Artificial tactile sensing approach in aortic-repair-laparoscopy: aorta cross clamping during surgery

Abdominal aortic aneurysm is one of the most common diseases of the vascular system for which the most definitive treatment is surgery. Laparoscopy is a primary method of minimally invasive surgery that could be useful in aortic repair surgeries. Although this method of surgery has significant advantages, the difficulty of exactly distinguishing the aorta from its surrounding tissues is its main drawback; this can cause many problems during the aorta cross clamping process. One of the most important limitations is that it is a time-consuming process; aorta cross clamping leads to increases in surgery duration. Artificial tactile sensing is an innovative technology aiming to make tactile data more available for surgeons, especially in situations where developments in technology make the surgeons less efficient. In this paper, considering the present problems during aortic repair laparoscopy, applicability of a novel tactile robotic system capable of cross clamping an artery during laparoscopy was evaluated. Having considered a small, 5-degree-of-planar-freedom robot and imitated surgeon's palpation using software, the path followed by the tip of the new tactile robotic system was extracted. It is shown that this new tactile robotic system is well capable of dissecting an artery from its adjacent tissues in a short time with an acceptable accuracy. The functional principles of the tactile robotic system capable of cross clamping the aorta during laparoscopy will also be presented.     

A proof-of-principle robot with potential for the development of a hand-held tactile instrument for minimally-invasive artery cross-clamping

One of the most common diseases of the vascular system is abdominal aortic aneurysm (AAA), for which the most definitive treatment is surgery. Minimally invasive aorta surgery is a novel method of surgery performed through small incisions and offers significant advantages including less pain, shorter hospital stay, faster patient recovery, less possibility of infection, etc. However, lack of sense of touch is the main drawback of this type of aorta surgery that would incapacitate the surgeon to exactly distinguish the aorta from its surrounding tissues which could cause various problems during the aorta cross-clamping process. One of the most important drawbacks is that it makes the aorta cross-clamping process the most time-consuming process of aortic repair surgery. The artificial tactile sensing approach is a novel method that can be used in various fields of medicine and, more specifically, in minimally invasive surgeries, where using the ‘tactile sense’ is not possible. In this paper, considering the present problems during aortic-repair-laparoscopy and imitating the movement of surgeons’ fingers during aorta cross-clamping, a novel tactile-based artery cross-clamping robot is introduced and its function is evaluated experimentally. It is illustrated that this new tactile-based artery cross-clamping robot is well capable of dissecting an artery from its adjacent tissues in a short time with an acceptable accuracy.     

Clinical results of minimally invasive open-heart surgery in patients with mitral valve disease: comparison of parasternal and low-sternal approach

Clinical results of minimally invasive mitral valve surgery were retrospectively reviewed, and two different surgical approaches were compared in this study. Between 1997 and 2004, a total of 86 patients with mitral valve disease underwent minimally invasive surgery at the Yonsei University Cardiovascular Center. Age of patients averaged 41.6 +/- 14.0 years and 69 patients were female. Surgical approach included low- sternal incisions with mini-sternotomy, and right parasternal or thoracotomy approach. Either direct aortic or femoral arterial and bicaval cannulations were used in all patients. Patients were divided into two groups according to the method of surgical approach (parasternal (P) vs low-sternal (L)), and the results were compared. Postoperative NYHA functional class improved to 1.1 +/- 0.4 in all patients (no significant statistical difference between two groups). Mean wound length (P: 9.21 +/- 1.10 vs L: 11.24 +/- 0.82 cm, p < 0.05), and mechanical ventilation time (P: 10.42 +/- 4.36 vs L: 12.90 +/- 5.00 min, p=0.04) was significantly shorter in parasternal group, and mean operation time(P:294.74 +/- 59.41 vs. L:259.31 +/- 54.36 min, p=0.03) was significantly shorter in low-sternal group. Mean cardiopulmonary bypass time, and aortic cross clamp time was also shorter in low-sternal group without statistical difference. There were 2 minor wound complications in all patients (p=NS), and no hospital death. Comparing the two different surgical approach of minimally invasive mitral valve surgery, parasternal approach is thought to be more beneficial in reducing postoperative scar, and intubation time.     

