A robotic wide-angle view endoscope using wedge prisms

Background The aim was to develop a new type of robotic wide-angle view endoscope that does not require rotation or bending of the endoscope to move the field of view. This endoscope allows the surgeon to make extensive observations in a small space. It is safe because it avoids the possibility of hitting organs accidentally.Methods The system consists of an endoscope with a zoom facility and two wedge prisms at the tip. Each prism is set on its own sleeve at the end of the endoscope, and both prisms rotate independently about the axis of the endoscope.Results In the in vivo experiment, the high quality of the image was confirmed, and almost whole liver could be observed without the observer moving the endoscope itself.Conclusions This system provides safe robotic endoscopic surgery because of the high quality of the image. It has great significance for future clinical use.     

发展前进中的胸外科手术机器人

手术机器人已经历了三十多年的发展。目前国际上应用最广泛的手术机器人系统是达芬奇手术机器人(直觉外科公司,美国),具有设计精巧、视野清晰且操作方便等诸多优点。目前,该系统已在全世界范围内广泛应用于肺、食管、纵隔等胸外科常规手术,特别是在一些空间相对狭小的胸外科手术场景中可能优于胸腔镜手术。但目前手术机器人仍为通科机器人,不能很好地适应胸外科的手术需求和发展方向。笔者大胆推测手术机器人在胸外科领域必将向专科化、智能化、多通道发展。新的手术机器人系统必将引领胸外科手术器械的创新,更好地服务于临床并造福广大患者。     

机器人胸外科日间手术的现状与展望

术后加速康复理念的推广与普及令日间手术的实践成为目前外科诊疗模式发展的重要议题,而胸外科手术的诸多特点使胸外科日间手术的推广面临诸多障碍。外科诊疗技术在近二十年的发展突飞猛进,其中机器人辅助手术的技术突破使诸多复杂外科手术的开展效率得到了飞跃性提升。因此,这一技术在胸外科日间手术的应用或将成为胸外科日间手术发展的新里程碑。本文结合已有研究成果,梳理总结了胸外科日间手术与机器人辅助手术的发展历程,并对两者未来的结合运用前景进行了展望。     

Robotic urological surgery in patients with prior abdominal operations is not associated with increased complications

BACKGROUND: The da Vinci Surgical Robotic System is being increasingly used to perform complex urological operations by minimally invasive techniques. Prior abdominal surgery associated with intra-abdominal adhesions may complicate robotic surgery. METHODS: We used a cohort of consecutive 49 patients undergoing a variety of robotic urological procedures at our institution to study the impact of prior abdominal operations on early perioperative complications. RESULTS: A total of 21/49 (43%) patients (Group A) had no history of prior abdominal surgery and the rest 28/49 (57%; Group B) had undergone prior abdominal surgery. The incidence of peritoneal adhesions was significantly higher in patients with prior abdominal surgery compared to the rest of the cohort, 54% versus 10% (P=0.002). The median operative time, estimated blood loss, postoperative drop in hemoglobin, time to hospital discharge, postoperative narcotic analgesic use and postoperative complication rate between group A and group B were not statistically different. The overall perioperative complication rate for the entire cohort was 14.3%, with 6-8% of complications occurring in each of the two groups (P=1.0). Comparative subset analysis of 28 patients in Group B, 15 (54%) and 13 (46%) with or without intra-abdominal adhesions did not reveal a significant difference in perioperative complication rates either. However, operative time was longer in patients with intra-abdominal adhesions compared to patients without, median of 590 (281-922) and 434 (153-723) min respectively, although not statistically significant (P=0.059). CONCLUSION: Our study demonstrates that robotic urological surgery can be performed in patients with prior abdominal surgery without increased perioperative complications.     

新辅助内分泌治疗结合机器人辅助根治性前列腺切除术治疗高危前列腺癌的优势

目的：探讨高危前列腺癌患者行新辅助内分泌治疗（neoadjuvant hormonal therapy, NHT）后,行机器人辅助腹腔镜根治性前列腺切除术（robot-assisted laparoscopic radical prostatectomy, RALRP）较腹腔镜根治性前列腺切除术（laparoscopic radical prostatectomy, LRP） 和耻骨后根治性前列腺切除术 （ retropubic radical prostatectomy, RRP）的优势。方法：回顾性分析我院自2010年3月-2012年1月以新辅助内分泌治疗结合根治性前列腺切除术治疗的16例高危前列腺癌的临床资料。术前采取3-6个月的LHRH-a＋抗雄药物的最大程度雄激素阻断方法（maximal androgen blockage,MAB）作为NHT方案,NHT后PSA均降至0．2μg／L以下。之后,其中5例接受RALRP,5例接受LRP,6例接受RRP。三组患者治疗前基线情况（年龄、PSA水平、Gleason评分）差异无统计学意义（P〉0．05）。结果：手术均获成功。中位手术时间（operating time,OT）、失血量（esti-mated blood loss,EBL）、住院天数（hospital stay,HS）在RALRP组为225min（包括机器人到位15min）、600mI、7d,在LRP组为280min、900mi、7d,在RRP组为150min、675ml、14．5d。三组患者术后均无尿漏,术后3天拔除双侧引流管。术后病理均无切缘阳性。三组各有1例患者在术后3个月时因PSA复燃而接受辅助性内分泌治疗（P=1．00）。术后3个月时,除2例RRP组患者尚存压力性尿失禁,其余患者均恢复尿控（P=0．29）。结论：对于接受NHT的高危前列腺癌患者而言,相对于开放手术和腹腔镜根治性前列腺切除术,机器人辅助腹腔镜根治性前列腺切除术仍然是这些患者的更佳选择。     

