A novel locally operated master-slave robot system for single-incision laparoscopic surgery

Abstract

Purpose: Single-incision laparoscopic surgery (SILS) provides more cosmetic benefits than conventional laparoscopic surgery but presents operational difficulties. To overcome this technical problem, we have developed a locally operated master-slave robot system that provides operability and a visual field similar to conventional laparoscopic surgery. Material and methods: A surgeon grasps the master device with the left hand, which is placed above the abdominal wall, and holds a normal instrument with the right hand. A laparoscope, a slave robot, and the right-sided instrument are inserted through one incision. The slave robot is bent in the body cavity and its length, pose, and tip angle are changed by manipulating the master device; thus the surgeon has almost the same operability as with normal laparoscopic surgery. To evaluate our proposed system, we conducted a basic task and an ex vivo experiment. Results: In basic task experiments, the average object-passing task time was 9.50 sec (SILS cross), 22.25 sec (SILS parallel), and 7.23 sec (proposed SILS). The average number of instrument collisions was 3.67 (SILS cross), 14 (SILS parallel), and 0.33 (proposed SILS). In the ex vivo experiment, we confirmed the applicability of our system for single-port laparoscopic cholecystectomy. Conclusion: We demonstrated that our proposed robot system is useful for single-incision laparoscopic surgery.     

Clinical experience with a simple retraction device in single-port laparoscopic cholecystectomy: Technical description and initial results

Abstract

Background: Performing single-port laparoscopic cholecystectomy (SPLC) is challenging as triangulation is limited and the critical view is difficult to obtain. We present our initial experience using a simple retraction device to reduce these problems. Material and methods: In January 2012 a novel lifter was introduced at our department and subsequently used in SPLC for suspension of the gallbladder. Perioperative data were collected prospectively. In addition, all videos were reviewed to assess any adverse events caused by the lifter. Results: Thirty (20 female and 10 male) patients at a median age of 48.4 years (range: 23–83) were operated using this novel retraction device. Median BMI accounted for 26.0 kg/m² (median; range: 14.0–36.9). Retraction of the gallbladder using the lifter was possible in all patients. In four cases (13.3 %) spillage of bile caused by the lifter was recorded. In addition, perforation of the gallbladder was seen once (3.3 %), caused by electrocautery. No inflammation, induration or visible scars were seen in the right upper quadrant at six weeks postoperatively in any patient. Conclusions: Gallbladder retraction in SPLC using this novel device is feasible and safe without leaving any apparent scar. Rate of bile spillage is (at least) comparable to that reported for conventional laparoscopic cholecystectomy.     

Single-port live donor nephrectomy using a novel Curved Radius R2 Surgical System in an in vivo model

Objective: Single-port laparoscopic donor nephrectomy provides low morbidity and satisfactory cosmetic results for patients. The aim of this animal study was to establish a surgical technique of single-site (LESS) living donor nephrectomy using novel curved r2 CURVE manipulators specially designed for single-port access. Material and methods: A total of six LESS nephrectomies were performed in three female pigs. r2 CURVE-instruments (Tuebingen Scientific Medical GmbH) were used providing a curved rotatable shaft, endless tip rotation, as well as 90° tip deflection. A 10 mm 30° extra long laparoscope, r2-curved Grasper, Maryland dissector and bipolar scissors were used for mobilization and dissection. Results: All LESS nephrectomies were performed successfully. Average operative time was 80 min (range, 42–149 min). No technical problems were observed. Insertion and extraction of the instruments through the single-port were easy to conduct. The diameter of the used single-port was sufficient for safe manual organ harvesting. Potential conflict between the laparoscope and the instrument handles was avoided by using an extra long laparoscope. Conclusions: The new curved and deflectable instruments showed that single-port nephrectomy using the R2 manipulators is feasible. Single-port laparoscopic nephrectomy might be more patient-friendly and improve the willingness of potential donors to donate live organs.     

