Biaxial sensing suture breakage warning system for robotic surgery.

The number of procedures performed with robotic surgery may exceed one million globally in 2018. The continual lack of haptic feedback, however, forces surgeons to rely on visual cues in order to avoid breaking sutures due to excessive applied force. To mitigate this problem, the authors developed and validated a novel grasper-integrated system with biaxial shear sensing and haptic feedback to warn the operator prior to anticipated suture breakage. Furthermore, the design enables facile suture manipulation without a degradation in efficacy, as determined via measured tightness of resulting suture knots. Biaxial shear sensors were integrated with a da Vinci robotic surgical system. Novice subjects (n = 17) were instructed to tighten 10 knots, five times with the Haptic Feedback System (HFS) enabled, five times with the system disabled. Seven suture failures occurred in trials with HFS enabled while seventeen occurred in trials without feedback. The biaxial shear sensing system reduced the incidence of suture failure by 59% (p = 0.0371). It also resulted in 25% lower average applied force in comparison to trials without feedback (p = 0.00034), which is relevant because average force was observed to play a role in suture breakage (p = 0.03925). An observed 55% decrease in standard deviation of knot quality when using the HFS also indicates an improvement in consistency when using the feedback system. These results suggest this system may improve outcomes related to knot tying tasks in robotic surgery and reduce instances of suture failure while not degrading the quality of knots produced.

Cardiac dual-source CT for the preoperative assessment of patients undergoing bariatric surgery.

AIM: To assess the diagnostic value of coronary dual-source computed tomography (DSCT) as a comprehensive, non-invasive tool in the preoperative cardiac evaluation of patients undergoing bariatric surgery. MATERIALS AND METHODS: Thirty consecutive obese [average body mass index (BMI): 45 ± 7.6, range: 35-59] patients (24 women; six men; median age: 52 ± 15 years) were enrolled in this institutional review board (IRB)-approved, Health Insurance Portability and Accountability Act of 1996 (HIPAA)-compliant prospective study. Calcium scoring (CaS) and electrocardiography (ECG)-gated images of the coronary arteries were obtained with a large body habitus protocol (120 kV; 430 mAs; 100 ml iodinated contrast medium at 7 ml/s injection rate) on a DSCT machine. Qualitative (four-point: 1 = excellent to 4 = not delineable) coronary segmental analysis, signal-to-noise ratio (SNR), and contrast-to-noise ratio (CNR) measurements were performed. The presence and degree of vascular disease (four-grade scale: mild to severe) was correlated with CaS and cardiovascular (CV) risk stratification blood tests. In patients with severe stenosis (>70%), findings were compared with cardiac nuclear medicine imaging (single photon-emission computed tomography; SPECT) imaging. RESULTS: The average HR, enhancement, and quality score were 64 ± 7 beats/min, 288 ± 66 HU and 1.8 ± .5, respectively. Ninety-three percent (417/450) of the coronary segments were rated diagnostic. The SNRs and CNRs were 17 ± 9 and 12 ± 7 for the right coronary artery; 17 ± 8 and 12 ± 7 for the left main coronary artery; 16 ± 9 and 11 ± 7 for the left anterior descending coronary artery; and 15 ± 7 and 10 ± 6 for the left circumflex coronary artery. Ten of the 30 patients (33%) demonstrated coronary artery disease (CAD) of which two (6%) showed three-vessel disease. Four (13%) patients showed severe disease: in three of which the presence of significant stenosis was confirmed by SPECT and by catheter angiography in the fourth patient. Neither the CaS, nor the CV risk stratification tests showed significant correlation with presence or degree of CAD (p > 0.05). CONCLUSIONS: Coronary DSCT is a robust alternative imaging tool in the preoperative assessment of patients undergoing bariatric surgery.

A Multielement Tactile Feedback System for Robot-Assisted Minimally Invasive Surgery.

A multi-element tactile feedback (MTF) system has been developed to translate the force distribution, in magnitude and position, from 3times2 sensor arrays on surgical robotic end-effectors to the fingers via 3times2 balloon tactile displays. High detection accuracies from perceptual tests (> 96%) suggest that MTF may be an effective means to improve robotic control.

Tactile Feedback Induces Reduced Grasping Force in Robot-Assisted Surgery.

Robot-assisted minimally invasive surgery has gained widespread use over the past decade, but the technique is currently operated in the absence of haptic feedback during tissue manipulation. We have developed a complete tactile feedback system, consisting of a piezoresistive force sensor, control system, and pneumatic balloon tactile display, and mounted directly onto a da Vinci surgical robotic system. To evaluate the effect of tactile feedback on robotic manipulation, a group of novices (n = 16) and experts ( n = 4) were asked to perform three blocks of peg transfer tasks with the tactile feedback system in place. Force generated at the end-effectors was measured in all three blocks, but tactile feedback was active only during the middle block. All subjects used higher force when the feedback system was inactive. When active, subjects immediately used substantially less force and still maintained appropriate grip during the task. After the system was again turned off, grip force increased significantly to prefeedback levels. These results demonstrate that robotic manipulations without tactile feedback are done with more force than needed to grasp objects. Therefore, the addition of tactile feedback allows the surgeon to grasp with less force, and may improve control of the robotic system and handling of tissues and other objects.