. Finally, this survey discusses existing challenges and potential future directions.
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Affiliation(s)
- Jing Luo
- School of Automation, Wuhan University of Technology, Wuhan 430070, China; (J.L.); (X.Z.); (K.X.)
- Chongqing Research Institute, Wuhan University of Technology, Chongqing 401135, China
| | - Xiangyu Zhou
- School of Automation, Wuhan University of Technology, Wuhan 430070, China; (J.L.); (X.Z.); (K.X.)
| | - Chao Zeng
- Department of Informatics, University of Hamburg, 22527 Hamburg, Germany;
| | - Yiming Jiang
- School of Robotics, Hunan University, Changsha 410082, China;
| | - Wen Qi
- School of Future Technology, South China University of Technology, Guangzhou 510641, China;
| | - Kui Xiang
- School of Automation, Wuhan University of Technology, Wuhan 430070, China; (J.L.); (X.Z.); (K.X.)
| | - Muye Pang
- School of Automation, Wuhan University of Technology, Wuhan 430070, China; (J.L.); (X.Z.); (K.X.)
| | - Biwei Tang
- School of Automation, Wuhan University of Technology, Wuhan 430070, China; (J.L.); (X.Z.); (K.X.)
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Hadi Hosseinabadi AH, Salcudean SE. Force sensing in robot-assisted keyhole endoscopy: A systematic survey. Int J Rob Res 2021. [DOI: 10.1177/02783649211052067] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/10/2023]
Abstract
Instrument–tissue interaction forces in minimally invasive surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice and expert surgeons. Force and tactile sensing is lost in many robot-assisted surgery (RAS) systems. Therefore, many researchers have focused on recovering this information through sensing systems and estimation algorithms. This article provides a comprehensive systematic review of the current force sensing research aimed at RAS and, more generally, keyhole endoscopy, in which instruments enter the body through small incisions. Articles published between January 2011 and May 2020 are considered, following the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) guidelines. The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.
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Affiliation(s)
- Amir Hossein Hadi Hosseinabadi
- Robotics and Controls Laboratory (RCL), Electrical and Computer Engineering Department, University of British Columbia, Vancouver, British Columbia, Canada
| | - Septimiu E. Salcudean
- Robotics and Controls Laboratory (RCL), Electrical and Computer Engineering Department, University of British Columbia, Vancouver, British Columbia, Canada
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Wang L, Ma L, Yang J, Wu J. Human Somatosensory Processing and Artificial Somatosensation. CYBORG AND BIONIC SYSTEMS 2021; 2021:9843259. [PMID: 36285142 PMCID: PMC9494715 DOI: 10.34133/2021/9843259] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2021] [Accepted: 04/30/2021] [Indexed: 11/06/2022] Open
Abstract
In the past few years, we have gained a better understanding of the information processing mechanism in the human brain, which has led to advances in artificial intelligence and humanoid robots. However, among the various sensory systems, studying the somatosensory system presents the greatest challenge. Here, we provide a comprehensive review of the human somatosensory system and its corresponding applications in artificial systems. Due to the uniqueness of the human hand in integrating receptor and actuator functions, we focused on the role of the somatosensory system in object recognition and action guidance. First, the low-threshold mechanoreceptors in the human skin and somatotopic organization principles along the ascending pathway, which are fundamental to artificial skin, were summarized. Second, we discuss high-level brain areas, which interacted with each other in the haptic object recognition. Based on this close-loop route, we used prosthetic upper limbs as an example to highlight the importance of somatosensory information. Finally, we present prospective research directions for human haptic perception, which could guide the development of artificial somatosensory systems.
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Affiliation(s)
- Luyao Wang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Lihua Ma
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Jiajia Yang
- Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Okayama, Japan
| | - Jinglong Wu
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
- Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Okayama, Japan
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Abiri A, Pensa J, Tao A, Ma J, Juo YY, Askari SJ, Bisley J, Rosen J, Dutson EP, Grundfest WS. Multi-Modal Haptic Feedback for Grip Force Reduction in Robotic Surgery. Sci Rep 2019; 9:5016. [PMID: 30899082 PMCID: PMC6428814 DOI: 10.1038/s41598-019-40821-1] [Citation(s) in RCA: 35] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/19/2018] [Accepted: 02/12/2019] [Indexed: 12/17/2022] Open
Abstract
Minimally invasive robotic surgery allows for many advantages over traditional surgical procedures, but the loss of force feedback combined with a potential for strong grasping forces can result in excessive tissue damage. Single modality haptic feedback systems have been designed and tested in an attempt to diminish grasping forces, but the results still fall short of natural performance. A multi-modal pneumatic feedback system was designed to allow for tactile, kinesthetic, and vibrotactile feedback, with the aims of more closely imitating natural touch and further improving the effectiveness of HFS in robotic surgical applications and tasks such as tissue grasping and manipulation. Testing of the multi-modal system yielded very promising results with an average force reduction of nearly 50% between the no feedback and hybrid (tactile and kinesthetic) trials (p < 1.0E-16). The multi-modal system demonstrated an increased reduction over single modality feedback solutions and indicated that the system can help users achieve average grip forces closer to those normally possible with the human hand.
