scholarly journals Single-Site Colectomy With Miniature In Vivo Robotic Platform

2013 ◽  
Vol 60 (4) ◽  
pp. 926-929 ◽  
Author(s):  
T. D. Wortman ◽  
J. M. Mondry ◽  
S. M. Farritor ◽  
D. Oleynikov
Keyword(s):  
Author(s):  
T. D. Wortman ◽  
R. L. McCormick ◽  
E. J. Markvicka ◽  
T. P. Frederick ◽  
S. M. Farritor ◽  
...  

This paper presents work to develop a miniature in vivo robot for Laparo-Endoscopic Single-Site (LESS) colectomy. Colon resections are generally not done laparoscopically and would benefit from a robotic platform that reduces the limitations that are currently encountered. This paper looks at the workspace, forces, and speeds of a recently developed miniature in vivo surgical robot platform and analyzes the ability to perform a colon resection based on these criteria. The robotic platform used in this study consists of a two armed robotic prototype and a remote surgeon interface. For the surgical procedure, each arm of the robot is inserted individually into a single five centimeter incision and then assembled within the abdominal cavity. A surgeon then utilizes a user interface that is remotely located within the operating room. The current robotic platform has recently been demonstrated successfully in an in vivo procedure.


2011 ◽  
Vol 25 (10) ◽  
pp. 3453-3458 ◽  
Author(s):  
Oleg Dolghi ◽  
Kyle W. Strabala ◽  
Tyler D. Wortman ◽  
Matthew R. Goede ◽  
Shane M. Farritor ◽  
...  

Blood ◽  
2011 ◽  
Vol 118 (21) ◽  
pp. 1199-1199
Author(s):  
Frank Driessler ◽  
Xiaolei Li ◽  
Tongyao Liu ◽  
Xin Zhang ◽  
Haiyan Jiang ◽  
...  

Abstract Abstract 1199 Measurement of FVIII or FIX activity in clinical samples by the one-stage clotting assay is the standard method for estimating the in vivo activity of replacement factor products in the treatment of hemophilia. Global hemostasis assays, such as thromboelastography (TEG) and rotation thromboelastometry (ROTEM) could provide additional information about the in vivo function of FVIII and FIX products since these whole blood assays are thought to more closely reflect in vivo coagulation. However, the TEG and ROTEM assays have not been routinely used in hemophilia care, mainly due to the lack of assay standardization and the absence of reference materials appropriate for hemophilic patient samples. We show here that standardization of the ROTEM assay is possible across multiple sites in a clinical trial. Reproducibility of this method would not only allow ex vivo confirmation of the potency of a novel product in comparison to current replacement factors, but may also reveal patient-specific clotting parameters related to their individual bleeding tendency. We evaluated the effectiveness of a standardized ROTEM procedure in support of Biogen Idec's phase 3 trial of a long-lasting clotting factor IX Fc fusion protein (rFIXFc). Prior to evaluating clinical specimens by ROTEM, each site performed a set of quality control (QC) assays using the ROTROLN reagents provided by TEM Innovations GmbH and a set of frozen plasma controls that were prepared by Biogen Idec by spiking hemophilic plasma with 4 different levels of FIX drug product (1 IU/dL, 5 IU/dL, 15 IU/dL and 30 IU/dL). A detailed protocol and all reagents needed to perform the assay, including custom diluents, were provided to the sites by Biogen Idec in order to ensure a consistent method and reagent lot uniformity across all centers participating in this exploratory study. In addition, local operators at each site participated in hands-on training provided by Biogen Idec. An interim analysis was performed on the QC data gathered from 6 clinical sites that performed a total of 44 QC runs for FIX on 8 ROTEM instruments (7 model Gamma and 1 model Delta). Among the 4 ROTEM parameters evaluated (clotting time, CT; clot formation rate, CFR; maximum clot firmness, MCF and alpha angle), CT was most reproducible, with relatively small variation among the 6 sites, ranging from 8% to 24% CV across the 4 concentration levels of FIX (Table 1).Table 1:Summary of QC INTEM CT data for plasma control samplesGlobal Sites30% FIX (n=12)15% FIX (n=11)5% FIX (n=11)1% FIX (n=10)Mean (sec)901104113422003Min, Max549, 1077907, 12071127, 1737936, 2750%CV17%8%13%24%Biogen Idec Site30% FIX (n1 = 19)15% FIX (n1 = 19)5% FIX (n1 = 19)1% FIX (n1 = 19)Mean (sec)893101012952178Min, Max776, 1002895, 11361033, 16401769, 2837%CV8%7%12%16% A mixed effect model was fitted for the ROTEM global QC data (the response variable) with ‘centers’ and ‘plasma FIX levels’ as covariates. The center had no statistically significant effect on clotting time (p-value = 0.57) and alpha angle (p-value = 0.85), but a mild impact on MCF (p = 0.12) and CFR (p-value = 0.07). As expected, an increase in FIX concentration level was shown to significantly reduce the clotting times (p-value = 0.001). To further examine our standardization approach in controlling inter-site variability of ROTEM data, two parameters, operator and instrument, were also evaluated. Comparison of the results obtained at the 6 clinical sites to a replicate analysis at a single site (19 runs at each FIX level performed at Biogen Idec by a single operator on 6 model Delta instruments) indicated equivalent variability with an overall ANOVA p-value of 0.85 for CT (accounting for the correlation between ROTEM data and FIX level) and a similar comparability for CFR, MCF and alpha angle. All instruments were maintained within the manufacturer's specification (per ROTROL N data), and there was no instrument-related clustering of results when samples were assayed on multiple instruments at a single site by one operator. We thus conclude that the inter-site variability (i.e. operator and instrument variability) is not a significant factor in our ROTEM study. Assuming the preanalytical variables for the blood collection are also minimized in our standardized procedures, we expect that major differences in a subject's ROTEM parameters will be a meaningful indicator or their hemostatic potential rather than assay variability between individual test sites. Disclosures: Driessler: Biogen Idec Hemophilia: Employment. Li:Biogen Idec Hemophilia: Employment. Liu:Biogen Idec Hemophilia: Employment. Zhang:Biogen Idec Hemophilia: Employment. Jiang:Biogen Idec Hemophilia: Employment. Luk:Biogen idec Hemophilia: Employment. Pierce:Biogen Idec Hemophilia: Employment. Sommer:Biogen Idec Hemophilia: Employment.