Laparoscopic single-port Burch colposuspension with an extraperitoneal approach and standard instruments for stress urinary incontinence: Early results from a series of 15 patients

Abstract

Objective:We aimed to investigate the use of single-port laparoscopy in a series of patients undergoing Burch colposuspension with an extraperitoneal approach as an alternative treatment for scarless surgery in stress urinary incontinence. Material and methods: From September 2010 to May 2011 we performed single-port extraperitoneal laparoscopic Burch colposuspension for stress incontinence in 15 patients. Fifteen women who were diagnosed with urodynamic stress incontinence were included in the study. Demographic and clinical data, intraoperative findings, and postoperative course were recorded. Results:The mean age was 45,80 ± 9,91 years (range: 38–70 years). The mean body mass index was 25,67 ± 4.06 kg/m2 (range: 22.23–35.38 kg/m²). The mean operation time and mean blood loss were 40.80 ± 5.94 minutes (range: 30–50 minutes) and 30.67 ± 11.00 cc (range: 10–50 cc), respectively. The single-port laparoscopic operations were technically completed successfully without placement of additional trocars and there were no complications. The cure and improvement rates following laparoscopic Burch colposuspension via single port were 73.3 % and 20 % respectively. Conclusion: Single-port laparoscopic Burch can be an alternative treatment for scarless surgery in stress incontinence. Single-incision laparoscopic Burch colposuspension can offer suitable, effective and safe treatment in women with stress incontinence.     

Cholecystectomy in high-risk patients: A comparison between open cholecystectomy and laparoscopic cholecystectomy

Summary

Laparoscopic cholecystectomy offers many advantages, yet patients with a history of cardiopulmonary problems are at an increased risk because of the hemodynamic and respiratory effects of pneumoperitoneum. Between June 1990 and November 1997, a laparoscopic cholecystectomy was performed on 31 high risk patients [American Society of Anesthesiology (ASA) IV] and 40 conventional cholecystectomies were performed on patients with the same operative risk (ASA IV). In total, 15.5% (n = 11) of these patients experienced intraoperative cardiopulmonary complications, occurring with approximately the same frequency in both groups. General post-operative complications were seen in 28.2% (n=20) of all cases, the conventionally operated patients were more often affected [37.5% (n=15) versus 16.1 % (n=5) (p<0.05)]. The hospital stay was longer for patients with an open cholecystectomy, at 13.9±8.7 days, in comparison to those with a laparoscopic cholecystectomy, at 7.8±5 days (p<0.001). In high risk patients there is an increased rate of perioperative complications; this study shows the intraoperative risk is the same, but the post-operative complication rate is lower for laparoscopic cholecystectomy.     

Video-assisted Nissen's fundoplication using a hand-access port

Summary

Minilaparotomy has been shown to maintain many of the benefits of minimally invasive therapy (MIT) in cholecystectomy and other procedures. A major loss in MIT, however, is the manual ability to palpate, dissect and suture which can be restored with hand-assist laparoscopic surgery (HALS). This report describes hand-assist fundoplication and other procedures are possible. It may also address many of the concerns in laparoscopic cancer surgery by allowing manual tumour assessment and easy specimen extraction.     

Transumblical single port laparoscopic cholecystectomy with a simple technique: Initial experience of 33 cases

Abstract

Transumbilical single port laparoscopic cholecystectomy is a novel laparoscopic surgical technique for cholecystectomy utilizing only a transumbilical incision, which eliminates any visible abdominal scars and improves cosmesis. As the true single port laparoscopic technique, we presented an easy and feasible method for transumbilical laparoscopic cholecystectomy. A total of 33 patients were presented for transumbilical single port laparoscopic cholecystectomy. A 1.5 cm incision was made at the umbilicus. We used one sterile glove and designed a simple method for this procedure. All the operations were completed successfully. The operative time of the first case was 189 min, the average time of the following two cases was 90 min, and the mean of the latest ten cases was 50 min. Operative blood loss was <30 ml for all patients. No drainage tube was placed and no postoperative complications such as bleeding or biliary leakage occurred after three to six months of follow-up. All the patients were discharged 24h after the operation. There were no visible scars on the abdominal wall at the second weekend. Transumbilical single port laparoscopic cholecystectomy by our designed methods was technically simple, feasible and safe. Furthermore, development of newer instruments, accumulation of experience and enhancement of operative technique may facilitate this new operative approach.     

