数字化技术在颅颌面外科中的应用进展与展望

数字化技术的引进极大地推动了颅颌面外科的进步。数字化三维重建、3D模型打印、数字图像模拟手术和手术导板等革新了治疗手段、降低了手术难度、提升了治疗结果的精准性和可预测性,现已成为颅颌面外科常规诊疗手段。相信随着不断完善的动态导航、智能化手术机器人的研发和使用,颅颌面外科将会获得长足的发展。     

Mixed-integer quadratic programming for automatic walking footstep placement,duration, and rotation

This paper presents a mixed-integer model predictive controller for walking. In the proposed scheme, mixed-integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions, durations, and rotations while respecting actuation, geometry, and contact constraints. Most walking controllers require preplanned footstep rotations to avoid dealing with the nonlinearity introduced by foot rotation decision. The main contribution of this work is an optimization formulation where feet rotations are automatically planned to attain a reference speed rotation. Finally, simulation results are shown to present and discuss the capabilities of the proposed formulation.     

达芬奇机器人与腹腔镜行胃癌根治术的对照研究

目的：探讨全机器人系统进行胃癌根治术的安全性和有效性。方法回顾性分析2012年1月至2013年7月间在南京军区南京总医院行机器人胃癌根治术的100例胃癌患者（机器人组）的临床资料,并选取同期行腹腔镜胃癌根治术的100例胃癌患者作为对照（腹腔镜组）。腹腔镜组均采用辅助小切口行体外消化道重建,机器人组则采用体内镜下行消化道重建。结果所有机器人组患者均顺利完成手术,而腹腔镜组有1例因术中出血中转开腹。机器人组较腹腔镜组手术切口短[（4．2±1．7） cm比（8．9±2．6） cm, P＝0．028],术中出血少[（60±16） ml比（98±17） ml, P＝0．005],手术时间长[（237±46） min比（188±52） min, P＝0．001],术后住院时间短[（5．3±2．6） d比（6．1±3．1） d, P＝0．018],但两组淋巴结清扫数目、肿瘤上下切缘距离、术后排气时间及术后并发症发生率方面的差异均无统计学意义（均P＞0．05）。结论全机器人系统行胃癌根治术安全、有效,较腹腔镜手术短期效果更佳。     

Quality assessment of robot assisted thoracic surgical resection of non-small cell lung cancer: nodal upstaging and mediastinal recurrence

BackgroundRobot assisted thoracic surgery (RATS) is the minimally invasive surgical technique of choice for treatment of patients with non-small cell lung cancer (NSCLC), at the Isala Hospital. The aim of this study is to compare clinical and pathological staging results and mediastinal recurrence after RATS for anatomical resections of lung cancer as surrogate markers for quality of mediastinal lymph node dissection (MLND).MethodsThis single institute retrospective study was conducted in patients who underwent RATS for NSCLC. Excluded were patients with a history of concurrent malignant disease, with other previous neoplasms, with small cell lung cancer (SCLC) and patients in whom the robotic technique was converted to thoracotomy, prior to lymph node dissection. Data were obtained from the hospital database. The difference between clinical and pathological staging was expressed as upstaging and downstaging. Computed Tomography scanning was used for follow-up, and diagnosis of mediastinal recurrence.ResultsFrom November 2011 to May 2016, 227 patients underwent RATS at Isala Hospital Zwolle, the Netherlands. Of those, 130 (mean age, 69.5±9.3 years) met the eligibility criteria. Preoperative mediastinal lymph node staging was done by endoscopic ultrasound/endobronchial ultrasound, by positron emission tomography (PET) or mediastinoscopy. In 14 patients (10.8%) unforeseen N2 disease was found, 6 patients (4.6%) were upstaged from cN0 to pN2 and 8 patients (6.2%) were upstaged from cN1 to pN2. Mediastinal recurrence was detected in 7 patients (5.4%) during a median follow-up of 54 months (range, 1.5–102 months).ConclusionsIn patients with NSCLC, who underwent anatomical resection by means of RATS, an unforeseen N2 disease rate of 10.8% was demonstrated and a mediastinal recurrence rate of 5.4%. It is concluded that robotic surgery provides an accurate lymph node dissection.     

上肢康复机器人辅助治疗在脑卒中偏瘫患者上肢功能康复中的应用

目的:分析上肢康复辅助训练系统在脑卒中偏瘫患者上肢功能恢复中的效果。方法:脑卒中偏瘫患者90例,随机分为对照组和观察组各45例,均采取常规康复训练,观察组还给予上肢康复机器人辅助治疗。比较2组患者治疗前和治疗1月后改良Ashworth量表(MAS)、Fugl-Meyer评定量表上肢部分(FMA-UE)及功能独立性评定(FIM)的评分情况。结果:观察组治疗1月后肘关节MAS评分较治疗前明显下降,且较对照组明显下降(P<0.01),对照组治疗前后评分比较差异无统计学意义(P>0.05)。2组治疗1月后肩关节MAS评分较治疗前均下降,且观察组较对照组显著降低(P<0.01)。2组治疗1月后FMA-UE评分较治疗前均升高,且观察组较对照组显著升高(P<0.01)。与治疗前相比,2组治疗1月后FIM量表评分均明显升高(P<0.01),且观察组较对照组明显升高(P<0.01)。结论:在常规康复训练的基础上,应用上肢康复机器人辅助治疗脑卒中偏瘫患者可有效改善上肢运动功能。     

机器人辅助输精管吻合术治疗梗阻性无精子症初步经验分析

目的:探讨机器人辅助下输精管-输精管吻合术(RAVV)及机器人辅助下输精管-附睾管吻合术(RAVE)的可行性及手术技巧。方法:2013年5月和7月我院收治2例梗阻性无精子症患者,1例为输精管结扎患者,行RAVV术;1例为双侧附睾梗阻患者,行RAVE术。结果:2例手术均顺利完成,术后共随访9个月,2例患者均于术后6个月时在精液中发现精子,精子浓度分别为2.0×106/ml、66.0×106/ml。结论:RAVV及RAVE具有吻合确切、视野清楚等优点,可以选择作为治疗梗阻性无精子症的手术方式。     

机器人带血管蒂回肠段移植阴道成形术：病例报告并文献复习

目的：初步探讨应用机器人带血管蒂回肠段移植阴道成形术的临床疗效。方法回顾性分析1例应用机器人带血管蒂回肠段移植阴道成形术病例,并复习相关文献进行讨论。结果机器人带血管蒂回肠段移植阴道成形术失血量较少,再造的阴道可达到足够的深度和宽敞度,阴道壁柔软、滑润、有弹性,合乎生理需求,有感觉且稳定不挛缩,手术创伤小,可作为治疗先天无阴道的一种手术方式。结论机器人带血管蒂回肠段移植阴道成形术治疗先天阴道发育不全,观察手术疗效满意,有一定的优势,具有临床应用前景。