Late Cutaneous Fistula after Inguinal Hernia Repair without Prosthesis

Robotic-assisted surgery has been introduced recently in order to overcome some of the difficulties surgeons encounter during advanced laparoscopic surgery. Due to the 3D vision equipment, higher number of degrees of freedom in manipulating instruments and better ergonomics it is hoped that by using robot techniques the indications of minimally invasive surgery in the field of digestive surgery can be broadened or that difficult procedures will be easier to perform.

Since the introduction of the system in our hospital now almost two years ago 70 procedures have been performed with the aid of the da Vinci® system covering the whole spectrum of GI surgery. Conversion took place in 2.5% and peroperative morbidity related to the use of robotic techniques was 10%. Although we had the subjective feeling that the procedures were indeed easier to perform and more relaxing for the surgeon, some major problems still exist as the complete lack of tactile feedback and the cost effectiveness of these procedures. Before robotics can be introduced in the every day clinical practice of the surgeon, its true benefit still needs to be established. This can only be done by well randomised prospective studies comparing one technique with the other.     

机器人辅助腹腔镜根治性前列腺切除术34例报告

目的:探讨机器人辅助腹腔镜根治性前列腺切除术的可行性及安全性。方法:利用da Vinci S机器人手术系统对34例局限性前列腺癌患者经腹路径施行机器人辅助腹腔镜根治性前列腺切除术。结果:34例手术成功,手术时间198(135~340)min,失血量257(50~700)ml,输血1例,无手术并发症发生。3例术后病理切缘阳性。术后1个月复查tPSA,2例术后4周PSA0.2μg/L,提示术后肿瘤残留,行雄激素去除治疗,其余32例均0.2μg/L。随访平均时间7.5(3~10)个月,tPSA均无升高。术后3、6个月控尿有效率分别为94%(32/34)和97%(33/34),其中77%(26/34)和88%(30/34)完全脱离尿垫。结论:机器人辅助腹腔镜根治性前列腺切除术失血少、切缘阳性率低、尿控良好,安全有效。     

达芬奇机器人在妇科手术应用中的安全性评价

目的:探讨达芬奇机器人手术行妇科手术的安全性、可行性及临床应用价值.方法:回顾性分析吉林省肿瘤医院于2014年10月～2019年7月完成的达芬奇机器人妇科手术患者286例的临床资料,其中恶性肿瘤183例,良性手术103例.恶性肿瘤中,99例宫颈癌,82例子宫内膜癌,1例卵巢癌,1例阴道癌.评估所有患者的临床指标,包括手术时间、术中失血量、术后肠道功能恢复时间、膀胱功能恢复时间、腹部切口愈合时间;分析恶性肿瘤患者的淋巴结切除数目、术后并发症发生情况(出血、感染、尿潴留、肠梗阻、下肢深静脉血栓等)、总住院时间等;通过检测所有手术患者血清C反应蛋白(CRP)和白介素-6(IL-6)浓度的变化判断手术对机体炎症反应的影响.结果:286例患者手术均顺利完成,无中转开腹,无术中大出血、脏器损伤等严重并发症.手术时间34～280min,平均(148.7±97.8)min;出血量0～170ml,平均(83±69)ml;术后肠道功能恢复时间为6～68h,平均(35.3±19.6)h;膀胱功能恢复时间10～504h;术后72h引流量9～376ml,平均(198.3±79.4)ml;引流管留置时间49～296h,平均(187.9±74.8)h;术后腹部切口拆线78～128h,平均(96.3±10.6)h;恶性肿瘤切除淋巴结切除数目7～46枚,平均(33.4±7.3)枚;住院时间85～678h,平均(304.5±107.3)h.术后感染发生6例,肠梗阻5例,血栓性并发症4例,1例单侧小腿肌间静脉血栓,1例左侧腘静脉血栓,1例PICC置管处头静脉血栓性静脉炎,1例术后5个月(放化疗)出现右小腿肌间静脉血栓,经溶栓、抗凝治疗好转;术后发生淋巴囊肿24例,其中14例出现不同程度的外阴水肿,经对症处置后均恢复良好.于术后24h测定C反应蛋白浓度为39.8～220.3mg/L,平均(109.47±38.79)mg/L;术后5d浓度为4.7～21.4mg/L,平均(19.58±5.63)mg/L.术后24h测定白介素-6浓度为10.2～18.9ng/L,平均(14.57±3.94)ng/L;术后5d浓度为3.7～12.4ng/L,平均(6.51±2.74)ng/L.结论:达芬奇机器人应用于妇科手术安全可行,值得临床推广应用.