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Affiliation(s)
- Ahmad Abiri
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA.
- UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, USA.
| | - Jake Pensa
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA
- UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, USA
| | - Anna Tao
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA
| | - Ji Ma
- UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, USA
| | - Yen-Yi Juo
- UCLA Department of Surgery, Los Angeles, USA
| | - Syed J Askari
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA
- UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, USA
| | - James Bisley
- UCLA Department of Neurobiology, Los Angeles, USA
| | - Jacob Rosen
- UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, USA
| | - Erik P Dutson
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA
- UCLA Department of Surgery, Los Angeles, USA
| | - Warren S Grundfest
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA
- UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, USA
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Abstract
The number of procedures performed with robotic surgery may exceed one million globally in 2018. The continual lack of haptic feedback, however, forces surgeons to rely on visual cues in order to avoid breaking sutures due to excessive applied force. To mitigate this problem, the authors developed and validated a novel grasper-integrated system with biaxial shear sensing and haptic feedback to warn the operator prior to anticipated suture breakage. Furthermore, the design enables facile suture manipulation without a degradation in efficacy, as determined via measured tightness of resulting suture knots. Biaxial shear sensors were integrated with a da Vinci robotic surgical system. Novice subjects (n = 17) were instructed to tighten 10 knots, five times with the Haptic Feedback System (HFS) enabled, five times with the system disabled. Seven suture failures occurred in trials with HFS enabled while seventeen occurred in trials without feedback. The biaxial shear sensing system reduced the incidence of suture failure by 59% (p = 0.0371). It also resulted in 25% lower average applied force in comparison to trials without feedback (p = 0.00034), which is relevant because average force was observed to play a role in suture breakage (p = 0.03925). An observed 55% decrease in standard deviation of knot quality when using the HFS also indicates an improvement in consistency when using the feedback system. These results suggest this system may improve outcomes related to knot tying tasks in robotic surgery and reduce instances of suture failure while not degrading the quality of knots produced.
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Abiri A, Askari SJ, Tao A, Juo YY, Dai Y, Pensa J, Candler R, Dutson EP, Grundfest WS. Suture Breakage Warning System for Robotic Surgery. IEEE Trans Biomed Eng 2018; 66:1165-1171. [PMID: 30207946 DOI: 10.1109/tbme.2018.2869417] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
As robotic surgery has increased in popularity, the lack of haptic feedback has become a growing issue due to the application of excessive forces that may lead to clinical problems such as intraoperative and postoperative suture breakage. Previous suture breakage warning systems have largely depended on visual and/or auditory feedback modalities, which have been shown to increase cognitive load and reduce operator performance. This work catalogues a new sensing technology and haptic feedback system (HFS) that can reduce instances of suture failure without negatively impacting performance outcomes including knot quality. Suture breakage is common in knot-tying as the pulling motion introduces prominent shear forces. A shear sensor mountable on the da Vinci robotic surgical system's Cadiere grasper detects forces that correlate to the suture's internal tension. HFS then provides vibration feedback to the operator as forces near a particular material's failure load. To validate the system, subjects tightened a total of four knots, two with the Haptic Feedback System (HFS) and two without feedback. The number of suture breakages were recorded and knot fidelity was evaluated by measuring knot slippage. Results showed that instances of suture failure were significantly reduced when HFS was enabled (p = 0.0078). Notably, knots tied with HFS also showed improved quality compared to those tied without feedback (p = 0.010). The results highlight the value of HFS in improving robotic procedure outcomes by reducing instances of suture failures, producing better knots, and reducing the need for corrective measures.
