62例机器人心脏手术的麻醉管理

目的 对达芬奇(da Vinci)手术系统完成的机器人心脏手术的麻醉方法进行总结.方法 实施机器人心脏手术62例,其中房间隔修补32例、冠状动脉搭桥22例、二尖瓣成形5例和左房黏液瘤摘除3例.全麻诱导后插入双腔支气管导管,术中单肺通气.监测经食管超声心动图(TEE)、血气和血流动力学变化.结果 多数病人在CPB前能够耐受单肺通气.但CPB前有1例肺功能差的病人和CPB后有17例(27%)病人单肺通气时SpO2降至90%而使用持续气道正压装置(CPAP)治疗.CO2气胸引起的血压下降通过输入羟乙基淀粉130/0.4氯化钠注射液和升压药予以纠正.升主动脉阻断时间(56.2±19.6)min,CPB时间(103.7±43.1)min,平均ICU停留时间1.3d,术后平均住院时间6.5 d.无住院死亡发生.结论 机器人心脏手术的麻醉所需要的复杂设备和监护,以及CO2气胸并单肺通气是对麻醉医师的新挑战,麻醉医师与术者和灌注师之间的团队配合对保证手术成功非常重要.     

New three‐dimensional head‐mounted display system,TMDU‐S‐3D system,for minimally invasive surgery application: Procedures for gasless single‐port radical nephrectomy

We present an application of a new three‐dimensional head‐mounted display system that combines a high‐definition three‐dimensional organic electroluminescent head‐mounted display with a high‐definition three‐dimensional endoscope to minimally invasive surgery, using gasless single‐port radical nephrectomy procedures as a model. This system presents the surgeon with a higher quality of magnified three‐dimensional imagery in front of the eyes regardless of head position, and simultaneously allows direct vision by moving the angle of sight downward. It is also significantly less expensive than the current robotic surgery system. While carrying out gasless single‐port radical nephrectomy, the system provided the surgeon with excellent three‐dimensional imagery of the operative field, direct vision of the outside and inside of the patient, and depth perception and tactile feedback through the devices. All four nephrectomies were safely completed within the operative time, blood loss was within usual limits and there were no complications. The display was light enough to comfortably be worn for a long operative time. Our experiences show that the three‐dimensional head‐mounted display system might facilitate maneuverability and safety in minimally invasive procedures, without prohibitive cost, and thus might mitigate the drawbacks of other three‐dimensional vision systems. Because of the potential benefits that this system offers, it deserves further refinements of its role in various minimally invasive surgeries.     

400例机器人微创心脏手术入路

目的 分析机器人微创心脏手术手术入路及技术特点,总结选择手术入路的依据和不同手术入路的适用术式.方法 2007年1月至2011年3月,解放军总医院心血管外科使用"达芬奇S"全机器人手术系统,完成微创心脏手术400例.术中根据病种、手术计划及患者体形,于单侧胸壁开直径1cm的小孔 3～4个,并同机器人手臂系统连接.术者于控制台前遥拎器械完成手术.机械臂的位置、角度依据手术类型和术中要求作相应调整.超声引导下于右侧股动静脉及右侧颈内静脉插管建立体外循环.结果 右侧胸壁入路221例,用于房、室间隔缺损修补、二尖瓣手术、心房黏液瘤切除等体外循环下心内直视手术;左侧胸壁打孔178例,用于单侧或双侧内乳动脉游离、心脏不停跳下冠状动脉旁路移植术、心包疾病和纵隔肿瘤切除手术.1例患者因胸膜重度粘连改为正中开胸,其余患者均成功接受机器人微创心脏手术.术中无严重的机械臂碰撞、机械功能障碍而影响手术进程或导致术式转化.术后疼痛程度减轻,切口美观.结论 机器人微创心脏手术可安全的应用于常见心脏疾病的外科治疗,采用右侧或左侧胸壁打孔,手术入路应根据手术要求和患者的体形选择并作精确调整.