胸腔镜辅助下小切口在胸腰段骨折前路手术中的临床应用

目的 探讨在胸腔镜辅助下小切口（enlarged manipulation incision of video-assisted thoracoscopic surgery，EMI-VATS）进行胸腰段椎体骨折前路手术的可行性与特点。方法 2005年3月至2007年2月，应用EMI-VATS行椎管减压椎间植骨、钢板内固定治疗胸腰段爆裂型骨折9例，骨折脱位2例；平均年龄39岁；伤后1周以内施术6例，2周以内3例，3周以上2例。结果 术中出血量平均为600ml，手术时间平均为150min，术后总引流量平均360ml，拔除胸腔闭式引流管时间平均为55h，发生暂时性肋间神经痛、肺不张、少量胸腔积液各1例。术后随访最长者25个月，短者43d，术后脊柱形态均接近正常，植骨及内固定未发现移位与塌陷，对上肢功能无明显影响。神经功能恢复按Frankel分级比较，改善I级者5例，改善Ⅱ一Ⅲ级者2例；2例A级其神经功能恢复不明显；2例E级者其神经功能手术前后无明显变化。结论 EMI-VATS行椎管减压、前路植骨与内固定，与传统开放脊柱前路和“锁孔”胸腔镜手术比较，具有开孔少、操作简单、组织创伤小、出血量少和对上肢功能无明显影响等优势；适合不同时期骨折病人，但微创器械尚需完善。     

微创临床局部解剖学教学体系的建立和探索

目的随着临床医学中微创手术的广泛开展,传统局部解剖学的教学模式明显不切合于现在的临床应用,我们在近3年的局部解剖学教学中,尝试建立基础与临床相结合的临床微创局部解剖学教学体系,实现了医学生培养上的多赢。方法在北京大学医学部的3个年级临床医学专业的医学生中,分成传统局部解剖学(局解组)和微创局部解剖学(微创局解组)。微创局解组同学借助模拟腔镜等微创手术器械,开展微创临床解剖学的教学。结果与传统局解组相比,微创局解组同学在学习兴趣,学习的主动性,知识的牢固性,解剖动手能力,临床思维能力,解剖和临床知识的互补性,讨论及交流能力和师生互动等方面均有不同程度的提高。结论微创解剖学教学体系不仅能够满足医学生尤其是临床医学生早期接触临床微创手术及手术器械的需要,并且还可以促进解剖学老师深入了解临床手术的进展,有利于进一步明确教学目的,并促进了基础解剖与临床进展的交流。     

A review of haptic feedback in tele-operated robotic surgery

Abstract

During traditional surgery, the surgeons’ hands are in direct contact with organs, and surgeons rely on the sense of touch to perform surgery. In teleoperated robotic systems, all physical connections between the surgeon and both the robot and patient, are absent. The surgeon must estimate the force exerted on organs, based only on visual deformation of tissues he is pulling, pushing, gripping, or suturing. It is hard to imagine how to operate with no haptic sensations, and it is surprising that commercially available robots didn’t include until now any Haptic Feedback, despite reports about tissue injury, and inability to perform complex manipulation. The sense of touch must be created by stimuli sensed by the surgeon. Haptic sensors are required to collect and send haptic information, and display them on the operator’s side, creating telepresence, known as transparency. Multiple ways have been developed to improve transparency through force feedback and tactile feedback. However, this interferes with the stability of the closed-loop controlling interactions between master, robot and remote environment. Cutaneous feedback is more stable and less transparent; force feedback is more transparent and less stable. Thus, multimodal platforms of haptic feedback would try to find the best trade-off between both modalities.     

Screening for Abdominal Aortic Aneurysm during Transthoracic Echocardiography in Patients with Significant Coronary Artery Disease

Purpose

Coronary artery disease (CAD) shares several risk factors with abdominal aortic aneurysm (AAA). We evaluated the prevalence during transthoracic echocardiography (TTE) and risk factors of AAA in patients with CAD.

Materials and Methods

A total of 1300 CAD patients were screened from August 2009 to May 2010, and measurement of abdominal aorta size was feasible in 920 patients (71%) at the end of routine TTE. An AAA was defined as having a maximal diameter of ≥30 mm.