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A technique to measure the tension across a wound in real time during wound closure. J Plast Reconstr Aesthet Surg 2018; 71:1216-1230. [PMID: 29936000 DOI: 10.1016/j.bjps.2018.05.028] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/28/2017] [Revised: 05/22/2018] [Accepted: 05/27/2018] [Indexed: 11/23/2022]
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Zou L, Ge C, Wang ZJ, Cretu E, Li X. Novel Tactile Sensor Technology and Smart Tactile Sensing Systems: A Review. SENSORS (BASEL, SWITZERLAND) 2017; 17:E2653. [PMID: 29149080 PMCID: PMC5713637 DOI: 10.3390/s17112653] [Citation(s) in RCA: 69] [Impact Index Per Article: 9.9] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/10/2017] [Revised: 11/08/2017] [Accepted: 11/14/2017] [Indexed: 02/07/2023]
Abstract
During the last decades, smart tactile sensing systems based on different sensing techniques have been developed due to their high potential in industry and biomedical engineering. However, smart tactile sensing technologies and systems are still in their infancy, as many technological and system issues remain unresolved and require strong interdisciplinary efforts to address them. This paper provides an overview of smart tactile sensing systems, with a focus on signal processing technologies used to interpret the measured information from tactile sensors and/or sensors for other sensory modalities. The tactile sensing transduction and principles, fabrication and structures are also discussed with their merits and demerits. Finally, the challenges that tactile sensing technology needs to overcome are highlighted.
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Affiliation(s)
- Liang Zou
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada.
| | - Chang Ge
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada.
| | - Z Jane Wang
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada.
| | - Edmond Cretu
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada.
| | - Xiaoou Li
- College of Medical Instruments, Shanghai University of Medicine and Health Sciences, Shanghai 201318, China.
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Abiri A, Paydar O, Tao A, LaRocca M, Liu K, Genovese B, Candler R, Grundfest WS, Dutson EP. Tensile strength and failure load of sutures for robotic surgery. Surg Endosc 2016; 31:3258-3270. [PMID: 27928670 DOI: 10.1007/s00464-016-5356-1] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/04/2016] [Accepted: 11/12/2016] [Indexed: 11/29/2022]
Abstract
BACKGROUND Robotic surgical platforms have seen increased use among minimally invasive gastrointestinal surgeons (von Fraunhofer et al. in J Biomed Mater Res 19(5):595-600, 1985. doi: 10.1002/jbm.820190511 ). However, these systems still suffer from lack of haptic feedback, which results in exertion of excessive force, often leading to suture failures (Barbash et al. in Ann Surg 259(1):1-6, 2014. doi: 10.1097/SLA.0b013e3182a5c8b8 ). This work catalogs tensile strength and failure load among commonly used sutures in an effort to prevent robotic surgical consoles from exceeding identified thresholds. Trials were thus conducted on common sutures varying in material type, gauge size, rate of pulling force, and method of applied force. METHODS Polydioxanone, Silk, Vicryl, and Prolene, gauges 5-0 to 1-0, were pulled till failure using a commercial mechanical testing system. 2-0 and 3-0 sutures were further tested for the effect of pull rate on failure load at rates of 50, 200, and 400 mm/min. 3-0 sutures were also pulled till failure using a da Vinci robotic surgical system in unlooped, looped, and at the needle body arrangements. RESULTS Generally, Vicryl and PDS sutures had the highest mechanical strength (47-179 kN/cm2), while Silk had the lowest (40-106 kN/cm2). Larger diameter sutures withstand higher total force, but finer gauges consistently show higher force per unit area. The difference between material types becomes increasingly significant as the diameters decrease. Comparisons of identical suture materials and gauges show 27-50% improvement in the tensile strength over data obtained in 1985 (Ballantyne in Surg Endosc Other Interv Tech 16(10):1389-1402, 2002. doi: 10.1007/s00464-001-8283-7 ). No significant differences were observed when sutures were pulled at different rates. Reduction in suture strength appeared to be strongly affected by the technique used to manipulate the suture. CONCLUSIONS Availability of suture tensile strength and failure load data will help define software safety protocols for alerting a surgeon prior to suture failure during robotic surgery. Awareness of suture strength weakening with direct instrument manipulation may lead to the development of better techniques to further reduce intraoperative suture breakage.
