吲哚菁绿荧光实时导航达芬奇Xi机器人肝切除术初步探讨

目的总结达芬奇Xi机器人联合吲哚菁绿荧光定位肝脏肿瘤实现精准肝切除的经验。 方法回顾分析2021年1～5月期间20例吲哚菁绿荧光定位联合达芬奇Xi机器人肝肿瘤切除术患者的临床资料。 结果20例均在达芬奇Xi机器人下完成肝肿瘤切除,无中转开腹,手术时间85 min(70～105 min),术中出血量110 ml(50～200 ml ),术后住院时间7 d(5～9 d)。术后患者肝功能恢复良好,均未出现出血、胆漏等并发症。术后病理结果：肝细胞肝癌10例、肝细胞异型增生和胆管异形增生1例、胆管细胞癌6例、肝硬化伴肝脏炎性改变1例、腺癌(胃肠道转移)2例。20例均为R0切除,愈合良好出院。 结论在熟练完成腹腔镜肝肿瘤切除术的基础上,开展吲哚菁绿荧光定位联合达芬奇Xi机器人手术系统精准肝切除是安全、可行的,具有较高的临床价值及推广意义。     

达芬奇机器人纵隔肿物切除术23例临床分析

目的探讨应用达芬奇机器人行纵隔肿物切除术的可行性。方法回顾性分析2009年1月～2012年12月通过达芬奇机器人行纵隔肿物切除手术23例的临床资料。年龄33～72岁,平均48.8岁。前纵隔肿物19例,中纵隔肿物1例,后纵隔肿物3例。三孔法,左侧机械臂为抓钳,右侧机械臂为超声刀,中间为观察孔。前纵隔胸腺来源肿物行全胸腺切除术,后纵隔及中纵隔来源肿物沿肿物包膜完整切除。结果 23例手术均获成功,全胸腺切除术19例,中纵隔气管囊肿剥除术1例,后纵隔肿物切除术3例。手术时间（93.9±38.6）min,术中出血（55.2±18.6）ml,术后24小时胸管引流量（115.2±69.9）ml,术后住院时间（5.4±1.4）d。全组无围手术期死亡,无中转开胸。术后病理示胸腺瘤16例,神经鞘瘤3例,胸腺囊肿2例,胸腺增生及支气管囊肿各1例。23例随访1～48个月,平均20个月,无复发。结论应用达芬奇机器人行纵隔肿物切除术安全可行。     

达芬奇机器人在胆总管囊肿手术切除中的应用

目的评估达芬奇机器人手术系统辅助胆总管囊肿切除术的安全性及疗效,总结手术经验。 方法回顾性分析2016年3月至2018年12月于中山大学附属第一医院胆胰外科接受达芬奇机器人辅助胆总管囊肿切除术的12例患者临床资料,分析其相关的临床数据,评估手术的安全性及近期疗效。 结果12例均顺利完成机器人辅助下胆总管囊肿及胆囊切除、肝管空肠改良襻式吻合术;手术中位时间为385 min（280~420 min）,术中出血量中位数为30 ml（30~100 ml）。3例有腹腔手术史患者术后进食时间、住院时间与无手术史的患者比较,差异无统计学意义。术后1例患者发生腹腔感染,经保守治疗后痊愈;术后平均住院（7.7±1.4）d,无一例30 d内再入院。 结论达芬奇机器人辅助胆总管囊肿切除手术安全、可靠,操作更精准灵活、舒适,具有微创、术中出血少、术后恢复快的优势。     

达芬奇机器人在后上纵隔神经源性肿瘤手术中的应用

本文报道2011年3月~2012年10月应用达芬奇机器人手术切除后上纵隔神经源性肿瘤6例。采用三臂法,机械臂左手使用双极电凝抓钳,右手使用电凝钩,不使用辅助操作孔。6例均通过机器人成功完成手术,无中转开胸。手术时间60~215 min,平均127.5 min;分离时间10~90 min,平均45.0 min;术中出血量5~50 ml,平均24.2 ml;术后24 h引流量30~210 ml,平均86.7 ml;术后引流管留置时间1~6 d,平均4.3 d。术后1例出现不全霍纳综合征,2例出现术侧上肢出汗减少,其余均恢复良好出院。我们认为达芬奇机器人手术治疗后上纵隔肿瘤手术安全可行。     