Results

Of the 920 patients, 22 (2.4% of the study population) were diagnosed with AAA; of these AAA patients, 86% were male, and 82% were over 65 years-old. Abdominal aortic size was weakly correlated with aortic root diameter (r=0.22, p<0.01). Although the proportions of male gender, hypertension, and dyslipidemia were higher in AAA patients, such differences were not statistically significant. Advanced age [odds ratio (OR)=1.07; 95% confidence interval (CI): 1.01-1.12; p<0.01], smoking (OR=3.44; 95% CI: 1.18-10.04; p=0.02), and peripheral arterial disease (OR=5.88; 95% CI: 1.38-25.05; p=0.01) were found to be associated with AAA.

Conclusion

Although prevalence of AAA is very low in the Asian population, the prevalence of AAA in Asian CAD patients is higher than the general population. Therefore, opportunistic examination of the abdominal aorta during routine TTE could be effective, especially for male CAD patients over 65 years with a history of smoking or peripheral arterial disease.     

Retrocaval ureter and preaortic iliac venous confluence in a patient with an abdominal aortic aneurysm

Anomalous anatomic location of a large venous system poses a potential hazard in aortic operations. We encountered a patient with an infrarenal abdominal aortic aneurysm who was also found at preoperative contrast-enhanced computed tomography to have a retrocaval right ureter and a preaortic iliac vein confluence. This combined anomaly has not previously been reported except for one postmortem case. As abdominal aortic surgery is currently performed routinely, care must be taken to avoid injury to surrounding organs due to rare anatomic anomalies.     

Pre-operative ordering of minimally invasive surgical tools: a fuzzy inference system approach

OBJECTIVE: With a limited number of access ports, minimally invasive surgery (MIS) often requires the complete removal of one tool and reinsertion of another in order to provide surgeons with the full functionality necessary to complete a procedure. MATERIALS AND METHODS: Endoscope video from 14 MIS procedures performed at the University of Nebraska Medical Center was used to collect usage statistics for various surgical instruments. This usage data was normalized and input to a fuzzy inference system (FIS) with four membership functions (MFs) to provide a crisp rating value for each instrument. Input membership functions included: number of uses ("Use"), total time used ("Time"), number of changes ("Change") and time per use ("Ave-Time"). Tools were arranged in a simulated cartridge system based on a "Usefulness" output membership function in such a way as to allow easy selection of the next instrument necessary to complete the procedure. Performance was measured by comparing the amount of cartridge indexing needed to complete a procedure using the FIS-generated arrangement against a set of random tool arrangements. RESULTS: The 14 FIS-generated tool arrangements considered in this investigation performed better than 64.11% of randomly generated tool arrangements and as well or better than 80.48% of tool arrangements. Using the FIS in conjunction with a multifunction laparoscopic tool, it is projected that an average cycle savings of 17.75% and 17.39% can be achieved over the mean and median of the random tool arrangements, respectively. CONCLUSIONS: For a given set of tools, the FIS used in this investigation provides an efficient method of arranging tools for MIS that performs at least as well or better than simply placing the tool tips into the chambers in a random configuration. This leads to a decrease in operating room time and corresponding decreases in both patient trauma from insertion and removal of tools and monetary cost, which is directly related to the amount of time spent changing instruments.     