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Affiliation(s)
- Ahmad Abiri
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA. .,UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, CA, USA.
| | - Omeed Paydar
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA.,UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, CA, USA
| | - Anna Tao
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA
| | - Megan LaRocca
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA
| | - Kang Liu
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA
| | - Bradley Genovese
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA.,UCLA Department of Surgery, Los Angeles, CA, USA
| | - Robert Candler
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA.,UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, CA, USA
| | - Warren S Grundfest
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA.,UCLA Henry Samueli School of Engineering and Applied Science, Los Angeles, CA, USA
| | - Erik P Dutson
- UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, CA, USA.,UCLA Department of Surgery, Los Angeles, CA, USA
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An implantable sensor device measuring suture tension dynamics: results of developmental and experimental work. Hernia 2015; 20:601-6. [PMID: 26621138 DOI: 10.1007/s10029-015-1433-y] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/08/2014] [Accepted: 10/02/2015] [Indexed: 12/22/2022]
Abstract
PURPOSE Knowledge about suture tension dynamics after laparotomy closure is limited due to the lack of adequate measurement tools. As a consequence, a miniaturized implantable sensor and data logger were developed and applied experimentally in a porcine model to measure suture tension dynamics after laparotomy closure. MATERIAL AND METHODS We developed an implantable device (6 × 3 × 1 mm) fitted with silicon strain gauges and an implantable data logger allowing long-term registration. In nine domestic pigs, sensors and loggers were implanted along the suture closing a median laparotomy registering suture tension over a period of 23 h. RESULTS Fascial closure was achieved by a mean suture tension of 1.07 N. After 30 minutes, suture tension was reduced to 0.81N (-24.3 %, p = 0.0003). After 12 h, tension showed a further decrease to 0.69 N (-35.5 %, n.s.), after 23 h mean suture tension reached 0.56 N, (-47.7 %, p = 0.014). CONCLUSIONS The aim to develop an implantable miniaturized sensor device registering long-term suture tension dynamics was achieved. The use in the animal experiment was feasible and safe. We observed a loss of almost 50 % of suture tension 23 h after fascial closure. This could mean that up to 50 % of initial suture tension may be an unnecessary surplus not contributing to tissue stability but to the risk of suture failure.
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Nisky I, Hsieh MH, Okamura AM. The effect of a robot-assisted surgical system on the kinematics of user movements. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2015; 2013:6257-60. [PMID: 24111170 DOI: 10.1109/embc.2013.6610983] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.
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Masrur M, Gheza F, Raimondi P, D'Ugo S, Calatayud D, Giulianotti PC. Robot-assisted subtotal pancreas-preserving duodenectomy. JSLS 2013; 16:654-9. [PMID: 23484581 PMCID: PMC3558909 DOI: 10.4293/108680812x13517013316591] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022] Open
Abstract
BACKGROUND Angiodysplasia of the duodenum is a rare disorder, often requiring surgical resection. Technical difficulties have made the use of the minimally invasive approach uncommon. Herein, we present a subtotal pancreas-preserving duodenectomy using robotic assistance. METHODS The patient is a 60-y-old female with a long medical history including chronic gastrointestinal bleeding due to angiodysplasia with intermittent melena, and requiring multiples blood transfusions. A capsule endoscopy and double-balloon upper endoscopy showed angiectasis, which appeared to be limited to the third and fourth portion of the duodenum and the proximal loops of the jejunum. Despite multiple endoscopic cauterizations, the patient continued to require blood transfusion for several years. The patient underwent a robot-assisted subtotal pancreas-preserving duodenectomy. RESULTS The operation lasted 420 min with minimal blood loss. The postoperative course was uneventful. The pathology report showed multiple small bowel mucosal and submucosal distorted and dilated vasculature, consistent with angiodysplasia. At 2-mo follow-up, the patient was totally asymptomatic. A barium swallow study showed contrast passed antegrade through the duodenojejunostomy with no evidence of obstruction, stricture, or leakage. CONCLUSION The use of robotic assistance to perform a subtotal pancreas-preserving duodenectomy for the treatment of benign duodenal disease, such as angiodysplasia, is feasible and safe. The technical advantages include a high degree of freedom offered by the robotic instruments, as well as enhanced visualization, which allows for precise microdissection and microsuture, thereby preserving the benefits of minimally invasive surgery. The use of robotic technology allows for a wider range of indications for minimally invasive surgery.
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Affiliation(s)
- Mario Masrur
- Division of General, Minimally Invasive and Robotic Surgery, University of Illinois, Chicago, IL 60612, USA.
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Robotic-Assisted Laparoscopic Transection and Repair of an Obturator Nerve During Pelvic Lymphadenectomy for Endometrial Cancer. Obstet Gynecol 2012; 119:462-464. [DOI: 10.1097/aog.0b013e31823d0c4f] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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