机器人肝切除技术的优势和弊端

目的与传统腹腔镜肝切除术配对比较探讨机器人肝切除技术的优势和弊端。方法回顾性分析本中心2009年4月至今连续46例达芬奇机器人手术系统行肝脏部分切除术的病例,统计其术中技术、手术时间、术中出血量及术后恢复情况等临床资料,与本中心同期开展的110传统腹腔镜肝切除术的临床病例资料行对照研究。描述性分析另外10例机器人肝门部胆管癌根治术病例资料。结果除1例机器人肝切除术中转开腹手术,2组病例均为完全腹腔镜下完成手术。传统腹腔镜下采用双主刀技术进行操作。2组病例的平均手术时间差异有统计学意义(P=0.0032),平均失血量无统计学差异(P=0.3470)。2组病例的术后并发症、住院时间等情况对比无统计学差异。机器人肝门部胆管癌技术可行,但手术时间明显较长、出血量大,术后并发症发病率高、住院时间长。结论达芬奇机器人手术系统行精准肝切除术安全可行,由于其稳定性和3D视野尤其利于精准的肝门解剖和腹腔镜下缝合,可以拓展腹腔镜肝切除的适应证。但达芬奇机器人手术系统戳孔布局、器械配合、机械臂对腹腔内外空间的占用严重阻碍助手的操作等原因造成手术难度较大、手术时间延长。另外,机器人手术的费效比较高也阻碍了这一技术的广泛开展。     

达芬奇机器人辅助腹腔镜下子宫颈残端癌根治术联合盆腔淋巴结切除术1例报告

目的：探讨达芬奇机器人手术系统治疗子宫颈残端癌的安全性和可行性。方法术前放置输尿管支架,采用达芬奇机器人手术系统,常规建立气腹,于脐右上方45°10 cm处放置机器人腹腔镜镜头,平脐右侧腋前线处放置第一机械臂,于脐左上方45°10 cm处放置第2机械臂,机械臂孔与镜头孔呈等腰三角形,镜头孔处为等腰三角形顶点。患者左侧腋前线平髂前上棘上方5 cm处建立助手操作孔,同时该操作孔连接气腹机。常规切除盆腔淋巴结,以输尿管支架为指示,鉴别输尿管与膀胱和子宫颈的解剖关系,完成根治性残端子宫颈切除。结果机械臂安装时间30 min,手术操作时间110 min,术中出血量300 ml。术后24 h下地活动,36 h肛门排气。因病理结果提示淋巴血管间隙侵犯,术后14 d开始行辅助化疗。术后随访1个月,无不适,输尿管支架术后1个月取出。结论达芬奇机器人辅助腹腔镜手术治疗子宫颈残端癌安全、可行。     

达芬奇机器人在胸腺扩大切除术治疗Ⅰ型重症肌无力的应用

目的 探讨达芬奇机器人系统在胸腺扩大切除术治疗Ⅰ型重症肌无力中的应用价值和技术细节。 方法回顾性分析2012年3～9月沈阳军区总医院使用达芬奇机器人系统行胸腺扩大切除治愈3例重症肌无力患者的临床资料,均为眼肌型（Ⅰ型）,其中男2例,分别是33岁和66岁;女1例,年龄21岁。分析手术疗效。 结果 3例患者均顺利完成机器人胸腺扩大切除,未使用辅助操作口,无中转开胸或术后开胸止血,术中出血量5～10 ml,手术总时间95～138 min,分离时间26～80 min,未出现肌无力危象及其他并发症。术后胸腔闭式引流时间3～9 d,术后住院时间10～15 d。2例随访6～12个月无复发。 结论 机器人行扩大胸腺切除手术安全可行,效果确切。     

机器人辅助腹腔镜下小儿肾上腺区肿物切除术6例报告

目的 探讨机器人辅助腹腔镜下小儿肾上腺区肿物切除术的安全性和有效性。方法 2019年10月～2022年3月我们采用达芬奇机器人辅助腹腔镜下切除6例小儿肾上腺区肿物。取健侧60°卧位,采用两机械臂操作,视情况增加辅助操作孔。钝锐结合显露肿瘤后注意辨识肿物滋养血管,采用丝线或生物夹夹闭离断肿瘤血管;充分游离肿瘤,将整个肿瘤完整切除。较小标本经稍扩大操作孔取出,较大标本经下腹部另外切口取出。结果 6例手术均顺利完成,无一例中转开放手术。手术时间90～240 min,平均133.3 min。出血量15～50 ml,平均31.7 ml。术后2例未放置引流管,其余4例放置引流管4～8 d,平均5.5 d。术后住院5～15 d,平均8.7 d。除1例术后出血,其余患儿均无并发症发生。6例随访10～24个月,平均16.7月,复查CT无肿瘤复发。结论 机器人辅助腹腔镜下小儿肾上腺区肿物切除术安全,效果满意。     

