Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challeng...Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.展开更多
The objective of this work is to develop an innovative system(ROSGPT)that merges large language models(LLMs)with the robot operating system(ROS),facilitating natural language voice control of mobile robots.This integr...The objective of this work is to develop an innovative system(ROSGPT)that merges large language models(LLMs)with the robot operating system(ROS),facilitating natural language voice control of mobile robots.This integration aims to bridge the gap between human-robot interaction(HRI)and artificial intelligence(AI).ROSGPT integrates several subsystems,including speech recognition,prompt engineering,LLM and ROS,enabling seamless control of robots through human voice or text commands.The LLM component is optimized,with its performance refined from the open-source Llama2 model through fine-tuning and quantization procedures.Through extensive experiments conducted in both real-world and virtual environments,ROSGPT demonstrates its efficacy in meeting user requirements and delivering user-friendly interactive experiences.The system demonstrates versatility and adaptability through its ability to comprehend diverse user commands and execute corresponding tasks with precision and reliability,thereby showcasing its potential for various practical applications in robotics and AI.The demonstration video can be viewed at https://iklxo6z9yv.feishu.cn/docx/Lux3dmTDxoZ5YnxWJTZcxUCWnTh.展开更多
OBJECTIVE To evaluate the safety and effectiveness of robot-assisted percutaneous coronary intervention(R-PCI)compared to traditional manual percutaneous coronary intervention(M-PCI).METHODS This prospective,multicent...OBJECTIVE To evaluate the safety and effectiveness of robot-assisted percutaneous coronary intervention(R-PCI)compared to traditional manual percutaneous coronary intervention(M-PCI).METHODS This prospective,multicenter,randomized controlled,non-inferior clinical trial enrolled patients with coronary heart disease who met the inclusion criteria and had indications for elective percutaneous coronary intervention.Participants were randomly assigned to either the R-PCI group or the M-PCI group.Primary endpoints were clinical and technical success rates.Clinical success was defined as visually estimated residual post-percutaneous coronary intervention stenosis<30% with no 30-day major adverse cardiac events.Technical success in the R-PCI group was defined as successful completion of percutaneous coronary intervention using the ETcath200 robot-assisted system,without conversion to M-PCI in the event of a guidewire or balloon/stent catheter that was unable to cross the vessel or was poorly supported by the catheter.Secondary endpoints included total procedure time,percutaneous coronary intervention procedure time,fluoroscopy time,contrast volume,operator radiation exposure,air kerma,and dose-area product.RESULTS The trial enrolled 152 patients(R-PCI:73 patients,M-PCI:79 patients).Lesions were predominantly B2/C type(73.6%).Both groups achieved 100% clinical success rate.No major adverse cardiac events occurred during the 30-day follow-up.The R-PCI group had a technical success rate of 100%.The R-PCI group had longer total procedure and fluoroscopy times,but lower operator radiation exposure.The percutaneous coronary intervention procedure time,contrast volume,air kerma,and dose-area product were similar between the two groups.CONCLUSIONS For certain complex lesions,performing percutaneous coronary intervention using the ETcath200 robot-assisted system is safe and effective and does not result in conversion to M-PCI.展开更多
This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers...This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.展开更多
Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At f...In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.展开更多
Objective: To evaluate the effect of operating room nursing on the outcome of patients undergoing robot-assisted tumor surgery. Methods: This research starts from October 2021 to October 2022. The number of patients w...Objective: To evaluate the effect of operating room nursing on the outcome of patients undergoing robot-assisted tumor surgery. Methods: This research starts from October 2021 to October 2022. The number of patients with robot-assisted tumor surgery included in our hospital is 769. The patients are treated in the operating room, and the prognosis of the patients is summarized. Results: The intraoperative blood loss in patients undergoing robot-assisted tumor surgery was (57.51 ± 12.01) ml;the operation time was (3.57 ± 0.66) h;and the hospital stay was (6.04 ± 0.53) d. There were 21 cases of complications after robot-assisted tumor surgery, accounting for 2.73%. After surgery, all robot-assisted tumor surgery patients recovered and were discharged smoothly after being checked by doctors. Conclusion: Robot-assisted tumor surgery nursing has a definite effect on patients’ rehabilitation in the operating room.展开更多