Factors Influencing Early Postoperative Recovery After Laparoscopic Cholecystectomy

PurposeTo study the factors influencing early postoperative recovery after laparoscopic cholecystectomy.DesignA nonexperimental retrospective study.MethodsThe study was performed using records from all patients who had undergone laparoscopic cholecystectomy at a hospital in Northern Sweden in 2017 (219 patients in total). Nonparametric data were analyzed using Spearman's rho, Mann-Whitney U test, and logistic regression. Parametric data were analyzed using Pearson's correlation, an independent t test, and analysis of variance.FindingsThe length of stay in the postanesthesia care unit was not predicted by factors such as age, gender, body mass index, American Society of Anesthesiologists classification, postoperative nausea and vomiting, premedication, or type of surgery. Younger age and high classification level were significant predictors of pain during rest and pain when in motion. No significant predictors of postoperative nausea were found. The majority of study participants experienced little or no pain or nausea. The documentation of pain, nausea, and premedication was inadequate in many cases.ConclusionsNurses in postanesthesia care units should work to preventively identify and address patients’ medical and emotional needs so that optimal conditions for postoperative recovery can be provided.     

Laparoendoscopic single-site compared with conventional laparoscopic surgery for gynaecological acute abdomen in pregnant women

ObjectiveTo estimate the safety and feasibility of laparoendoscopic single-site surgery (LESS) in pregnant patients with acute abdomen.MethodsBaseline characteristics, surgical results, and obstetric and neonatal outcomes were retrospectively compared between single and multiport procedures in patients who underwent laparoscopic surgery during pregnancy between 2017 and 2021.ResultsFifty-four pregnant patients were included: 26 who underwent LESS (salpingectomy, 11 cases/cystectomy, 15 cases) and 28 who underwent conventional laparoscopic surgeries (salpingectomy, 12 cases/cystectomy, 16 cases) during pregnancy. One patient in the single-port group required additional ports. No patients converted to laparotomy. In patients undergoing salpingectomy, the single-port group showed lower 8- and 24-h postoperative pain scores, shorter hospital stays, and lower Self-rating Anxiety Scale scores prior to discharge versus conventional laparoscopy. One patient experienced postoperative vaginal bleeding and a missed abortion during follow-up. In patients receiving cystectomy, 8- and 24-h pain scores, postoperative hospital stay, and anxiety scores were lower in the single-port versus multiport group. Other outcomes were comparable between the groups.ConclusionThe feasibility and efficacy of laparoscopic surgery during pregnancy is similar between single- or multiport routes, however, the single-port route may be associated with less postoperative pain, shorter hospital stay, and lower anxiety.     

Modified transumbilical laparoscopic cholecystectomy: Double-incision,triple-port access

Abstract

Transumbilical laparoscopic cholecystectomy has been increasingly performed in recent years, using special access devices and instruments through one incision in the umbilicus. We have modified the technique by using a two-incision triple-port access approach and conventional laparoscopic instruments. A total of 52 patients accepted the modified transumbilical laparoscopic cholecystectomy, and all the procedures were completed successfully. The operative time was 150 minutes for the first case, 100 minutes and 90 minutes for the second and third cases, and an average of 50 ± 14 minutes for the following 49 cases. All patients were discharged on post-operative day 3. No complications were observed during a follow-up of at least three months. The umbilical incisions were nearly invisible, and all patients were satisfied with the abdominal cosmetic results.In conclusion, transumbilical laparoscopic cholecystectomy using a double-incision triple-port access approach and conventional laparoscopic instruments as described in this study is safe and feasible, and it reduces the conflict of instruments without using special devices.     

Pain,well-being,body image and cosmesis: A comparison of single-port and four-port laparoscopic cholecystectomy

Abstract

Background: This study aims to compare post-operative pain, well-being, body image and cosmesis in SILS cholecystectomy and four-port laparoscopic cholecystectomy (FPLC). Material and methods: Forty-two consecutive patients (15 SILS, 27 FPLC) undergoing elective cholecystectomy were included in the study. Peri-operative pain, well-being, body image and cosmesis were evaluated using validated assessment tools. Results: Significantly lower pain scores were reported one week post-operatively in the SILS group (5.6 vs 8.3; p = 0.035). No significant difference was found in analgesic requirements, physical or mental well-being at any time interval. Significantly higher (favourable) body image questionnaire scores were reported in the SILS group at one week (5.4 v 4.5; p < 0.01), two weeks (5.6 vs 4.8; p < 0.01) and one month (5.7 vs 5.0; p < 0.01) post-operatively. Conclusion: SILS patients have significantly reduced one-week pain scores and there was no significant difference in well-being between the two groups. Patients who underwent SILS had improved body image and cosmesis. If both techniques are found to be equivalent concerning safety, cost, learning curve and availability, SILS may play a key role in the new era of patient choice.     