Abstract：

Objective Subject To summary the port placement and system set-up for robotic minimally invasive heart surgery using da Vinci S system in China. Methods 400 patients accepted selective robotic minimally invasive heart surgery from January 2007 to January 2011. We conducted a retrospective review of port placement and system set-up for all the surgeries. During the surgery 3-4 ports were made in the lateral thoracic wall and the position of ports were modulated according to the types of diseases, the procedure and patients' habitus. The surgeon completed the procedure before the surgeon console.The arms of da Vinci S system was adjusted according to surgery procedure. Results The right lateral ports were suitable for the intracardiac operation with extracorporeal circulation. And the left lateral ports can be used in the inner thoracic artery harvesting and coronary bypass graft on beating heart. Except for 1 case changed to sternotomy because of sever pleural adhesions,no arms collision and mechanical malfunction during the surgery that leaded to surgical conversion. Conclusion Robotic minimally invasive heart surgery can be safely applied to partial cardiac surgeries. The port position and system set-up should be adjusted according to the habitus of patients and surgical requirement.     

First human surgery with a novel single-port robotic system: cholecystectomy using the da Vinci Single-Site platform

Background  

Interest in single-incision laparoscopic techniques continues to grow. A learning curve certainly exists, and although the techniques have improved, technical considerations including external clashes, poor visualization of critical structures, and surgeon fatigue remain. Applications of robotics to these newer techniques are evolving. The da Vinci Single-Site robotic surgery platform is a new semi-rigid robotic operative system designed to work with the Intuitive Surgical da Vinci Si operative system. The authors present the first human experience with this new device used to perform single-incision laparoscopic cholecystectomy. This study aimed to present the first human experience performing cholecystectomy with a novel robotic single-port platform.     

A performance study comparing manual and robotically assisted laparoscopic surgery using the da Vinci system

BACKGROUND: The objective of this study was to compare the efficacy of the da Vinci robotic system using both the three-dimensional view (3D) and two-dimensional (2D) view options with traditional manually assisted laparoscopic techniques in performing standardized exercises. METHODS: To evaluate surgical efficiency in the use of robotically assisted and manual laparoscopic surgery for standardized exercises six, last-year medical students without any surgical experience were selected. The exercises consisted of placing rings over receptacles, grasping a free hanging suture and cutting three pieces of it, running a suture, and performing a surgical knot. Each student performed the exercise twice. The median times needed for completion of the exercises and the median number of errors in performing the tasks were noted. RESULTS: The unexperienced students performed the standardized tasks significantly quicker and with fewer errors when assisted by the da Vinci robot in the 3D optical display mode, as compared with traditional manually assisted laparoscopic surgery. Even when the 2D mode was selected, a significant advantage favoring the da Vinci robotic system was seen both in time and efficacy for most exercises. When the 3D and 2D modes were compared, time differences in favor of the 3D mode remained, but a significant difference in efficacy favoring the 3D mode was seen only in one exercise (exercise 2: suture cutting). CONCLUSIONS: The da Vinci robotic system permits standardized minimal invasive surgical exercises to be performed quicker and more efficiently than traditional minimally invasive techniques. Therefore, with the aid of this robotic system, difficult laparoscopic interventions may become easier to perform, and indications for minimal invasive surgery may be expanded.     

达芬奇机器人直肠癌根治术与要点

达芬奇机器人已广泛应用于直肠癌根治术,在腹会阴联合切除术,低位前切除术,拖出切除吻合术等术式中均有应用。相较传统腹腔镜,机器人手术更为精确、稳定、灵活,不仅保证手术安全和肿瘤根治,更有利于保护盆腔自主神经功能,改善患者生活质量。机器人用于直肠癌手术同样需要注意患者选择,Trocar布置,机器人安装。机器人也有其特定的手术技巧。     

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.     

