Future robotic platforms in urologic surgery: recent developments

PURPOSE OF REVIEW

To review recent developments at Vanderbilt University of new robotic technologies and platforms designed for minimally invasive urologic surgery and their design rationale and potential roles in advancing current urologic surgical practice.

RECENT FINDINGS

Emerging robotic platforms are being developed to improve performance of a wider variety of urologic interventions beyond the standard minimally invasive robotic urologic surgeries conducted currently with the da Vinci platform. These newer platforms are designed to incorporate significant advantages of robotics to improve the safety and outcomes of transurethral bladder surgery and surveillance, further decrease the invasiveness of interventions by advancing LESS surgery, and to allow for previously impossible needle access and ablation delivery.

SUMMARY

Three new robotic surgical technologies that have been developed at Vanderbilt University are reviewed, including a robotic transurethral system to enhance bladder surveillance and transurethral bladder tumor, a purpose-specific robotic system for LESS, and a needle-sized robot that can be used as either a steerable needle or small surgeon-controlled micro-laparoscopic manipulator.

[Single laparoscopic approach in newborns and infants]

The aim of this investigation is evidence of opportunity of single laparoscopic approach using during operations in newborns and infants. The authors have an experience of 274 single-port operations performed from January 2009 to December 2013. Success of single laparoscopic approach has been demonstrated in patients with inguinal hernia, congenital hypertrophic pyloric stenosis, feeding violations, ovarian cyst and multi-cystic kidney dysplasia.

Current status of laparoscopic bariatric surgery

As the prevalence of obesity has dramatically increased and obesity has become one of the leading public health threats worldwide, the number of bariatric surgeries performed has been exponentially increasing. According to a recent survey, over 90% of bariatric procedures are performed by laparoscopic approach. The most commonly performed procedures are Roux-en-Y gastric bypass (open and laparoscopic), followed by laparoscopic adjustable gastric banding, and sleeve gastrectomy. Definite geographic trends are observable in the specific bariatric procedures being performed. A number of studies have already demonstrated the efficacy of bariatric surgery for the treatment of obesity and its comorbidities, although there are still only a handful of prospective, controlled studies with a high level of evidence. Considering the results derived from a large-scale, prospective, multicenter study and a systematic review, it can be reasonably said that bariatric surgery is a safe and feasible intervention for the treatment of life-threatening morbid obesity under controlled conditions. So far, several studies have shown improved survival rates for patients who undergo bariatric surgery compared with a control cohort of severely obese patients who did not. In addition, bariatric surgery seems to have a positive impact on the economy, although currently only about 1-2% of eligible patients with morbid obesity receive bariatric surgery. In this mini-review article, we summarize bariatric surgery outcomes by quoting some of the recently published landmark articles.

Natural orifice translumenal endoscopic surgery (NOTES)

Surgery has rapidly evolved as new technologies are adopted. With the introduction of laparoscopic surgery, patient outcomes have improved, with faster recovery from smaller incisions. In an effort to continually improve these outcomes and offer alternative options to higher risk patients, a number of investigators have proposed the concept of operating in the peritoneal space through natural orifices, obviating the need for any abdominal skin incisions. Natural orifice translumenal endoscopic surgery (NOTES) offers the same advantages as laparoscopic surgery without skin incisions, and possibly without general anesthesia. This article gives a conceptual and technical description of NOTES, discusses its challenges and potential pitfalls, reviews the early efforts at NOTES-specific device development, and predicts potential future directions of this exciting new area of surgery.

Ergonomic design criteria for a novel laparoscopic tool handle with tactile feedback

Laparoscopic surgery has many ergonomic disadvantages often not considered in the design of instruments. The poorly designed surgical tools produce inconveniences in both functional and cognitive aspects; including tactile sensation and visual-motor space coordination. The aim of this article is to find out how laparoscopic handle design can be improved by combining classical ergonomic guidelines with tactile feedback related to handle design. The article briefly discusses how the human hand and hand-held tools are used to perform tasks. An ergonomic handle for laparoscopic grasping, with a built-in tactile sensation display, is presented. Our review of laparoscopic instruments reveals important aspects for handle design. It is concluded that there is a need for greater awareness of ergonomic guidelines for users' sensory requirements when designing and manufacturing laparoscopic instruments.

Hydro-Jet technology in urologic surgery

Hydro-Jet technology utilizes an extremely thin, high-pressure stream of water. This technology has been routinely used in industry as a cutting tool for different materials such as metal, ceramic, wood and glass. Recently, Hydro-Jet technology has been used for dissection and resection during open and laparoscopic surgical procedures. A high-pressure jet of water allows selective dissection and isolation of vital structures such as blood vessels and nerves. This has resulted in improved dissection and decreased complication rate in recent experimental and clinical studies. This technology has been successfully applied during open and laparoscopic partial nephrectomy, cholecystecomy and retroperitoneal lymphadenectomy.