三孔与单孔腹腔镜切除术式治疗急性阑尾炎合并胆囊结石的疗效对比

目的探讨三孔与单孔腹腔镜胆囊阑尾联合切除术式治疗急性阑尾炎合并胆囊结石临床疗效差异。方法研究对象选取该院及临汾市人民医院2012年8月-2015年8月收治急性阑尾炎合并胆囊结石患者共110例,以随机抽签法分为对照组(55例)和观察组(55例),分别采用三孔和单孔腹腔镜下胆囊阑尾联合切除术式治疗;比较两组患者手术相关临床指标、Brown手术满意度评分、手术前后抑郁焦虑视觉模拟评分法(VAS)及术后并发症发生率等。结果观察组患者切口长度明显短于对照组(P0.05);观察组患者手术操作用时则明显长于对照组(P0.05);观察组患者术后抑郁焦虑VAS评分均明显低于对照组、治疗前(P0.05);同时两组患者术后并发症发生率比较差异无统计学意义(P0.05)。结论相较于三孔腹腔镜术式,单孔腹腔镜胆囊阑尾微创联合切除治疗急性阑尾炎合并胆囊结石可有效缩短切口长度,改善手术美观性和术后负面情绪,且未导致术后并发症风险上升。     

Laparoscopic partial cholecystectomy from the fundus downward using a combination of pneumoperitoneum and the abdominal wall-lift method in complicated cholelithiasis

Summary

To safely and reliably perform laparoscopic cholecystectomy in complicated cholelithiasis, we designed a method of initially resecting the anterior wall of the fundus and body from the fundus downward, fully dissecting the neck of the gall bladder from the liver bed, and finally dissecting the cystic duct and artery. This method differs from routine laparoscopic cholecystectomy in that the cystic duct is dissected first, and cholecystectomy is performed from the neck upward. In addition, to preventing inadequacy of the operative field, because of repeated suction, both the pneumoperitoneum and an abdominal wall-lift method are utilized. Our operation procedure makes it possible to perform complicated cholelithiasis safely during laparoscopic surgery.     

‘Persistent gall-bladder’ after laparoscopic cholecystectomy

Summary

An ultrasound scan is recommended for the investigation of post-cholecystectomy symptoms. In two patients ultrasound scan reported a persistent gall-bladder following laparoscopic cholecystectomy. ERCP identified a choledochal cyst in one and no abnormality in the other. Failure to detect choledochal cysts is equally likely following laparoscopic and open surgery, and ERCP should be considered the investigation of choice for recurrent symptoms following cholecystectomy.     

A newly designed portable ergonomic laparoscopic skills Ergo-Lap simulator

Abstract

Objective: The cost of laparoscopic simulators restricts the wide use of simulation for training of basic psychomotor skills. This paper describes the scientifically-based development of an inexpensive and portable Ergonomic Laparoscopic Skills (Ergo-Lap) simulator with multiple tasks. Material and methods: The design of this Ergo-Lap simulator and related training task panel was based on scientific research regarding the representative skills and the ergonomic guidelines for laparoscopic surgery. A user-centred design approach was followed. Fifty-three surgical participants with variable laparoscopic experience (14 medical students, 27 surgeons in training, and 12 experienced laparoscopic surgeons) performed several tasks on the prototype and gave their feedback by filling out a 5-point scale Likert scale questionnaire. Results: The results of the usability evaluation showed that the participants regarded the Ergo-Lap simulator as a useful device to practice the basic and advanced skills effectively. Forty-three of the 53 participants indicated they would like to purchase this simulator since it is easy to use and challenges their laparoscopic skills. Conclusions: For laparoscopic skills training, this inexpensive Ergo-Lap simulator with diverse task choices offers a simple training opportunity for trainees who want to practice laparoscopic skills at home or at the office.     