机器人在腹部外科手术中的初步应用(附16例报告)

目的总结达芬奇机器人系统在腹部外科手术中的初步应用体会。方法回顾分析2015年2月至10月间华中科技大学同济医学院附属协和医院胃肠外科行达芬奇机器人系统手术的16例病人资料。结果 16例病人中男性7例,女性9例,均顺利完成达芬奇机器人辅助手术。手术方式为:全胃切除1例,远端胃癌根治术1例,胃局部切除术3例,食管裂孔疝修补加胃底折叠术2例,袖状胃切除术1例,十二指肠肿瘤切除术1例,胆囊切除术2例,胆总管囊肿加胆囊切除并胆肠吻合1例,乙状结肠癌根治术2例,直肠癌根治术2例。本组手术时间90~330 min,系统装机时间20~60 min。术中出血量为10~120 ml,所有病人术中均未输血。胃肠道癌淋巴结检出数25.5枚/例。术后平均胃肠功能恢复时间为2.2 d,术后平均住院时间为7.5 d。本组病人术后恢复顺利,无严重并发症发生。结论达芬奇机器人手术系统在腹部外科手术中安全可行,具有解剖分离精准、创伤小、恢复快等优点。     

国产图迈~?微创机器人辅助胸腔镜手术三例

目的 探索应用国产图迈~?微创腔镜手术机器人辅助进行胸部手术的安全性和短期手术疗效。方法回顾性分析甘肃省人民医院胸外诊疗中心2021年10—12月收治的3例患者的临床资料,其中男1例（69岁）、女2例（分别为47岁和22岁）。均行国产图迈~?微创机器人辅助手术,其中肺癌根治术2例,纵隔肿瘤切除术1例。结果 3例患者均获手术成功,无中转开胸,无手术并发症发生,无死亡。男性肺叶切除患者总手术时间120 min,术中出血量100 mL,胸腔引流管引流时间4 d,术后住院时间5 d;女性肺叶切除患者总手术时间103 min,术中出血量100 mL,胸腔引流管引流时间4 d,术后住院时间5 d;女性纵隔肿瘤切除术患者总手术时间81 min,术中出血量50 mL,胸腔引流管引流时间3 d,术后住院时间3 d。结论 国产图迈~?微创腔镜手术机器人胸部手术安全有效,手术体验与达芬奇手术机器人比较,有相同的3D视野体验,操作流畅。     

单中心151例机器人直肠肿瘤手术效果与体会

目的探讨达芬奇机器人手术系统应用于直肠肿瘤手术的效果,总结手术经验。方法回顾性分析我院2012年1月-2014年7月行达芬奇机器人直肠手术151例的临床资料。结果 150例手术顺利完成,1例中转开腹。其中前切除术106例,APR手术39例,Hartmann手术6例。平均手术时间分别为240 min,239 min和260 min,术中平均失血量53 ml,清扫淋巴结数量平均13.2枚。术后排气时间1~7 d,平均3 d。术后肠梗阻3例,吻合口瘘2例,吻合口出血1例,均行保守治疗。1例因肠系膜血管出血时气腹机故障而中转开腹止血。无死亡病例。结论达芬奇机器人行直肠肿瘤手术安全、可靠、优势明显。     

机器人直肠癌根治术临床应用探讨

目的 探讨达芬奇机器人手术系统在直肠癌根治术中的应用经验,总结手术操作技巧.方法 回顾性分析我院2009年6月至2011年11月行达芬奇机器人直肠癌根治术25例临床资料.结果 25例患者均顺利行机器人直肠癌根治术,无中转开腹病例.其中Dixon术式19例,Miles术式6例.手术时间平均235.5 min,术中平均出血量60.8 ml,2例因术前贫血给予输血,其余23例均未输血.淋巴结清扫10～23枚,平均13.1枚.术后排气时间33 ～ 116 h,平均73.5 h.病理切缘均为阴性.术后1例Miles患者发生会阴部切口裂开,1例Dixon患者发生肺部感染,无手术死亡病例.随访时间21～51个月,平均30.9个月,1例发生吻合口复发,2例发生肝转移.结论 达芬奇机器人直肠癌根治术操作简单、创伤小、恢复快,其独特的3D视野能清晰显露并保护输尿管、髂腹下神经和盆腔自主神经丛等重要脏器.     