Influence of new technologies on thyroid surgery: state of the art

The history of thyroid surgery starts with Billroth, Kocher and Halsted, who developed the technique for thyroidectomy between 1873 and 1910. In general, the essential objectives for thyroidectomy are conservation of the parathyroid glands, avoidance of injury to the recurrent laryngeal nerve, an accurate hemostasis and an excellent cosmesis. In the last 20 years, major improvements and new technologies have been proposed and applied in thyroid surgery; among these are mini-invasive thyroidectomy, new devices for achieving hemostasis and dissection, regional anesthesia and intraoperative neuro-monitoring.

What is next in inguinal hernia surgery?

Traditionally, the inguinal hernia repair is performed through an incision in the groin. Different kinds of operations are suggested as best repairs by using the patient's own tissue, or use of prosthetic mesh to reinforce the abdominal wall. The advent of the laparoscopic repair that also uses prosthetic mesh, made it even more complex to determine the best repair. Using the Evidence Based Medicine (EBM) principles, endpoints of the treatment are not only based on recurrence rates, but also on complications, patient satisfaction, convalescence, and costs. Several meta-analyses concluded that use of mesh is superior to the non-mesh operations. More difficult to determine is which mesh repair, open or laparoscopically, is the best. The laparoscopic repair is difficult and less suitable for general practice, but the open-mesh repair results in a higher percentage of chronic postoperative pain. Further research should be focused on making the laparoscopic repair less complicated, and development of new meshes for open surgery that reduce the amount of persistent postoperative pain.

Laparoscopic cholecystectomy: past, present, and future

Laparoscopic cholecystectomy is one of the most commonly undertaken procedures in General Surgery with more than 500,000 performed annually. Overall, the complication rate is less than 1.5%, and the mortality rate is less than 0.1%. As such, laparoscopic cholecystectomy was considered by most to be at its zenith since its inception in the early 1990 s. Advancements in technology and equipment have opened new doors to physicians and allowed the laparoscopic cholecystectomy to once again evolve. Traditional four-port cholecystectomy has given way to three- and even two-port techniques. Standard 12-mm ports have been replaced by 2-mm ports, and experiments have now been implemented to achieve cholecystectomy with no ports-known as the transgastric technique. The authors reviewed evolution of these techniques that included a synopsis of our experience with the three-port cholecystectomy, as well as the future direction of laparoscopic surgery.

Current status of laparoscopic ultrasound

The purpose of this chapter is to introduce the beginning surgeon ultrasonographer to the use of ultrasound during laparoscopic surgery. The authors routinely use ultrasound in the intraoperative, endoscopic, and office settings. The importance of ultrasound in the various surgical specialties is well documented in the literature. Since the introduction of minimally invasive techniques to General Surgery, many advanced applications of ultrasonography have been developed. Confident examinations of intraabdominal anatomy, pathologic conditions, and therapeutic procedures can readily be performed. In this chapter, a comprehensive introduction to laparoscopic ultrasound is presented to the practicing General Surgeon. The basic equipment requirements and setup are explained. Fundamental techniques of laparoscopic ultrasound examination are described. The authors' method of screening for common bile duct stones during routine laparoscopic cholecystectomy is illustrated. Examination of the normal biliary tree with helpful hints is presented. The authors' systematic technique of visualizing the normal liver parenchyma is described. Common benign and malignant findings are elucidated. A brief synopsis of pancreatic ultrasonography with attention to pathologic findings is provided. Uses of ultrasound in unanticipated situations are introduced. With perseverance, the reader will discover that laparoscopic ultrasound skills can be readily attained.

