Transurethral Anastomosis after Transurethral Radical Prostatectomy: A Phantom Study on Intraluminal Suturing With Concentric Tube Robots.
Transurethral Anastomosis after Transurethral Radical Prostatectomy: A Phantom Study on Intraluminal Suturing With Concentric Tube Robots.
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DOI：
10.1109/tmrb.2020.3034735
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发表时间：
2020-11
期刊：
影响因子：
--
通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
--
作者：
Amanov E;Ropella DS;Nimmagadda N;Ertop TE;Mitchell JE;Kavoussi NL;Hendrick RJ;Dillon N;Blum E;Herrell SD 3rd;Webster RJ 3rd
目前根治性前列腺癌根治术的手术方式与勃起功能障碍和大小便失禁的高发生率有关。这些并发症继发于周围健康组织的破坏，这是暴露前列腺所必需的。尿道提供了接触前列腺的侵入性最小的途径，并且已经证明了使用Ho激光通过内窥镜摘除前列腺的可行性，这种内窥镜本身可以被同心管机器人瞄准。然而，到目前为止，根治性前列腺癌根治术的途径一直受到限制，因为在切除前列腺后，缺乏一种合适的方法来进行尿路与膀胱的吻合术。目前只有几种管腔内吻合器存在，而且没有一种足够小，可以通过尿路。在本文中，我们描述了一种新的方法，利用同心管机械手的灵活性和定制化，在尿路的小管腔空间内进行吻合术。我们展示了一个成功的最初的概念验证吻合在一个拟人化的尿路和膀胱的幻影。
Current surgical approaches to radical prostatectomy are associated with high rates of erectile dysfunction and incontinence. These complications occur secondary to the disruption of surrounding healthy tissue, which is required to expose the prostate. The urethra offers the least invasive access to the prostate, and feasibility has been demonstrated of enucleating the prostate with an endoscope using Holmium laser, which can itself be aimed by concentric tube robots. However, the transurethral approach to radical prostatectomy has thus far been limited by the lack of a suitable means to perform an anastomosis of the urethra to the bladder after prostate removal. Only a few intraluminal anastomotic devices currently exist, and none are small enough to pass through the urethra. In this paper we describe a new way to perform an anastomosis in the small luminal space of the urethra, harnessing the dexterity and customizability of concentric tube manipulators. We demonstrate a successful initial proof-of-concept anastomosis in an anthropomorphic phantom of the urethra and bladder.
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影响因子：
3.8
作者：
Gafford, Joshua B.;Webster, Scott;Webster, Robert J., III
通讯作者：
Webster, Robert J., III
影响因子：
23.4
作者：
Haglind, Eva;Carlsson, Stefan;Steineck, Gunnar
通讯作者：
Steineck, Gunnar
DOI：
10.1109/tro.2015.2394331
发表时间：
2015-04
期刊：
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
影响因子：
--
作者：
Gilbert HB;Neimat J;Webster RJ 3rd
通讯作者：
Webster RJ 3rd
DOI：
10.1109/tro.2009.2035740
发表时间：
2010-04-01
期刊：
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
影响因子：
--
作者：
Dupont PE;Lock J;Itkowitz B;Butler E
通讯作者：
Butler E
DOI：
10.1177/0278364915585397
发表时间：
2015-11
期刊：
The International journal of robotics research
影响因子：
--
作者：
Hendrick RJ;Mitchell CR;Herrell SD;Webster RJ 3rd
通讯作者：
Webster RJ 3rd