For the hand-eye calibration of the vision service robot,the traditional hand-eye calibration tech-nology can’t be realized which because the service robot is independently developed and there is no teaching device t...For the hand-eye calibration of the vision service robot,the traditional hand-eye calibration tech-nology can’t be realized which because the service robot is independently developed and there is no teaching device to feed back the pose information of the service robot in real time.In this paper,a hand-eye calibration method based on ROS(Robot Operating System)is proposed.In this method,ROS system is used to accurately control the arm of the service robot to rotate in different positions for many times.Meanwhile,the head camera of the service robot takes images of a fixed point in the scene.Then,the nonlinear equations were established ac-cording to the homography matrix of the two images and the position and pose information of the ROS system,and the accurate hand-eye relationship was optimized by the least square method.Finally,an experimental platform is built and the proposed hand-eye calibration method is verified.The experiment results show that the method is easy to operate,simple algorithm and correct result,which verifies the effectiveness of the algorithm and provides conditions for the realization of humanoid grasping of visual service robot.展开更多
Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few d...Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few doctors can complete the operation independently.However,there is no research on robotic cochlear implantation in China.In response to this problem,a robotic cochlear implantation system is proposed.The robot is controlled by robot operating system(ROS).A simulation environment for the overall surgery is established on the ROS based on the real surgery environment.Through the analysis of the kinematics and the motion planning algorithm of the manipulator,an appropriate motion mode is designed to control the motion of the manipulator,and perform the surgery under the simulation environment.A simple and feasible method of navigation is proposed,and through the model experiment,the feasibility of robotic cochlear implantation surgery is verified.展开更多
随着机器人技术的发展,自主移动机器人已经逐渐在制造车间物流运输系统中得到应用,同步定位与地图构建(simultaneous localization and mapping,SLAM)和路径规划是实现车间物流机器人自主移动的关键。针对制造车间自主移动物流机器人,...随着机器人技术的发展,自主移动机器人已经逐渐在制造车间物流运输系统中得到应用,同步定位与地图构建(simultaneous localization and mapping,SLAM)和路径规划是实现车间物流机器人自主移动的关键。针对制造车间自主移动物流机器人,研究基于机器人操作系统(robot operating system,ROS)的机器人路径规划仿真平台搭建方法,建立了移动机器人模型及制造车间的导航地图,实现了机器人SLAM及路径规划仿真,验证了基于ROS实现制造车间移动机器导航仿真的可行性。展开更多
BACKGROUND Minimally invasive hepatectomy techniques have developed rapidly since 2000.Pure laparoscopic liver resection(LLR)has become the primary approach for managing liver tumors and procuring donor organs for liv...BACKGROUND Minimally invasive hepatectomy techniques have developed rapidly since 2000.Pure laparoscopic liver resection(LLR)has become the primary approach for managing liver tumors and procuring donor organs for liver transplantation.Robotic liver resection(RLR)has emerged during the last decade.The technical status of RLR seems to be improving.AIM To conduct a systematic review and meta-analysis comparing the short-term clinical outcomes of LLR and RLR over two 5-year periods.METHODS A systematic literature search was performed using PubMed and Medline,including the Cochrane Library.The following inclusion criteria were set for the meta-analysis:(1)Studies comparing LLR vs RLR;and(2)Studies that described clinical outcomes,such as the operative time,intraoperative bleeding,intraoperative conversion rate,and postoperative complications.RESULTS A total of 25 articles were included in this meta-analysis after 40 articles had been subjected to full-text evaluations.The studies were divided into early(n=14)and recent(n=11)groups.In the recent group,the operative time did not differ significantly between LLR and RLR(P=0.70),whereas in the early group the operative time of LLR was significantly shorter than that of RLR(P<0.001).CONCLUSION The initial disadvantages of RLR,such as its long operation time,have been overcome during the last 5 years.The other clinical outcomes of RLR are comparable to those of LLR.The cost and quality-of-life outcomes of RLR should be evaluated in future studies to promote its routine clinical use.展开更多
AIM: To compare outcomes using barbed polyglyconate(V-Loc 180) vs monofilament monocryl suture in forming vesico-urethral anastomosis(VUA) during robot assisted radical prostatectomy.METHODS: Review of prospectively c...AIM: To compare outcomes using barbed polyglyconate(V-Loc 180) vs monofilament monocryl suture in forming vesico-urethral anastomosis(VUA) during robot assisted radical prostatectomy.METHODS: Review of prospectively collected robot assisted radical prostatectomy data between July 2011 and September 2012. VUA technique: VUA was performed using 2 cm × 15 cm 2/0 V-Loc 180 continuous sutures or 3/0 monofilament monocryl sutures. Anastomotic integrity was tested intra-operatively with a water leak test. All patients had a post-operative cystogram at day 7 to 10.RESULTS: There were 189 patients in the study with 113 in the V-Loc group and 76 in the monocryl group. Demographics were similar for both groups P > 0.05). The median operative time for V-Loc group was 130 min and monocryl group was 145 min, which was statistically significant(P < 0.001). The median blood loss for both groups was 200 m L with no significant difference(P = 0.260). The pathology results of the 2 groups were similar(P = 0.537). Four patients in the V-Loc group and two patients in the monocryl group had radiological urinary leak. This was not statistically significant(P = 1.00) and all patients improved with conservative management. The continence rates were comparable for both groups.CONCLUSION: V-Loc suture significantly reduced operative time facilitating ease of VUA formation. Overall functional outcome and urinary morbidity were not significantly different from the monofilament group.展开更多
文摘Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.