2012 ◽  
Vol 26 (9) ◽  
pp. 2687-2694 ◽  
Author(s):  
Konstantinos M. Konstantinidis ◽  
Petros Hirides ◽  
Savas Hirides ◽  
Pericles Chrysocheris ◽  
Michael Georgiou

Virology ◽  
2000 ◽  
Vol 270 (1) ◽  
pp. 111-123 ◽  
Author(s):  
Judith F. Aronson ◽  
Franziska B. Grieder ◽  
Nancy L. Davis ◽  
Peter C. Charles ◽  
Travis Knott ◽  
...  

Author(s):  
Kyle W. Strabala ◽  
Ryan M. McCormick ◽  
Tyler D. Wortman ◽  
Amy C. Lehman ◽  
Shane M. Farritor ◽  
...  

This paper describes the capabilities of a miniature multi-functional in vivo robot designed and developed for Laparoendoscopic Single-Site Surgery (LESS). The paper outlines several competing design criteria including robot size, workspace volume, endpoint speeds, and endpoint forces. In this paper, the robot is evaluated according to these criteria. The workspace is described and the maximum no-load endpoint speeds and maximum attainable endpoint forces are presented. Finally, the robot capabilities are discussed, related to medical applications, and demonstrated in an animal surgery.


2016 ◽  
Vol 01 (04) ◽  
pp. 1650006 ◽  
Author(s):  
Lou Cubrich ◽  
Mark A. Reichenbach ◽  
Jay D. Carlson ◽  
Andrew Pracht ◽  
Benjamin Terry ◽  
...  

Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures, but have notable shortcomings, including limited instrument motion and reduced dexterity. Endoscopic robots, like the intuitive surgical da Vinci system, have become an effective tool for many types of surgeries; however, these tools still have fundamental limitations with manipulator access, which reduces their effectiveness for many surgical procedures, like colectomy, cholecystectomy, and gynecologic oncology. Laparo-endoscopic single-site (LESS) robots operate in vivo, and overcome many of these limitations. Here, a four-degrees of freedom (DOF) surgical robot is presented as a tool to enable refinement of the LESS platform as a surgical tool, while also looking forward to applications in telesurgery and haptic feedback.


Author(s):  
Bernadette McCrory ◽  
Alex Cuevas ◽  
Jacob Alborano ◽  
Bethany R. Lowndes ◽  
M. Susan Hallbeck

Background: Laparoendoscopic single site surgery (LESS) is feasible for more complex procedure types, but the technical challenges and learning curve posed by LESS makes traditional multi-incision laparoscopy still the preferred technique. The aims of this study were to understand the restricted mobility and positional requirements of these more complex procedures and to generate innovative instrument designs to overcome these restrictions. Methods: A two-phase study was conducted where three lightly-embalmed (fresh tissue) cadavers were utilized to estimate in vivo mobility restriction and positional requirements. These data were combined to quantifying instrument force and positional requirements to develop a novel design for a LESS-specific grasper. Results: The LESS-specific has an ergonomic curved axial handle and locking mechanism that enables surgeons to relax their grip without the grasper releasing. Conclusion: Further design adaptations are needed to optimize the size, angles, and curvature of the tool, as well as to add two points of articulation for rapid intracorporeal adjustment.


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