The international journal of medical robotics + computer assisted surgery : MRCAS · 2016
Kinematic and experimental investigation of manual resection tools for transurethral bladder tumor resection.
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Sarli Nima, Marien Tracy, Mitchell Christopher R, Del Giudice Giuseppe, Dietrich Mary S, Herrell S Duke, Simaan Nabil
Аннотация
BACKGROUND: Transurethral Resection of Bladder Tumors (TURBT) is a challenging procedure partly due to resectoscope limitations. To date, manual resection performance has not been fully characterized. This work characterizes manual resection performance in the bladder while analyzing the effect of resection location on accuracy.
METHODS: Kinematic simulations are used to assess kinematic measures of resection dexterity. An experimental protocol for manual resection accuracy assessment is developed. Cross correlations between the theoretical performance measures and the observed experimental accuracy are investigated.
RESULTS: Tangential accuracy correlates relatively strongly with normal singular value and moderately with tangential kinematic conditioning index and tangential minimum singular value. Simulations also clarified difficulties in resecting close to the bladder neck.
CONCLUSIONS: Measures to evaluate accuracy and dexterity of TURBT from a kinematic viewpoint are presented to provide a currently missing quantified dexterity baseline in manual TURBT. Limitations in various bladder regions are illustrated. Copyright © 2016 John Wiley & Sons, Ltd.
METHODS: Kinematic simulations are used to assess kinematic measures of resection dexterity. An experimental protocol for manual resection accuracy assessment is developed. Cross correlations between the theoretical performance measures and the observed experimental accuracy are investigated.
RESULTS: Tangential accuracy correlates relatively strongly with normal singular value and moderately with tangential kinematic conditioning index and tangential minimum singular value. Simulations also clarified difficulties in resecting close to the bladder neck.
CONCLUSIONS: Measures to evaluate accuracy and dexterity of TURBT from a kinematic viewpoint are presented to provide a currently missing quantified dexterity baseline in manual TURBT. Limitations in various bladder regions are illustrated. Copyright © 2016 John Wiley & Sons, Ltd.
Предметные рубрики MeSH
Biomechanical PhenomenaComputer SimulationComputer-Aided DesignCystoscopyEquipment DesignEquipment Failure AnalysisHand-Assisted LaparoscopyHumansMargins of ExcisionModels, TheoreticalNeoplasm StagingReproducibility of ResultsRobotic Surgical ProceduresSensitivity and SpecificityUrinary BladderUrinary Bladder Neoplasms