计算机辅助导航骨科手术及医用机器人技术在创伤骨科的应用

本文介绍了计算机辅助导航骨科手术(CAOS)及医用机器人技术在创伤骨科应用中的主要进展、当前在临床应用中存在的主要问题和相关对策,并对其未来的发展趋势进行了预测,同时简要介绍了北京积水潭医院创伤骨科在计算机辅助导航骨科手术及医用机器人技术方面的研究进展。当前骨科手术导航定位所应用的医学图象导引系统已经由使用单一的C型臂、CT等传统影像设备向应用三维C型臂、多模态图像处理系统等新型影像设备转变,基于多模态图像的导航系统将有可能成为导航手术的主流。医用机器人已经在自动化程度和人机交互模式方面,有了长足进展,摆脱了原有工业机器人的结构模式。医学图像后处理技术及其它相关信息技术极大地丰富了导航和机器人外科,只有在不断完善光学定位技术的同时,加大对其它定位方法的研究,才能够提高定位精度;要对相关设备进行开放式结构设计,使不同导航系统的注册软件能够互相兼容,手术器械能够通用,降低设备成本。骨科医生要正确认识计算机辅助导航骨科手术及医用机器人技术,在充分了解CAOS的技术特点、基本原理、操作程序的基础上,对要实施的手术具有深刻的理解,才能开展CAOS手术。目前,迫切需要建立CAOS技术标准、临床适应证和手术操作规范,进行CAOS产品之间的技术比较和评估,便于医生选择合适的CAOS产品。伴随快速发展的信息技术,数字化手术室、智能化微创导航手术系统、医用机器人辅助的远程医疗将有可能成为未来CAOS技术的主要组成部分。     

Neurosurgical robotics: a review of brain and spine applications

Neurosurgery has traditionally been at the forefront of advancing technologies, adapting new techniques and devices successfully in an effort to increase the safety and efficacy of brain and spine surgery. Among these adaptations are surgical robotics. This paper reviews some of the more promising systems in neurosurgical robotics, including brain and spine applications in use and in development. The purpose of the discussion is twofold—to discuss the most promising models for neurosurgical applications, and to discuss some of the pitfalls of robotic neurosurgery given the unique anatomy of the brain and spine.     

妇科腹腔镜治疗进展

随着理念的更新,器械的进步,经验的积累,技术的娴熟,涌现出自然腔道内镜外科、单孔腹腔镜手术、机器人手术等全新的妇科腹腔镜技术。传统的腹腔镜技术也在不断革新,无气腹腔镜手术是气腹腹腔镜的补充,腹腔镜子宫切除术和子宫肌瘤剔除术更注重适应证的选择和术者自身能力,腹腔镜输卵管保守性手术可获得较高的术后宫内妊娠率,窄带成像可提高腹腔镜下子宫内膜异位症的诊断准确率,腹腔镜治疗妇科恶性肿瘤几乎与开腹术相媲美,腹腔镜设备及器械的进步提高了腹腔镜手术的安全性。     

Robot-assisted epicardial ablation of the pulmonary veins: is a completed isolation necessary?

AIMS: To study the feasibility and electrophysiological efficacy of minimally invasive beating heart ablation of the pulmonary veins (PVs) via a robot-assisted single-sided approach. BACKGROUND: PV isolation by minimally invasive epicardial ablation may offer a new treatment for patients with lone atrial fibrillation (AF). However, complete PV isolation has been shown to be difficult to obtain. METHODS AND RESULTS: In 14 mongrel dogs, robot-assisted epicardial microwave ablation was performed on the beating heart by a single-sided right chest approach. Isolation of all PVs was performed in two steps to study the effect of an incomplete and a complete isolation on AF. AF was studied by random and burst pacing. Incremental pacing was performed to study conduction characteristics across the lesions. Opening of the pericardial reflections, introduction of the catheter and ablation were robotically feasible by a single-sided approach in 11 dogs. The AF duration decreased from 6.6+/-4.1 to 1.3+/-0.8 s (P=0.03) and 1.6+/-1.6 s (P=0.04 compared with control) after incomplete and completed isolation of the PVs. The AF cycle length increased from 134+/-5 to 141+/-5 and 145+/-8 ms (P=0.03) after incomplete and complete isolation, respectively. Several incomplete lesions showed 2:1 exit and/or entrance block during incremental pacing. After complete isolation, AF was no longer inducible from the PVs. CONCLUSION: Epicardial PV isolation can be successfully performed by a single-sided robot-assisted approach. The effect of PV ablation on AF is not an all or none phenomenon. Incomplete isolation already decreases AF duration and lengthens the AF cycle length. However, complete isolation is necessary to prevent AF induction by triggering from the isolated area.     

