Kinematic and experimental investigation of manual resection tools for transurethral bladder tumor resection.
Kinematic and experimental investigation of manual resection tools for transurethral bladder tumor resection.
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经尿道膀胱肿瘤切除手动切除工具的运动学和实验研究。
DOI：
10.1002/rcs.1757
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Simaan,Nabil
中科院分区：
文献类型：
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作者：
Sarli,Nima;Marien,Tracy;Mitchell,ChristopherR;DelGiudice,Giuseppe;Dietrich,MaryS;Herrell,SDuke;Simaan,Nabil
经尿道膀胱肿瘤切除术（turt）是一项具有挑战性的手术，部分原因是切除镜的局限性。迄今为止，手工切除的效果尚未得到充分的描述。本研究在分析切除位置对准确性的影响的同时，对膀胱内人工切除的性能进行了表征。方法采用运动学模拟方法评估切除灵巧性的运动学指标。提出了一种人工切除精度评估的实验方案。研究了理论性能指标与观察到的实验精度之间的相互关系。结果切向精度与正常奇异值的相关性较强，与切向运动调节指标和切向最小奇异值的相关性中等。模拟也澄清了在膀胱颈部附近切除的困难。从运动学角度评估turt的准确性和灵巧性的措施，以提供目前在手动turt中缺失的量化灵巧性基线。在不同的膀胱区域的限制说明。版权所有©2016 John Wiley & Sons， Ltd。
BackgroundTransurethral 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.MethodsKinematic 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.ResultsTangential 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.ConclusionsMeasures 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.