经食管超声心动图在微创心脏外科直视手术中的应用

目的 探讨经食管超声心动图(TEE)在微创心脏外科直视手术(MIDCS)中的应用价值。方法 回顾性研究。纳入淮北矿工总医院2018年7月-2019年11月接受MIDCS的患者20例,其中男8例、女12例,年龄(57.5±10.2)岁。术前诊断:先天性心脏病6例,瓣膜病13例,左心房黏液瘤1例。20例患者术前均常规行经胸超声心动图(TTE)检查,术中均采用TEE监测。麻醉诱导后TEE检查修正诊断,指导建立体外循环,开放升主动脉前指导心腔排气;术中,于病变处理完成后即时TEE监测心内血流、瓣膜及心功能情况;于手术操作完成、心脏复跳后,应用TEE评价手术疗效,以无残余分流、瓣周漏、瓣膜关闭不全及左心室射血分数(LVEF)>50%为治愈。结果 经术中引导,20例患者均准确置于引流管、排空心脏。经TEE检查修正诊断5例:1例下腔型房间隔缺损术中发现另有一小的房间隔缺损,术中一并予以修补;1例房间隔缺损者房水平仅有微量分流,无需处理;2例三尖瓣关闭不全患者合并三尖瓣前叶裂,均行瓣叶修复后再予三尖瓣成形术;另1例则排除了左心房血栓。病变处理完成后,因术中TEE即时评估疗效不满意而更改手术方式2例:1例三尖瓣成形术后瓣膜关闭不满意者改行三尖瓣置换术,1例室间隔修补术后残余分流者改行胸骨正中切口继续修补。另有2例术毕即时通过TEE发现低心排血综合征,行主动脉内球囊反搏术。全组未见食管损伤和相关并发症,无手术死亡病例。术后均无残余分流、瓣周漏及少量以上反流,黏液瘤完全切除;术后患者症状明显缓解,LVEF为54%~69%(61.40%±3.65%),与术前[44%~67%(58.70%±5.19%)]比较差异有统计学意义(t=2.896, P<0.05)。本组患者治愈率100%。结论 术中TEE监测应用于MIDCS中,在补充修正诊断、引导体外循环建立、手术操作完成后监测心内排气、评价手术疗效等方面具有明显优势,为微创心脏外科直视手术的成功提供重要保障。     

Surgical pathology of infected aneurysms of the descending thoracic and abdominal aorta: clinicopathologic correlations in 29 cases (1976 to 1999)

Infected aortic aneurysms are uncommon, and only rarely have their surgical pathological features been described. Clinical and histopathologic features were evaluated in patients undergoing surgical repair of infected aneurysms of the descending thoracic or abdominal aorta over a 24-year period. Findings were compared with observations (primarily from autopsy studies) from the previous 25-year period (1950 to 1975) and other more recent reports. Of the 29 patients in our study, 79% were men, 90% had risk factors for atherosclerosis, and 72% had an identifiable risk or source of infection. Fever was present in 76%, and abdominal or back pain was seen in 66%. Among the 20 cases with an identifiable causative organism, staphylococcus accounted for 30%, streptococcus for 20%, salmonella for 20%, Escherichia coli for 15%, and other organisms for 15%. Aneurysms were saccular in 59% and infrarenal in 42%, and had a mean diameter of 5.6 cm. Microscopically, 6 patterns were recognized: acute inflammation superimposed on severe chronic atherosclerosis (55%), atherosclerosis with chronic inflammation (20%), acute inflammation without atherosclerosis (7%), chronic adventitial inflammation (7%), pseudoaneurysm formation (7%), and necrotizing granulomatous inflammation (4%). Special stains for organisms were positive in only 38% of the cases. Pathological findings of this series of surgical specimens spanning the fourth quarter of the twentieth century were not appreciably different from those described in autopsy series from the preceding years, although the causative microorganisms and agents used to treat them, preoperative diagnostic modalities, and surgical approaches have evolved.     

改良小切口肌间隙入路双侧固定单侧减压TILF手术临床疗效分析

目的　探讨改良小切口肌间隙入路双侧固定单侧减压TILF手术解剖学特点,及分析与传统术式对比治疗腰椎退变性疾病的临床疗效。 方法　回顾性分析2014年12月至2016年12月,应用改良小切口肌间隙入路双侧固定单侧减压TILF手术治疗单节段下腰椎病变患者30例（改良组）。传统术式组30例（传统组）。研究改良组TILF手术解剖学特点,比较两组病例的手术时间、术中出血量、术后引流量、术后2周VAS疼痛评分和Oswestry功能障碍评分。 结果　改良组采用双侧小切口,一侧通过Wiltse间隙入路单纯置钉固定,一侧通过改良肌间隙入路（多裂肌偏中心处间隙）置钉,减压,椎间融合固定。改良组手术时间、术中出血量、术后引流量均小于传统组（P<0.05）;两组术前VAS 评分与Oswestry功能障碍评分无显著性差异(P>0.05);改良组术后VAS 评分小于传统组（P<0.05）;两组术后Oswestry功能障碍评分无显著性差异(P>0.05)。 结论　与传统术式相比,改良组TLIF术通过肌间隙入路更适应人体解剖学特性,手术视野佳,手术操作更容易。同时改良组还具有、手术时间短、术中出血和术后引流少、术后疼痛轻等优点。值得临床推广。     

