Assistance robotisée en chirurgie gynécologique : état des lieux

Monsarrat, N.; Collinet, Pierre; Narducci, Fabrice; Leblanc, Éric; Vinatier, D.

doi:10.1016/j.gyobfe.2009.03.023

Cited by 29 publications

(2 citation statements)

References 107 publications

(113 reference statements)

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“…La littérature ne montre pas de bénéfice prouvé à la chirurgie robotique par rapport à la laparoscopie [4], [12], [13] pour l'hystérectomie « tout venant ». Par contre il existe un bénéfice à la chirurgie robotique dans les situations de chirurgie complexe soit par le terrain (chez les patientes obèses et super obèses [2], [9], [10], [14]), soit par l'indication (chirurgie oncologique [1], [4], [5], [15], [16] ou de l'endométriose profonde [6], [7]) en termes de diminution du taux de laparoconversion ou du taux de complications post-opératoires.…”

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Implantation d’un programme de chirurgie robotique gynécologique : leçons à retenir des 100 premières procédures

Gest

Timoh

Chmielewski

et al. 2019

Gynécologie Obstétrique Fertilité & Sénologie

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Implantation d’un programme de chirurgie robotique gynécologique : leçons à retenir des 100 premières procédures

Gest

Timoh

Chmielewski

et al. 2019

Gynécologie Obstétrique Fertilité & Sénologie

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“…The force sensing for MISR systems is an active research subject, as improved force sensing will improve surgical operation skills and the quality of the procedure (Ortmaier et al, 2007). Specifically, force sensing improves the performance and efficiency of MISR systems by reducing the contact force peak and decreasing the task execution time (Okamura et al, 2011).…”

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confidence: 99%

Toward force detection of a cable-driven micromanipulator for a surgical robot based on disturbance observer

Wang

Yang

2017

Mech. Sci.

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Abstract. Force sensing plays an important role in minimally invasive surgery (MIS). Force sensing makes it possible for the surgeon to feel the tissue properties and apply an appropriate level force and avoid tissue damage. The micromanipulators are compact and to allow appropriate disinfection, it is inappropriate to integrate sensors at the end of the micromanipulator. In this study, a new asymmetric cable-driven type of micromanipulator for a surgical robot was designed, and a joint angle estimator (JAE) was designed based on the dynamical model of the single cable-driven joint. Closed-loop control of the joint angle was carried out by regarding the JAE output as the feedback signal. On this basis, an external force estimator was designed using a disturbance observer (DOB). The experimental results show an average accuracy of the joint angle estimator of about −0.150°, with excellent control precision, the largest absolute error of about 0.95°, and an average error of 0.175°. The accuracy of the force estimator was at a high level during static loading. The estimated accuracy was 94 % at external force is greater than 1 N, and the estimated accuracy was 82 % for an external force of 0.3 N. These results predict that force sensing of a cable-driven micromanipulator in this paper can used to realize the micromanipulator's force feedback of a minimally invasive surgical robot.

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Training for next generation surgeons: a pilot study of robot-assisted hysterectomy managed by resident using dual console

Klapczynski

Sallée

Tardieu

et al. 2020

Arch Gynecol Obstet

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Assistance robotisée en chirurgie gynécologique : état des lieux

Cited by 29 publications

References 107 publications

Implantation d’un programme de chirurgie robotique gynécologique : leçons à retenir des 100 premières procédures

Implantation d’un programme de chirurgie robotique gynécologique : leçons à retenir des 100 premières procédures

Toward force detection of a cable-driven micromanipulator for a surgical robot based on disturbance observer

Training for next generation surgeons: a pilot study of robot-assisted hysterectomy managed by resident using dual console

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