From the lumen to the laparoscope

Throughout the ages, the issues that have defined the management of disease processes have been particularly exemplified in the gastrointestinal tract. The use of gas lamps and candles with reflectors by Bozzini, Segalas, Cruise, and Fisher (19th century) allowed for some ingress into both the upper and lower gastrointestinal tract. Von Mikulicz, Leiter, Nitze, Kelling, and Jacobaeus contributed to the development of rigid instruments that could be used endoscopically or laparoscopically. Endoscopic efforts were amplified and extended by Rosenheim, Sternberg, Wolf, and, finally, Schindler, who not only introduced novel lens systems but also for the most part overcame the problems of flexibility and illumination. Bernheim, Ruddock, Veress, and Palmer made significant technical and clinical contributions to abdominal cavity exploration. The subsequent application of Hopkins and Kapany's work on optics, and the development by Hirschowitz and Curtiss of the flexible fiber optic endoscope, enabled the design of instruments that would allow the appropriate illumination and vision of both the farthest reaches of the bowel as well as the interior of the abdomen. Thus, the same endoscopic instruments coupled with a surgical interest in diagnostic laparotomy allowed for the evolution of minimally invasive surgery along a similar timescale. The cycle whereby diagnostic laparotomy in the early part of the century was supplanted by endoscopy and laparoscopy has now attained full circle whereby laparoscopy has evolved from a diagnostic procedure into one with major therapeutic applications and is perceived as the state-of-the-art technique for a wide variety of operations, including appendectomy, cholecystectomy, hernia repair, fundoplication, splenectomy, colectomy, and gastrointestinal anastomoses.

Current concepts in minimal access surgery for children

Since the introduction of minimal access surgery to general surgeons in the 1980s, pediatric surgeons have been employing this innovative technology to perform surgery on children. Video technology and miniaturized instruments have brought the laboratory to the operating room; in many cases several small incisions are the only access necessary to perform complicated procedures that would otherwise require a large wound. Additional benefits of minimal access surgery may include reduced postoperative analgesic requirements, shortened length of stay, and faster resumption of normal activities. Increased operative costs offset some of these gains. The pediatric surgical community has embraced minimal access techniques for some operations; others remain controversial.

Improvement of the laparoscopic needle holder based on new ergonomic guidelines

BACKGROUND

The aim of this study is to create new ergonomic guidelines for the design of laparoscopic needle holders.

METHODS

An ergonomic literature study, observations in the operating room, handle-shaft angle measurements, and anthropometric data were used to compile new ergonomic criteria, specified to the function of a laparoscopic needle holder. Based on these guidelines a new needle holder was designed. The prototype and three currently available needle holders were evaluated according to the new guidelines. In addition, a pelvi-trainer test was done to measure the extreme wrist excursions.

RESULTS

The ergonomic evaluation of three commonly used handles and the new prototype indicate that the new handle is an ergonomic improvement in the field of laparoscopic needle holders: only the new handle satisfies all criteria. This is validated by the results of the pelvi-trainer test, which showed that the new prototype significantly (p <0.001) reduced the extreme wrist excursions.

CONCLUSION

The new design guidelines for a laparoscopic needle holder result in an ergonomic improvement of the instrument.

Face-, expert, and referent validity of the Xitact LS500 laparoscopy simulator

BACKGROUND

This study was undertaken to establish face-, expert, and referent validity of the Xitact LS500; a virtual reality laparoscopic cholecystectomy simulator.

METHODS

A four-page, 20-item structured questionnaire was presented to 120 surgeons attending a surgical convention. Participants received an instructed hands-on "tour" on the Xitact simulator. Data were analyzed according to the level of experience of the surgeon, resulting in an "expert group opinion" of 87 surgeons and a "referent group opinion" of 33 surgeons.

RESULTS

The majority of respondents believe Xitact has the potential to become a useful tool in teaching (93.1%) and measuring performance assessment (79.3%) in laparoscopic cholecystectomy. Expert- and referent-group opinion does not differ significantly on any of the presented statements. The opinion regarding the realism of the virtual laparoscopic cholecystectomy environment is favorable among both groups, although it is considered not yet perfect. The "haptic feedback" sensation of the Xitact is a parameter that needs further development.

CONCLUSIONS

Both expert- and referent surgeons value Xitact to be an important and useful tool in the laparoscopic teaching setting. Further studies need to be performed to establish the construct validity of the simulator (e.g., to what extent is the simulator logically encompassed into a theoretical framework of acquiring skills, needed for the laparoscopic cholecystectomy) to measure shortening of learning curves on the laparoscopic cholecystectomy procedure, and ultimately to justify its use in the surgical curriculum.

In-line versus pistol-grip handles in a laparoscopic simulators. A randomized controlled crossover trial

BACKGROUND

Needleholders with in-line handles (ILH) and those with pistol-grip handles (PGH) were compared in terms of operative end-product quality (OEPQ), procedure effectiveness (PE), and surgeon forearm workload (SFWL) during suturing in a laparoscopic simulator.

METHODS

A 90% power crossover design at alpha 0.05 required 46 surgeons. Block randomization generated ILH-PGH or PGH-ILH sequence allocation. The task involved suturing a perforated ulcer on a foam stomach in a simulator. In this study, OEPQ was measured by tissue damage, accuracy error, water leak; PE by operating time and motion analysis including goal-directed actions (GDA) and non-goal-directed actions (NGDA); and SFWL by electromyogram (EMG) of six forearm and thumb muscles.

