Automated pick-up of suturing needles for robotic surgical assistance

Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with the urethra. The procedure is called urethrovesical anastomosis and is one of the most dexterity demanding tasks during RALP. Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis. While robotic instruments provide enhanced dexterity to perform the anastomosis, it is still highly challenging and difficult to learn. In this paper, we presents a vision-guided needle grasping method for automatically grasping the needle that has been inserted into the patient prior to anastomosis. We aim to automatically grasp the suturing needle in a position that avoids hand-offs and immediately enables the start of suturing. The full grasping process can be broken down into: a needle detection algorithm; an approach phase where the surgical tool moves closer to the needle based on visual feedback; and a grasping phase through path planning based on observed surgical practice. Our experimental results show examples of successful autonomous grasping that has the potential to simplify and decrease the operational time in RALP by assisting a small component of urethrovesical anastomosis

Start to finish:Biomechanics of abdominal wall hernia prevention & long-term outcomes of repair

Biomechanical insights into incisional hernia prevention. Literature and clinical studies on the outcomes of ventral abdominal wall hernia repair surgery

Start to finish:Biomechanics of abdominal wall hernia prevention & long-term outcomes of repair

Biomechanical insights into incisional hernia prevention. Literature and clinical studies on the outcomes of ventral abdominal wall hernia repair surgery

Automated pick-up of suturing needles for robotic surgical assistance

Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with the urethra. The procedure is called urethrovesical anastomosis and is one of the most dexterity demanding tasks during RALP. Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis. While robotic instruments provide enhanced dexterity to perform the anastomosis, it is still highly challenging and difficult to learn. In this paper, we presents a vision-guided needle grasping method for automatically grasping the needle that has been inserted into the patient prior to anastomosis. We aim to automatically grasp the suturing needle in a position that avoids hand-offs and immediately enables the start of suturing. The full grasping process can be broken down into: a needle detection algorithm; an approach phase where the surgical tool moves closer to the needle based on visual feedback; and a grasping phase through path planning based on observed surgical practice. Our experimental results show examples of successful autonomous grasping that has the potential to simplify and decrease the operational time in RALP by assisting a small component of urethrovesical anastomosis

OPTICAL NAVIGATION TECHNIQUES FOR MINIMALLY INVASIVE ROBOTIC SURGERIES

Minimally invasive surgery (MIS) involves small incisions in a patient's body, leading to reduced medical risk and shorter hospital stays compared to open surgeries. For these reasons, MIS has experienced increased demand across different types of surgery. MIS sometimes utilizes robotic instruments to complement human surgical manipulation to achieve higher precision than can be obtained with traditional surgeries. Modern surgical robots perform within a master-slave paradigm, in which a robotic slave replicates the control gestures emanating from a master tool manipulated by a human surgeon. Presently, certain human errors due to hand tremors or unintended acts are moderately compensated at the tool manipulation console. However, errors due to robotic vision and display to the surgeon are not equivalently addressed. Current vision capabilities within the master-slave robotic paradigm are supported by perceptual vision through a limited binocular view, which considerably impacts the hand-eye coordination of the surgeon and provides no quantitative geometric localization for robot targeting. These limitations lead to unexpected surgical outcomes, and longer operating times compared to open surgery. To improve vision capabilities within an endoscopic setting, we designed and built several image guided robotic systems, which obtained sub-millimeter accuracy. With this improved accuracy, we developed a corresponding surgical planning method for robotic automation. As a demonstration, we prototyped an autonomous electro-surgical robot that employed quantitative 3D structural reconstruction with near infrared registering and tissue classification methods to localize optimal targeting and suturing points for minimally invasive surgery. Results from validation of the cooperative control and registration between the vision system in a series of in vivo and in vitro experiments are presented and the potential enhancement to autonomous robotic minimally invasive surgery by utilizing our technique will be discussed

Recent Advances in Laparoscopic Surgery

The implementation of laparoscopy has revolutionized surgery over the past few years, incorporating significant benefits for the patient. However, this evolution has also entailed many technical obstacles for surgeons. This book is for readers wanting to learn more about recent surgical techniques and technologies. Topics cover novel sophisticated approaches for single-site surgery, natural orifice transluminal endoscopic surgery, and transanal surgery, among others. Also included are reviews of new innovative surgical devices, robotic platforms, and methodological guidelines for improving surgical performance and surgeon ergonomics