基金National Natural Science Foundation of China(No.61601112)。
文摘The objective of this work is to develop an innovative system(ROSGPT)that merges large language models(LLMs)with the robot operating system(ROS),facilitating natural language voice control of mobile robots.This integration aims to bridge the gap between human-robot interaction(HRI)and artificial intelligence(AI).ROSGPT integrates several subsystems,including speech recognition,prompt engineering,LLM and ROS,enabling seamless control of robots through human voice or text commands.The LLM component is optimized,with its performance refined from the open-source Llama2 model through fine-tuning and quantization procedures.Through extensive experiments conducted in both real-world and virtual environments,ROSGPT demonstrates its efficacy in meeting user requirements and delivering user-friendly interactive experiences.The system demonstrates versatility and adaptability through its ability to comprehend diverse user commands and execute corresponding tasks with precision and reliability,thereby showcasing its potential for various practical applications in robotics and AI.The demonstration video can be viewed at https://iklxo6z9yv.feishu.cn/docx/Lux3dmTDxoZ5YnxWJTZcxUCWnTh.
基金supported by the National Key Research and Development Program of China(No.2022YFC3602500)Beijing High-level Public Health Technical Talents Construction Project(Discipline Leader-03-24)Beijing Hospitals Authority’s Ascent Plan(DFL20240601).
文摘OBJECTIVE To evaluate the safety and effectiveness of robot-assisted percutaneous coronary intervention(R-PCI)compared to traditional manual percutaneous coronary intervention(M-PCI).METHODS This prospective,multicenter,randomized controlled,non-inferior clinical trial enrolled patients with coronary heart disease who met the inclusion criteria and had indications for elective percutaneous coronary intervention.Participants were randomly assigned to either the R-PCI group or the M-PCI group.Primary endpoints were clinical and technical success rates.Clinical success was defined as visually estimated residual post-percutaneous coronary intervention stenosis<30% with no 30-day major adverse cardiac events.Technical success in the R-PCI group was defined as successful completion of percutaneous coronary intervention using the ETcath200 robot-assisted system,without conversion to M-PCI in the event of a guidewire or balloon/stent catheter that was unable to cross the vessel or was poorly supported by the catheter.Secondary endpoints included total procedure time,percutaneous coronary intervention procedure time,fluoroscopy time,contrast volume,operator radiation exposure,air kerma,and dose-area product.RESULTS The trial enrolled 152 patients(R-PCI:73 patients,M-PCI:79 patients).Lesions were predominantly B2/C type(73.6%).Both groups achieved 100% clinical success rate.No major adverse cardiac events occurred during the 30-day follow-up.The R-PCI group had a technical success rate of 100%.The R-PCI group had longer total procedure and fluoroscopy times,but lower operator radiation exposure.The percutaneous coronary intervention procedure time,contrast volume,air kerma,and dose-area product were similar between the two groups.CONCLUSIONS For certain complex lesions,performing percutaneous coronary intervention using the ETcath200 robot-assisted system is safe and effective and does not result in conversion to M-PCI.
基金supported by State Grid Corporation of China(SGCC)Science and Technolgy Project(SGTJDK00DWJS1700060)
文摘This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
基金supported by the National Natural Science Foundation of China(11372073,11072061)。
文摘In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.
文摘Objective: To evaluate the effect of operating room nursing on the outcome of patients undergoing robot-assisted tumor surgery. Methods: This research starts from October 2021 to October 2022. The number of patients with robot-assisted tumor surgery included in our hospital is 769. The patients are treated in the operating room, and the prognosis of the patients is summarized. Results: The intraoperative blood loss in patients undergoing robot-assisted tumor surgery was (57.51 ± 12.01) ml;the operation time was (3.57 ± 0.66) h;and the hospital stay was (6.04 ± 0.53) d. There were 21 cases of complications after robot-assisted tumor surgery, accounting for 2.73%. After surgery, all robot-assisted tumor surgery patients recovered and were discharged smoothly after being checked by doctors. Conclusion: Robot-assisted tumor surgery nursing has a definite effect on patients’ rehabilitation in the operating room.
基金supported by the University-level Funding Projects of Guangdong Mechanical&Elec-trical college of Technology(No.Gccrcxm-202007)The 2021 Guangdong Provincial Department of edu-cation recognized scientific research projects in Col-leges and Universities(No.2021KTSCX205)the 2021 School-level Scientific Research Projects(No.YJZD2021-54).