机器人辅助腹腔镜结直肠癌肝转移手术中的肝切除技术

目的：探讨达芬奇机器人手术系统在结直肠癌肝转移中的肝切除技术。方法回顾性分析我中心自2011年5月至2013年12月应用达芬奇机器人手术系统对4例结直肠癌肝转移患者行肝切除手术的临床资料。结果通过该系统,所有患者均成功完成手术。其中2例为单独切除肝转移瘤,2例为同期切除结肠原发灶及肝转移瘤。手术时间为210-510 min。术中失血量100-900 ml,输血1例。术后未发生并发症。术后住院时间8-15 d。结论达芬奇机器人手术系统能够安全有效地完成结直肠癌肝转移的微创外科手术。     

Precision in robotic rectal surgery using the da Vinci Xi system and integrated table motion,a technical note

Robotic rectal surgery is becoming increasingly more popular among colorectal surgeons. However, time spent on robotic platform docking, arm clashing and undocking of the platform during the procedure are factors that surgeons often find cumbersome and time consuming. The newest surgical platform, the da Vinci Xi, coupled with integrated table motion can help to overcome these problems. This technical note aims to describe a standardised operative technique of single docking robotic rectal surgery using the da Vinci Xi system and integrated table motion. A stepwise approach of the da Vinci docking process and surgical technique is described accompanied by an intra-operative video that demonstrates this technique. We also present data collected from a prospectively maintained database. 33 consecutive rectal cancer patients (24 male, 9 female) received robotic rectal surgery with the da Vinci Xi during the preparation of this technical note. 29 (88%) patients had anterior resections, and four (12%) had abdominoperineal excisions. There were no conversions, no anastomotic leaks and no mortality. Median operation time was 331 (249–372) min, blood loss 20 (20–45) mls and length of stay 6.5 (4–8) days. 30-day readmission rate and re-operation rates were 3% (n = 1). This standardised technique of single docking robotic rectal surgery with the da Vinci Xi is safe, feasible and reproducible. The technological advances of the new robotic system facilitate the totally robotic single docking approach.     

达芬奇机器人辅助外科治疗原发性甲状旁腺功能亢进

目的 探讨达芬奇机器人在原发性甲状旁腺功能亢进外科治疗中的安全性及有效性。方法 回顾性分析2014年11月至2017年12月在我科行达芬奇机器人外科手术系统辅助外科治疗的12例原发性甲状旁腺功能亢进病人的临床资料。术前定性诊断、精确定位。检测手术前、后血清全段甲状旁腺素、血钙、血磷变化情况。术后观察有无出血、声音嘶哑及饮水呛咳等并发症,随访2~24个月病人临床症状变化情况。结果 12例手术均在达芬奇机器人外科手术系统辅助下顺利完成,无中转开放手术,无手术相关严重并发症发生。手术时间(58.00±17.37)(38~89) min,术中出血(25.00±4.75)(20~35) mL。7例病人出现一过性低钙血症,经过补钙和维生素D治疗后痊愈。所有病人对手术美容效果满意。1例甲状旁腺增生病人术后复发,其余病人随访期间无复发征象。结论 达芬奇机器人辅助下外科手术治疗有严格手术适应证的原发性甲状旁腺功能亢进病人安全、有效,美容效果更佳。     

Initial experience with the four-arm computer-enhanced telesurgery device in foregut surgery