达芬奇手术机器人辅助腹腔镜技术在泌尿外科的应用

达芬奇机器人手术系统是一种智能化手术平台,是微创外科手术的飞跃,其突出特点是三维立体视野与具有七个自由度机械手腕设计,精细解剖及精准吻合将有助于完成高难复杂手术。该系统在泌尿外科广泛应用,最成功的是以前列腺根治术为代表的肿瘤根治术与保留肾单位手术的修复重建手术。本文就达芬奇机器人手术系统在泌尿外科的应用现状作一综述。     

Retrograde Versus Antegrade Nerve Sparing During Robot-assisted Radical Prostatectomy: Which Is Better for Achieving Early Functional Recovery?

Background

Although the retrograde approach to nerve sparing (NS) aimed at maximizing NS during robot-assisted radical prostatectomy (RARP) has been described, its significant benefits compared to the antegrade approach have not yet been investigated.

Objective

To evaluate the impact of NS approaches on perioperative, pathologic, and functional outcomes.

Design, setting, and participants

Five hundred one potent (Sexual Health Inventory for Men [SHIM] score >21) men underwent bilateral full NS and were followed up for a minimum of 1 yr. After propensity score matching, 344 patients were selected and were then categorized into two groups.

Surgical procedure

RARP with antegrade NS (n = 172) or RARP with retrograde NS (n = 172).

Outcome measurements and statistical analysis

Functional outcomes were assessed using validated questionnaires. Multivariable logistic regression models were applied.

Results and limitations

Positive margin rates were similar (11.1% vs 6.9%; p = 0.192), and no correlation with the NS approach was found on regression analysis. At 3, 6, and 9 mo, the potency rate was significantly higher in the retrograde approach (65% vs 80.8% and 72.1% vs 90.1% and 85.3% vs 92.9%, respectively). The multivariable model indicated that the NS approach was an independent predictor for potency recovery at 3, 6, and 9 mo, along with age, gland size, and hyperlipidemia. After adjusting for these predictors, the hazard ratio (HR) for the retrograde relative to the antegrade approach was 2.462 (95% confidence interval [CI], 1.482–4.089; p = 0.001) at 3, 4.024 (95% CI, 2.171–7.457; p < 0.001) at 6, and 2.145 (95% CI, 1.019–4.514; p = 0.044) at 9 mo. Regarding continence, the recovery rates at each time point and the mean time to regaining it were similar, and the method of NS had no effect on multivariable analysis. The absence of randomization is a major limitation of this study.

Conclusions

In patients with normal erectile function who underwent bilateral full NS, a retrograde NS approach facilitated early recovery of potency compared to that with an antegrade NS approach without compromising cancer control.     

改良机器人手术方式行房间隔缺损修补术22例

目的 总结使用“达芬奇”（da Vinci S）机器人手术系统行体外循环下房间隔缺损修补或房间隔缺损修补＋三尖瓣成形术的经验体会.方法 2013年7月至2013年10月回顾性研究,使用da Vinic S机器人系统,体外循环下完成继发孔型房间隔缺损修补或房间隔缺损修补＋三尖瓣成形术22例.患者女16例,男6例;年龄平均（36.5±5.8）岁.房间隔缺损直径为2.5～4.1 cm,平均（3.8±1.3）cm,左向右分流,2例伴有三尖瓣中度关闭不全,2例伴有右侧胸膜腔部分粘连.手术经股动、静脉插管,于右侧胸壁打3个孔,采用我院成熟全腔镜心脏手术技术建立体外循环,阻断升主动脉,切开右心房后,再连接机器人手术系统,术者于操作台前遥控机器臂进行房间隔缺损修补,三尖瓣中度关闭不全患者同期行三尖瓣成形术.其中直接缝合房间隔缺损20例,补片修补房间隔缺损2例,同期三尖瓣成形及胸膜粘连松解各2例.结果 22例均成功接受机器人房间隔缺损修补术或房间隔缺损修补＋三尖瓣成形术,手术时间1.5 ～ 3.5 h,平均（2.3±0.6）h;后10例手术时间体外循环（58.6±18.3） min,升主动脉阻断（26.8±8.6） min,术后呼吸机辅助（5.8±1.6）h.胸液引流量50 ～ 300 ml,平均（150±32） ml,平均1～2d拔除胸腔闭式引流管.术后住院时间（5.6±1.4）d.均无中转开胸、院内死亡及术后并发症发生.全组术后3～5d超声心动图示手术效果满意,患者均顺利出院.随访1个月～3个月,无残余分流,下肢静脉血栓形成,心功能均为Ⅰ级,超声心动图检查结果满意.结论 改良达芬奇S机器人手术方式体外循环下房缺修补术安全可靠,疗效满意,且进一步缩短手术时间,创伤小、恢复快,具有良好的发展前景.