文摘For the hand-eye calibration of the vision service robot,the traditional hand-eye calibration tech-nology can’t be realized which because the service robot is independently developed and there is no teaching device to feed back the pose information of the service robot in real time.In this paper,a hand-eye calibration method based on ROS(Robot Operating System)is proposed.In this method,ROS system is used to accurately control the arm of the service robot to rotate in different positions for many times.Meanwhile,the head camera of the service robot takes images of a fixed point in the scene.Then,the nonlinear equations were established ac-cording to the homography matrix of the two images and the position and pose information of the ROS system,and the accurate hand-eye relationship was optimized by the least square method.Finally,an experimental platform is built and the proposed hand-eye calibration method is verified.The experiment results show that the method is easy to operate,simple algorithm and correct result,which verifies the effectiveness of the algorithm and provides conditions for the realization of humanoid grasping of visual service robot.
基金the National Natural Science Foundation of China(Nos.61973211,62133009,51911540479 and M-0221)the Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)+1 种基金the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong Universitythe Interdisciplinary Program of Shanghai Jiao Tong University(Nos.YG2017ZD03 and ZH2018QNB31)。
文摘Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few doctors can complete the operation independently.However,there is no research on robotic cochlear implantation in China.In response to this problem,a robotic cochlear implantation system is proposed.The robot is controlled by robot operating system(ROS).A simulation environment for the overall surgery is established on the ROS based on the real surgery environment.Through the analysis of the kinematics and the motion planning algorithm of the manipulator,an appropriate motion mode is designed to control the motion of the manipulator,and perform the surgery under the simulation environment.A simple and feasible method of navigation is proposed,and through the model experiment,the feasibility of robotic cochlear implantation surgery is verified.
基金Supported by Grants-in-Aid from JSPS KAKENHI,No.JP 20K10404(to Mizuguchi T)the Hokkaido Hepatitis B Litigation Orange Fund,No.2059198+10 种基金Terumo Life Science Foundation,No.2000666Pfizer Health Research Foundation,No.2000777the Viral Hepatitis Research Foundation of Japan,No.2000638Daiichi Sankyo Company,No.2109540Shionogi and Co.,No.2109493MSD,No.2099412Takeda,No.2000555Sapporo Doto Hospital,No.2039118Noguchi Hospital,No.2029083Doki-kai Tomakomai Hospital,No.2059203Tsuchida Hospital,No.2069231.
文摘BACKGROUND Minimally invasive hepatectomy techniques have developed rapidly since 2000.Pure laparoscopic liver resection(LLR)has become the primary approach for managing liver tumors and procuring donor organs for liver transplantation.Robotic liver resection(RLR)has emerged during the last decade.The technical status of RLR seems to be improving.AIM To conduct a systematic review and meta-analysis comparing the short-term clinical outcomes of LLR and RLR over two 5-year periods.METHODS A systematic literature search was performed using PubMed and Medline,including the Cochrane Library.The following inclusion criteria were set for the meta-analysis:(1)Studies comparing LLR vs RLR;and(2)Studies that described clinical outcomes,such as the operative time,intraoperative bleeding,intraoperative conversion rate,and postoperative complications.RESULTS A total of 25 articles were included in this meta-analysis after 40 articles had been subjected to full-text evaluations.The studies were divided into early(n=14)and recent(n=11)groups.In the recent group,the operative time did not differ significantly between LLR and RLR(P=0.70),whereas in the early group the operative time of LLR was significantly shorter than that of RLR(P<0.001).CONCLUSION The initial disadvantages of RLR,such as its long operation time,have been overcome during the last 5 years.The other clinical outcomes of RLR are comparable to those of LLR.The cost and quality-of-life outcomes of RLR should be evaluated in future studies to promote its routine clinical use.
文摘AIM: To compare outcomes using barbed polyglyconate(V-Loc 180) vs monofilament monocryl suture in forming vesico-urethral anastomosis(VUA) during robot assisted radical prostatectomy.METHODS: Review of prospectively collected robot assisted radical prostatectomy data between July 2011 and September 2012. VUA technique: VUA was performed using 2 cm × 15 cm 2/0 V-Loc 180 continuous sutures or 3/0 monofilament monocryl sutures. Anastomotic integrity was tested intra-operatively with a water leak test. All patients had a post-operative cystogram at day 7 to 10.RESULTS: There were 189 patients in the study with 113 in the V-Loc group and 76 in the monocryl group. Demographics were similar for both groups P > 0.05). The median operative time for V-Loc group was 130 min and monocryl group was 145 min, which was statistically significant(P < 0.001). The median blood loss for both groups was 200 m L with no significant difference(P = 0.260). The pathology results of the 2 groups were similar(P = 0.537). Four patients in the V-Loc group and two patients in the monocryl group had radiological urinary leak. This was not statistically significant(P = 1.00) and all patients improved with conservative management. The continence rates were comparable for both groups.CONCLUSION: V-Loc suture significantly reduced operative time facilitating ease of VUA formation. Overall functional outcome and urinary morbidity were not significantly different from the monofilament group.
