Robotic-Assisted Renal Surgery

Emtage, Justin; Agarwal, Gautum; Sexton, Wade J.

doi:10.1177/107327481502200306

Cited by 7 publications

(2 citation statements)

References 71 publications

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“…Compared to open PN, laparoscopic PN improves the recovery rate and satisfaction of patients [6]. However, laparoscopic PN requires highly skilled surgeons to perform precise procedures in a confined space compounded by the limited maneuverability of instruments [7]. Limitations of maneuverability result in imperfect intra-corporeal suturing, excision, and consequent postoperative complications.…”

Section: Introductionmentioning

confidence: 99%

“…This is achieved because the articulated robotic surgical instruments enable movements with higher degrees of freedom (DOF) and precision compared to conventional laparoscopic PN [9]. Furthermore, the higher precision and shorter learning curves for the surgeons via robotic PN reduces excisional volume loss (EVL) of healthy tissues compared to open and conventional PN [10], [7]. In some cases, prolonged robotic PN surgeries can lead to postoperative complications [11] due to prolonged induced ischemia.…”

Section: Introductionmentioning

confidence: 99%

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Semi-Autonomous Laparoscopic Robotic Electro-Surgery with a Novel 3D Endoscope

Opfermann

Kam

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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This paper reports a robotic laparoscopic surgery system performing electro-surgery on porcine cadaver kidney, and evaluates its accuracy in an open loop control scheme to conduct targeting and cutting tasks guided by a novel 3D endoscope. We describe the design and integration of the novel laparoscopic imaging system that is capable of reconstructing the surgical field using structured light. A targeting task is first performed to determine the average positioning error of the system as guided by the laparoscopic camera. The imaging system is then used to reconstruct the surface of a porcine cadaver kidney, and generate a cutting trajectory with consistent depth. The paper concludes by using the robotic system in open loop control to cut this trajectory using a multi degree of freedom electro-surgical tool. It is demonstrated that for a cutting depth of 3 mm, the robotic surgical system follows the trajectory with an average depth of 2.44 mm and standard deviation of 0.34 mm. The average positional accuracy of the system was 2.74±0.99 mm.

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Section: Introductionmentioning

confidence: 99%