腹腔镜下多脏器联合手术的临床体会

目的应用腹腔镜技术行腹腔内多脏器联合手术。方法分析10余年来由肝胆外科、妇产科、泌尿外科等联合完成腹腔镜下多脏器联合手术，其中行LC＋肠粘连松解术23例，LC＋阑尾切除术10例，LC＋肝囊肿开窗引流术12例，LC＋肝活检术13例，LC＋子宫附件手术6例，LC＋右肾囊肿去顶术2例，肝囊肿开窗引流＋肠粘连松解术3例。结果69例手术均顺利完成，无不可控制的出血，无中转开腹，无术后并发症发生。平均手术时间为100min，单病灶LC为45min；术后平均住院天数为5．2d，LC3．8d。所有患者均在术后36h内下床活动，术后第2天恢复饮食。结论腹腔镜下多脏器联合手术不增加患者痛苦，一次手术同时完成两个病灶，缩短了麻醉、手术和住院时间，从而减轻了患者的经济负担，兼有微创美容的效果。     

Remote access laparoscopic (REAL) surgery: a novel approach for single-port surgery without a visible scar

INTRODUCTION: Single-port laparoscopic surgery usually uses the transumbilical approach. However, the transumbilical incision may be associated with a high frequency of wound-related complications, including trocar site hernia and infection. Therefore, we developed remote access laparoscopic (REAL) surgery, a new access technique for single-port surgery within the pubic hairline. This study reports on a technique developed at our institution and describes our preliminary results. MATERIALS AND SURGICAL TECHNIQUE: Ten patients with cholecystolithiasis underwent REAL surgery. A single 2.5-cm transverse incision was made medially within the pubic hairline area, and a SILS Port was inserted. A 5-mm flexible endoscope and an articulating grasper or a long laparoscopic grasper were used. Dissection of the gallbladder was achieved with laparoscopic ultrasonic shears just as in the conventional laparoscopic cholecystectomy. All procedures were successfully performed without conversion to conventional laparoscopic technique. There were no postoperative complications, and outpatient evaluation showed a clean scar within the pubic hair area in all patients. DISCUSSION: Our early experience shows that REAL surgery is feasible and safe. This novel access technique can preserve the native umbilicus and provides an invisible scar that is concealed within the pubic hair.     

Radioscope

Summary

This paper examines the percutaneous use of the Veress needle as a safe and convenient adjunct to peroperative cholangiography during laparoscopic cholecystectomy. Peroperative cholangiograms were performed in 31 patients undergoing laparoscopic cholecystectomy. The cystic duct was cannulated with a 4 F ureteric catheter, threaded through a Veress needle introduced percutaneously. Peroperative cholangiography was performed using this method with no complications. The cystic duct was easily cannulated. Air bubbles were not observed in any film. The Veress needle is a useful tool for performing peroperative cholangiograms during laparoscopic cholecystectomy. It provides a simple, readily-available aid to cannulating the cystic duct.     

Venous haemodynamics during laparoscopic surgery: A cause for concern

Summary. During laparoscopic surgery, intra-abdominal pressure is increased by the pneumoperitoneum. This may impede venous return from the legs and so predispose to venous thrombosis. The aim of this study was to investigate femoral venous velocity and femoral venous diameter during pneumoperitoneum, and to assess the reversibility of this effect by use of an intermittent calf compression device. Fourteen patients undergoing laparoscopic cholecystectomy were studied. A duplex scanner was used to assess femoral venous velocity (both with and without use of a calf compression device), and diameter, before, during and after establishment of a pneumoperitoneum. There was a significant reduction in the femoral venous velocity (from 0.15-0.105 m/s, P<0.01) and a significant increase in femoral venous diameter (from 6.55-9.3 mm, P<0.01) during pneumoperitoneum. The use of a calf compression device reversed this effect (augmented velocity of 0.395 m/s during pneumoperitoneum, P<0.01). These results indicate that laparoscopic surgery affects venous haemodynamics and this effect can be reversed with calf compression devices.