International Student’s Survival Guide to Clinical Practice

Clinical patient work is an essential part of learning for all dentistry students. However, the beginning of clinical work can be stressful. In addition to learning new skills, students must also learn how the teaching clinic works and what are its customs and practices. To make the transition from pre-clinical studies to clinical studies easier, Piia Uusitalo and Katariina Havukainen wrote a second cycle degree thesis called Kandin selviytymisopas klinikkaan in 2015. It was written only in Finnish with Finnish speaking undergraduates in mind, but there was also demand for a similar guide for exchange students as part of an exchange study reform for dentistry students. The first part of translation work included interviews with exchange students either when they arrived to Turku or at the end of their exchange period. Interview questions handled everything from their wishes and hopes to experiences and criticism depending on which stage of their exchange period interviews were conducted. The second part included translation work and modifications that were done according to the wishes, problems and proposals that interviewees had mentioned during interviews. Lastly, the English guide was updated with instructions for new materials and procedures and Finnish Current Care Guidelines (Käypä hoito) for periodontology. There is also a new step-by-step guide on aseptics in both the teaching clinic and the Oral and Maxillofacial Unit of Turku University Hospital. This guide will hopefully help exchange students to get accustomed to teaching clinic’s activities faster than before and make their stay at the Institute of Dentistry fruitful and enjoyable

Use of Human Reliability Analysis to evaluate surgical technique for rectal cancer

Outcomes from surgery are dependent upon technical performance, as demonstrated by the variability that exists in outcomes achieved by different surgeons following surgery for rectal cancer. It is possible to improve such outcomes by focused training and the adoption of specific surgical techniques, such as the total mesorectal excision (TME) training programme in Stockholm which reduced local recurrence rates of cancer by 50%. It is generally accepted that good surgical technique is the enactment of a series of positive surgical actions, and the avoidance of errors. However, the constituents of good surgical technique for rectal cancer have not yet been studied in sufficient detail to identify the specific associations between individual steps and their consequences. In this study the ergonomic principles of human reliability analysis (HRA) were applied to video recordings of rectal cancer surgery. A system of error definition and identification was developed, utilising a bespoke software solution designed for the project. Calculation of optimal camera angles and position was determined in a virtual operating theatre. Analysis of synchronised footage from multiple camera views was performed, through which over 6,000 errors were identified across 14 procedural tasks. The sequences of events contributing to these errors are reported, and a series of error reduction mechanisms formulated for rectal cancer surgery.EThOS - Electronic Theses Online ServiceChief Scientist Office (grant number 802181)GBUnited Kingdo

Use of Human Reliability Analysis to evaluate surgical technique for rectal cancer

Outcomes from surgery are dependent upon technical performance, as demonstrated by the variability that exists in outcomes achieved by different surgeons following surgery for rectal cancer. It is possible to improve such outcomes by focused training and the adoption of specific surgical techniques, such as the total mesorectal excision (TME) training programme in Stockholm which reduced local recurrence rates of cancer by 50%. It is generally accepted that good surgical technique is the enactment of a series of positive surgical actions, and the avoidance of errors. However, the constituents of good surgical technique for rectal cancer have not yet been studied in sufficient detail to identify the specific associations between individual steps and their consequences. In this study the ergonomic principles of human reliability analysis (HRA) were applied to video recordings of rectal cancer surgery. A system of error definition and identification was developed, utilising a bespoke software solution designed for the project. Calculation of optimal camera angles and position was determined in a virtual operating theatre. Analysis of synchronised footage from multiple camera views was performed, through which over 6,000 errors were identified across 14 procedural tasks. The sequences of events contributing to these errors are reported, and a series of error reduction mechanisms formulated for rectal cancer surgery.EThOS - Electronic Theses Online ServiceChief Scientist Office (grant number 802181)GBUnited Kingdo

International Conference on Dental Science

UBT Annual International Conference is the 9th international interdisciplinary peer reviewed conference which publishes works of the scientists as well as practitioners in the area where UBT is active in Education, Research and Development. The UBT aims to implement an integrated strategy to establish itself as an internationally competitive, research-intensive university, committed to the transfer of knowledge and the provision of a world-class education to the most talented students from all background. The main perspective of the conference is to connect the scientists and practitioners from different disciplines in the same place and make them be aware of the recent advancements in different research fields, and provide them with a unique forum to share their experiences. It is also the place to support the new academic staff for doing research and publish their work in international standard level. This conference consists of sub conferences in different fields like: Art and Digital Media Agriculture, Food Science and Technology Architecture and Spatial Planning Civil Engineering, Infrastructure and Environment Computer Science and Communication Engineering Dental Sciences Education and Development Energy Efficiency Engineering Integrated Design Information Systems and Security Journalism, Media and Communication Law Language and Culture Management, Business and Economics Modern Music, Digital Production and Management Medicine and Nursing Mechatronics, System Engineering and Robotics Pharmaceutical and Natural Sciences Political Science Psychology Sport, Health and Society Security Studies This conference is the major scientific event of the UBT. It is organizing annually and always in cooperation with the partner universities from the region and Europe. We have to thank all Authors, partners, sponsors and also the conference organizing team making this event a real international scientific event