A severe coarctation of aorta in a 52-year-old male: a case report

Aortic coarctation is a congenital malformation of the aorta usually diagnosed and corrected early in life. Long-term survival is exceptional in patients with untreated aortic coarctation. In this case report, we present a late diagnosis of aortic coarctation in a 52-year-old male. Our patient was relatively asymptomatic until he presented with exertional dyspnea and fatigue in his fifth decade of life. The patient was managed by surgery of aorta. After the 1-year follow-up visit, the patient was in good clinical condition.     

Profiles of immune infiltration in abdominal aortic aneurysm and their associated marker genes: a gene expression-based study

Immune-mediated inflammation plays a key role in the pathology of abdominal aortic aneurysm (AAA). We aimed to use a computational approach to profile the immune infiltration patterns and related core genes in AAA samples based on the overexpression of gene signatures. The microarray datasets of AAA and normal abdominal tissues were acquired from gene expression omnibus (GEO) database. We evaluated the composition of immune infiltrates through microenvironment cell populations (MCP)-counter. Weighted gene correlation network analysis (WGCNA) was employed to construct the co-expression network and extract gene information in the most relevant module. Functional and pathway enrichment analysis was performed and immune infiltration related core genes were screened. AAA tissues had a higher level of infiltration by cytotoxic lymphocytes, NK cells, T cells, fibroblasts, myeloid dendritic cells, and neutrophils than normal aorta. The red module was strongly correlated with the infiltrating levels of T cells and cytotoxic lymphocytes. Gene ontology (GO) and pathway analyses revealed that genes in the most relevant module were mainly enriched in T cell activation, regulation of lymphocyte activation, cytokine-cytokine receptor interaction, and chemokine signaling pathway, etc. The expression of GZMK, CCL5, GZMA, CD2, and EOMES showed significant correlations with cytotoxic lymphocytes, while CD247, CD2, CD6, RASGRP1, and CD48 expression were positively associated with T cell infiltration. In conclusion, we comprehensively analyzed profiles of infiltrated immune cells in AAA tissues and their associated marker genes. Our data may provide a novel clue to indicate the underlying molecular mechanisms of AAA formation in terms of immune infiltration.     

针刀微创手术治疗肩胛上神经卡压的解剖学研究

目的观测肩胛上横韧带,肩胛上动脉、肩胛上神经及其冈上肌支,为针刀治疗肩胛上神经卡压提供解剖学依据。方法解剖观测肩胛上横韧带的长度、宽度和厚度;观察肩胛上动脉和肩胛上神经以及它们的冈上肌支与肩胛上横韧带的位置关系,测量它们在肩胛切迹处的直径;以韧带内侧附着处下点的骨面为基点,确定体表穿刺点和穿刺深度。结果肩胛上横韧带下缘长(0.901±0.234)cm,韧带中间窄厚,内、外侧附着点宽薄;肩胛上神经走行于肩胛切迹内,肩胛上横韧带的下方;肩胛上动脉有16.67%走行于切迹内神经的外侧,83.33%走行在切迹外韧带外上方;肩胛上神经的冈上肌支经肩胛切迹内上角走行入冈上肌;体表穿刺定位角为(24.102±3.681)°。穿刺定位距离计算的回归方程是:Y=2.560+0.615X,穿刺深度为(4.342±0.629)cm。结论针刀切断韧带的方向应从韧带内侧部下缘切向内上,可避免损伤韧带下方的肩胛上神经和韧带外上的肩胛上动脉,且可更有效地解除对肩胛上神经及其冈上肌支的卡压;直线回归方程使穿刺的体表定位因人而异,更为准确。     

