The kinematic model parameter deviation is the main factor affecting the positioning accuracy of neurosurgical robots. To obtain more realistic kinematic model parameters, this paper proposes an automatic parameters identification and accuracy evaluation method. First, an identification equation contains all robot kinematics parameter was established. Second, a multiple-pivot strategy was proposed to find the relationship between end-effector and tracking marker. Then, the relative distance error and the inverse kinematic coincidence error were designed to evaluate the identification accuracy. Finally, an automatic robot parameter identification and accuracy evaluation system were developed. We tested our method on both laboratory prototypes and real neurosurgical robots. The results show that this method can realize the neurosurgical robot kinematics model parameters identification and evaluation stably and quickly. Using the identified parameters to control the robot can reduce the robot relative distance error by 33.96% and the inverse kinematics consistency error by 67.30%.
Biomechanical Phenomena ; Robotic Surgical Procedures

Traditional craniomaxillofacial surgery significantly affects aesthetic appreciation. In contrast to traditional methods, robot-assisted surgery has been extensively investigated because it is microinvasive, precise, and safe. With robot-assisted surgery, operational vision and manipulation space become extended. As a result, operational quality and patient's postoperative life are improved. This article reviewed the development of surgical robot systems and their applications in craniomaxillofacial surgery.
Facial Bones ; Humans ; Robotic Surgical Procedures

Of the many factors that affect the clinical outcomes of orthopedic surgery, the surgical procedure is the most important. Robotics have been developed to perform the surgical procedures more accurately and consistently. Robotic surgical procedures in the orthopedic field were developed 20 years ago. Some designs of surgical robots have disappeared due to practical problems and complications, and an another design of surgical robots is emerging. To date, the use of robot surgery in arthroplasty is still controversial in terms of the clinical outcomes, practicality, and cost-effectiveness, even though it has been reported to be effective in the alignment and positioning of components in the field of artificial joints. Early robotic surgery was based mainly on active robot surgery according to the scheduled operation without the intervention of the operator. Recently the semi-active system of robotic surgery has been introduced. In a semi-active system, the robot constrains the surgeon to a haptic boundary defined by the computer based on the 3-dimensional imaging preoperative plan, and the operator can change the preoperative plan through real-time feedback during operation.
Arthroplasty ; Joints ; Orthopedics* ; Robotic Surgical Procedures ; Robotics

Da Vinci robotic surgical system leads the development of minimally invasive surgical techniques. By using Da Vinci surgical robot for minimally invasive surgery, it brings a lot of advantages to the surgeons. Since 2008, Da Vinci surgeries have been performed in 14 hospitals in domestic cities such as Beijing and Shanghai. Until the end of 2012, 3 551 cases of Da Vinci robotic surgery have been performed, covering various procedures of various surgical departments including the department of general surgery, urology, cardiovascular surgery, thoracic surgery, gynecology, and etc. Robotic surgical technique has made remarkable achievements.
Humans ; Minimally Invasive Surgical Procedures ; instrumentation ; Robotic Surgical Procedures

Digestive System Surgical Procedures ; Humans ; Laparoscopy ; Robotic Surgical Procedures ; Robotics

Humans ; Minimally Invasive Surgical Procedures ; Robotic Surgical Procedures

After more than a decade of development, the role of robotic rectal cancer surgery has been established. However robotic right hemicolectomy has just commenced. For rectal cancer surgery, the Da Vinci system is more flexible, accurate, and stable than traditional laparoscopy. The robotic surgery is safe and efficient, and protects the pelvic autonomic nerve function better. At the same time, robotic surgery is easy to learn, promoting its popularization. In robotic right hemicolectomy, the surgery suitable for Da Vinci system is also improved. Da Vinci system is not perfect. High cost is a major obstacle to the wide applications. Lack of tactile feedback and limited mobility of robotic arms also should not be ignored. The next generation of robotic system may make up for these deficiencies through a number of new technologies. The combination of robotics with single port laparoscopic techniques and multi-organ resections is expected to expand the advantages of robotic surgery in colorectal cancer and promote its development.
Colectomy ; Colorectal Neoplasms ; Humans ; Laparoscopy ; Rectal Neoplasms ; Robotic Surgical Procedures

PURPOSE: We evaluated the learning curve and short-term surgical outcomes of robot-assisted distal gastrectomy (RADG) performed by a single surgeon experienced in open, but not laparoscopic, gastrectomy. We aimed to verify the feasibility of performing RADG without extensive laparoscopic experience. MATERIALS AND METHODS: Between July 2012 and December 2016, 60 RADG procedures were performed by a single surgeon using the da Vinci® Surgical System (Intuitive Surgical). Patient characteristics, the length of the learning curve, surgical parameters, and short-term postoperative outcomes were analyzed and compared before and after the learning curve had been overcome. RESULTS: The duration of surgery rapidly decreased from the first to the fourth case; after 25 procedures, the duration of surgery was stabilized, suggesting that the learning curve had been overcome. Cases were divided into 2 groups: 25 cases before the learning curve had been overcome (early cases) and 35 later cases. The mean duration of surgery was 420.8 minutes for the initial cases and 281.7 minutes for the later cases (P<0.001). The console time was significantly shorter during the later cases (168.6 minutes) than during the early cases (247.1 minutes) (P<0.001). Although the volume of blood loss during surgery declined over time, there was no significant difference between the early and later cases. No other postoperative outcomes differed between the 2 groups. Pathology reports revealed the presence of mucosal invasion in 58 patients and submucosal invasion in 2 patients. CONCLUSIONS: RADG can be performed safely with acceptable surgical outcomes by experts in open gastrectomy.
Gastrectomy* ; Humans ; Learning Curve ; Pathology ; Robotic Surgical Procedures ; Stomach Neoplasms

Feasibility Studies ; Humans ; Pneumonectomy ; Robotic Surgical Procedures ; Thoracic Diseases ; surgery

To provide accurate information for registration and safety evaluation of surgical robot, the pose repeatability measurement method was proposed. According to the terminal instrument of the master-slave surgical robot (such as high-frequency electric knife, ultrasonic knife), a suitable target ball fixture was designed. The node data at 10%, 50% and 100% rated speed were measured respectively. Through data analysis, the pose repeatability property of the tested samples at different speeds was obtained. It has high applicability and repeatability, and can meet the requirements of data traceability and registration testing.
Equipment Design ; Lasers ; Robotic Surgical Procedures ; Robotics ; Surgery, Computer-Assisted