Near infrared fluorescence imaging with ICG in TECAB surgery using the da Vinci Si surgical system in a canine model

Abstract Background: This study assessed the clinical utility of near‐infrared fluorescence imaging using indocyanine green in off‐pump beating heart total endoscopic and robotic‐assisted coronary artery bypass using the fluorescence imaging system for the da Vinci Si on a canine model for vessel identification, graft patency, and correlation of graft patency with ultrasound transit‐time flow measurement probe. Methods: Beating heart total endoscopic robotic‐assisted coronary artery bypass was performed on eight canine using indocyanine green and fluorescence imaging to identify the internal mammary artery prior to harvesting, the coronary vessel anatomy, and the patency of the beating heart total endoscopic coronary artery bypass anastomosis. Three to four injections of indocyanine green with a dose of 1.25 mg to 2.5 mg were administered per animal. Transit‐time flow was measured in each of the dogs. Results: High definition 3D images were obtained. The camera working distance, indocyanine green dosage, internal mammary artery visualization, coronary artery visualization, patency by indocyanine green injection, and patency by transit‐time flow were recorded. Six cases were completed successfully, and all demonstrated correlation between indocyanine green measurements of flow, and the transit‐time flow measurement. Conclusion: Use of near‐infrared fluorescence with indocyanine green was feasible in our study, and would be of great benefit during total endoscopic robotic‐assisted coronary artery bypass using the fluorescence imaging–capable da Vinci Si system to help identify the internal mammary artery, delineate the coronary anatomy, and also determine patency of the anastomoses. This procedure correlated well with transit‐time flow measurement.     

Novel imaging using a touchless display for computer-assisted hepato-biliary surgery

Purpose

We developed a touchless display system that allows the user to control the medical imaging software via hand gestures in the air. We conducted this study to verify the effectiveness of this novel touchless display system as a tool for assisting with surgical imaging.

Methods

The patient’s computed tomography (CT) data are generally observed on a display during surgery. The “Dr. aeroTAP” touchless display system was developed to generate virtual mouse events based on the position of one hand. We conducted comparative analyses of using the Dr. aeroTAP vs. using a regular mouse (control group) by measuring the time to select a 3D image from 24 thumbnail images on a screen (study 1) and to then see the CT image on the DICOM viewer (study 2).

Results

We used the Dr. aeroTAP in 31 hepato-biliary operative procedures performed at our hospital. In study 1, which measured the time required to select one of 24 thumbnails, there were significant differences between the mouse and Dr. aeroTAP groups for all five surgeons who participated (P < 0.001). In study 2, there were also significant differences in the time required for CT DICOM images to be displayed (P < 0.001).

Conclusions

The touchless interface proved efficient for allowing the observation of surgical images while maintaining a sterile field during surgery.

     

达芬奇机器人胃癌根治术41例

目的探讨达芬奇机器人胃癌根治术的安全性及可行性。方法回顾性分析2010年3月至2011年12月间第三军医大学西南医院普通外科中心收治并实施达芬奇机器人胃癌根治术的41例患者的临床资料．其中根治性全胃切除术12例．远端胃大部切除术29例。结果41例患者中1例中转开腹手术．1例中转传统腹腔镜手术;其余患者均顺利完成达芬奇机器人胃癌D：根治术。39例患者中28例远端胃大部分切除术手术时间（225±39）min,术中出血量（150±127）ml;11例全胃切除术手术时间（285±61）min,术中出血量（180±157）ml;全组清扫淋巴结（34．2±18．5）枚。术后胃肠功能恢复时间（3．1±1．2）d,下床活动时间（2．7±1．5）d,进流食时间（3．7±1．5）d;2例出现并发症,其中1例切口感染,另1例肺部感染。术后随访1～21（中位随访11）个月,4例患者因腹腔种植转移死亡．1例带瘤存活．其余36例患者均无瘤存活。结论达芬奇机器人胃癌根治手术安全可行,具有手术视野放大清晰、解剖分离精细灵巧、创伤小、恢复快等优点。