下腰椎板间隙的影像解剖学测量及其临床意义

目的　应用影像解剖学测量腰椎板间隙参数,探讨其临床意义。 方法　观察145例腰椎间盘突出症患者的腰椎正位片,比较患侧（症状组）与健侧（对照组）椎板间隙形态,根据不同性别分别测量L4/5以及L5/S1节段双侧椎板间隙的高度、宽度和面积;通过腰椎三维CT测量腰椎板间隙的有效直径并进行统计分析。 结果　在腰椎正位片上健侧L4/5、L5/S1的椎板间隙多呈椭圆形,而患侧的椎板间隙以三角形和扁圆形多见;患侧腰椎板间隙狭窄发生率为68.1%,L4/5节段发生率为65.1%,L5/S1节段71.0%;高度改变的同时伴随宽度的改变;腰椎三维CT测量结果表明,76.5%的患者患侧椎板间隙有效直径小于工作通道直径,其中72.3%位于L4/5节段,80.6%位于L5/S1节段;男性椎板间隙的高度、宽度、面积以及有效直径其均值大于女性,差异具有统计学意义（P<0.05）;总体上,L5/S1节段椎板间隙的高度、宽度、面积以及有效直径的均值大于L4/5节段。 结论　腰椎间盘突出症与椎板间隙的改变存在密切联系,掌握腰椎板间隙的高度、宽度、面积以及有效直径,可指导微创手术方式的选择及术中操作。     

Superior approach to the inferior laryngeal nerve in thyroid surgery: anatomy, surgical technique and indications

Goals of the study To describe the anatomical bases of the surgical access to the higher part of the thyroid lobe, with first location of the inferior laryngeal nerve at its laryngeal penetration, to discuss the advantages and disadvantages of this surgical technique and to determine the operational indications.Population and method A prospective study of surgical anatomy performed over a period of 18 months was conducted. A total of 25 (22 women and 3 men) patients with cervicothoracic goitre underwent total thyroidectomy. Thyroid lobectomies were performed using the technique of “capsular thyroidectomy”, with first location and complete dissection of the inferior laryngeal nerve. A neurostimulator was systematically used for the location of the inferior laryngeal nerve and also the external laryngeal nerve.Results The first detection of the inferior laryngeal nerve at the top of the thyroid lobe was positive in 49/50 cases. A superior parathyroid gland was found in 75% of cases and an inferior parathyroid gland in 37.5% of cases. The external laryngeal nerve was stimulated and respected in 12,5% of cases. No voice trouble, no laryngeal palsy and no definitive hypoparathyroidism occurred after surgery.Conclusion Safeguarding of the inferior laryngeal nerve is the principal and obligatory stake in thyroid surgery. Locating the inferior laryngeal nerve at the level of its laryngeal penetration at the superior pole of the thyroid region is necessary in cases of particular situations: huge cervicothoracic goitres, re-operative procedures and various anatomical variations. The use of a neurostimulator secures this technique.     

微创直接前侧入路与后外侧入路全髋关节置换术治疗老年人股骨颈骨折的早期临床疗效对照研究

目的:比较微创直接前侧入路(DAMIS)与后外侧入路(PLA)全髋关节置换术治疗老年股骨颈骨折患者的早期临床疗效。方法:回顾性研究。纳入2017年10月—2018年9月唐山市第二医院171例股骨颈骨折患者的临床资料,其中89例(89髋)采用DAMIS全髋关节置换术(DAMIS组),男41例、女48例,年龄61～78(6...     

Management strategies in a thoracic surgery ward during COVID-19 pandemic: Experience from West China Hospital

The coronavirus disease 2019 was first reported in Wuhan in December 2019 and then spread rapidly throughout the world. On March 11, 2020, the World Health Organization declared coronavirus disease 2019 a pandemic. In response to the pandemic, the management division of West China Hospital oversaw the implementation of hospital-wide emergency measures. In accordance with these measures, the hospital's thoracic surgery ward implemented a new management system by reformulating staff training plans, patient admission procedures, and other systems for managing the ward and protecting perioperative patients. Overall, the ward was successful in restoring normal working order, protecting all staff from occupational exposures, and ensuring the safety of inpatients and their families.