RESULTS

The 46 surgeons performed the tasks as allocated. All the variables but two were significantly different between the first and second tasks, ignoring the handle type. There was no evidence of an unequal carryover effect when the comparison was stratified by ILH-PGH or PGH-ILH sequence. As compared with ILH, PGH tissue damage (0.1 vs 0.2 mm; p = 0.06) and NGDA (1 vs 1 p = 0.09) were different, whereas accuracy error, leak rates, operating time, GDA, and EMG were not.

CONCLUSIONS

As compared with ILH needleholders, the use of PGH needleholders led to increased tissue damage and non-goal-directed actions during a suturing task in a simulator.

Grasping and dissecting instrument for hand-assisted laparoscopic surgery: development and early clinical experience

BACKGROUND

The operative potential of hand-assisted laparoscopic surgery (HALS) could be enhanced by the introduction of a new generation of assisting instruments. These tools will have to meet specific requirements of shape, function, and safety of use.

METHODS

Problems related to the working environment of HALS and deriving projectual restrictions of HALS instruments were analyzed in order to develop and manufacture a working prototype with grasping and dissecting properties to assist during HALS procedures. The resulting instrument was mechanically and clinically tested in 22 HALS procedures.

RESULTS

The additional benefit of the new device was particularly appreciated during dissection and isolation of vascular pedicles (nephrectomies and splenectomies). It was shown to be safe and effective in providing the additional assistance it was designed for.

CONCLUSION

The described grasping and dissecting instrument for HALS is of great value in assisting the surgeon during fine dissection, as required in selected procedures. New generation of HALS instruments should comply with the functional and safety issues analyzed in this report.

Development of an ultrasonically activated trocar system

BACKGROUND

Although rare, visceral and vascular injuries related to the insertion of conventional laparoscopic trocars may have disastrous consequences. Most of these injuries are due to the high puncture force applied to the trocar. We present the results of an animal laboratory evaluation of a newly developed ultrasonically activated trocar.

METHODS

A total of 40 punctures were made in four pigs with an average weight of 53 kg. An 11-mmHg pneumoperitoneum was created through a Veress needle. A 10-mm diameter trocar was inserted in the midline for a laparoscope. A series of five trocars were then inserted on each lateral wall under laparoscopic control. Twenty punctures were made with a conventional reusable 11-mm trocar (CT) whose tip was sharp and conical. Twenty punctures were made with an 11-mm ultrasonically activated trocar (UT), whose fequency was 23.5 KHz and amplitude 150 mm. The cutaneous incision was made large enough so that the skin did not interfere with the trocar insertion. The force applied to the trocar was measured with a push-pull gauge connected to a computer. The following data were recorded: maximal force applied to the trocar to obtain insertion of the tip through the abdominal wall, maximum abdominal pressure increase during trocar insertion, and time for abdominal penetration.

RESULTS

The average time needed for trocar penetration was 12.8 s with CT and 4.5 s with UT (p < 0.001). The average maximal force was 6.8 kgF with CT and 0.4 kgF with UT (p < 0.001). The average abdominal pressure increase was 7.6 mmHg with CT and 0.8 mmHg with UT (p < 0.001). At 30 days, no necrosis was found. Pathological findings were similar in both groups.

CONCLUSION

Ultrasonically activated trocars required less time and much less force to be inserted. This may be a breakthrough in the safety of trocar insertion.

Technical advances in laparoscopy: hand assistance, retractors, and the pneumodissector

Technology is crucial to the laparoscopic surgeon. Reducing the technical difficulty of laparoscopic procedures is beneficial on many fronts: training is facilitated, operative time is reduced, and the practice of minimally invasive surgery can be further disseminated. Many advances in urologic laparoscopic surgery are attributable to the development of new operative instruments that reduce the technical difficulty. In this article, we highlight three technical advances in laparoscopy. Hand assistance can simplify many laparoscopic procedures. Because the surgeon retains tactile sensation, operative times are reduced compared with standard laparoscopic surgery, with minimal, if any, increase in patient morbidity. Other advances in instrumentation include various laparoscopic retractors and the Pneumodissector, a unique dissecting device. The breadth of retractors extends from reusable metal "fans" to disposable inflated "paddles," with many in between. The metal retractors may be more traumatic to delicate tissues than the inflatable ones but also are more versatile. The Pneumodissector facilitates tissue dissection by releasing short burst of carbon dioxide. It is a safe and effective instrument for blunt tissue dissection. These technical advances have contributed to the progression of laparoscopic urologic procedures. Technology will continue to have a significant impact on the advancement of laparoscopic urology and its potential widespread dissemination.