BACKGROUND: The da Vinci robotic system (Intuitive Surgical, Sunnyvale, CA) has been used effectively and with good results. Previously, the surgeon could manipulate three arms on the robot: one camera port and two working ports. This configuration required a second surgeon for most general surgical procedures. Recently, the robotic device has been modified to include a fourth arm, adding another computer-assisted instrument that the surgeon can manipulate. In this report, we describe our experience with the da Vinci robot with a fourth arm modification for the performance of selected surgical procedures. MATERIALS AND METHODS: A total of six patients were prospectively enrolled and underwent surgery using the modified da Vinci robot. Their average age was 56 years. Five patients underwent Nissen fundoplication, and one patient underwent Heller myotomy. Operative time, defined as the time from skin incision to completed skin closure, as well as robotic time, defined as the time during which the robot was being used, were recorded. Intra-operative and perioperative complications were also recorded. RESULTS: Average operative and robotic times for Nissen fundoplication were 134 and 80 minutes, respectively. Operative and robotic times for the Heller myotomy were 118 and 70 minutes. All patients tolerated the procedure well and experienced no perioperative complications. CONCLUSIONS: The da Vinci robot with the addition of the fourth arm results in a efficient and safe operation and allows the surgeon to perform additional maneuvers without the use of a surgical assistant.     

Robotic laparoendoscopic single-site benign gynecologic surgery: a single-center experience

The da Vinci Xi surgical system was released with several upgrades and modifications compared to the previous robotic generations to facilitate minimal invasive surgery. Herein, we present our preliminary experience of robotic laparoendoscopic single-site gynecologic surgery performed for benign indications with the da Vinci Xi robotic system in a single center. Thirty-five female patients underwent robotic single-site surgery between June 2016 and January 2017. The median console time for hysterectomy with or without salpingo-oophorectomy was 41 min. The median intracorporeal vaginal cuff closure time was 18 min. Two cases (5.7%) were converted to robotic-assisted multiport surgery. There was one major intraoperative complication (2.9%). None of the patient required blood transfusion. When comparing our first 12 cases to subsequent 12 cases of R-LESS hysterectomy, there was a statistically significant decrease in surgical times and estimated blood loss. On logistic regression analysis, no association was detected between BMI and port entry time (OR 0.93, 95% CI 0.83–1.04, p = 0.23), console time (OR 0.98, 95% CI 0.94–1.02, p = 0.37), cuff closure time (OR 0.9, 95% CI 0.76–1.09, p = 0.33), operative time (OR 1, 95% CI 0.98–1.01, p = 0.97), and estimated blood loss (OR 0.98, 95% CI 0.96–1.01, p = 0.33). Our preliminary experience with robotic laparoendoscopic single-site surgery using the da Vinci Xi system has demonstrated feasibility and safety in select patients. Further studies with greater number of patients in multiple settings will help us to fully elucidate the role of da Vinci Xi surgical system in single-site gynecologic surgery.     

First experiences with the da Vinci operating robot in thoracic surgery.

OBJECTIVES: The da Vinci surgical robotic system was purchased at our institution in June 2001. The aim of this trial was to evaluate the applicability of the da Vinci operation robot for general thoracic procedures. METHODS: The da Vinci surgical system consists of a console connected to a surgical arm cart, a manipulator unit with two instrument arms and a central arm to guide the endoscope. The surgical instruments are introduced via special ports and attached to the arms of the robot. The surgeon, sitting at the console, triggers highly sensitive motion sensors that transfer the surgeon's movements to the tip of the instruments. The so-called 'EndoWrist technology' offers seven degrees of movement, thus exceeding the capacity of a surgeon's hand in open surgery. We evaluated the role of the robot for several thoracic procedures such as thymectomies, fundoplications, esophageal dissections, resection of mediastinal masses and a pulmonary lobectomy. RESULTS: A total of 10 thymectomies, 16 fundoplications, 4 esophageal dissections, 5 extirpations of benign mediastinal masses and 1 right lower lobectomy was performed with the robot. One resection of a paravertebral neurogenic tumor had to be converted due to surgical problems. A lesion to a left recurrent laryngeal nerve caused transient hoarseness after the extirpation of an ectopic parathyroid in the aortopulmonary window in one patient. The postoperative courses were uneventful and patients were discharged between postoperative days 3 and 8 (with the exception of patients who underwent dissection for esophageal cancer and the patient with conversion to an open access). CONCLUSIONS: Advanced general thoracic procedures can be performed safely with the da Vinci robot allowing precise dissection in remote and difficult-to-reach areas. This benefit becomes evident most elegantly in thymectomies, which at our institution have become a routine procedure with the robot. The rigid anatomy of the chest seems to be an ideal condition for robotic surgery. A major limitation for robotic surgery is the lack of more appropriate instruments. This disadvantage becomes most evident in pulmonary lobectomies.