Design and Experimental Validation of a Master Manipulator with Position and Posture Decoupling for Laparoscopic Surgical Robot

a.sfakia shared this article with you from Inoreader Design and Experimental Validation of a Master Manipulator with Position and Posture Decoupling for Laparoscopic Surgical Robot Via The International Journal of Medical Robotics and Computer Assisted Surgery Abstract Background The master manipulator with position and posture decoupling and force feedback can improve the immersion of the operation, and the gravity balance can reduce the fatigue of surgeons. Methods A seven degree of freedom master manipulator is developed. The parallelogram structure and the angle conversion method contribute to the realization of decoupling position and posture. The calculating method based on the virtual work principle is adopted to achieve the passive gravity balance. The relationship between the master manipulator's joint torque and output force is established to achieve force feedback. Results A prototype of the master manipulator was built and its performance was experimentally evaluated. The maximum value of the positioning mean absolute error is 1.2 mm. The maximum absolute error of the force-feedback is 0.32 N, respectively. Conclusion With the functions of positioning, gravity balance, and force feedback, our manipulator shows the potential for single port laparoscopic surgery. This article is protected by copyright. All rights reserved. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.

Migration of a Fish Bone From the Esophagus to the Thyroid Gland

a.sfakia shared this article with you from Inoreader Migration of a Fish Bone From the Esophagus to the Thyroid Gland Via ear nose throat Ear Nose Throat J. 2022 Mar 29:1455613221086032. doi: 10.1177/01455613221086032. Online ahead of print. ABSTRACT Accidental swallowing of fish bone is one of the most common emergencies in the otolaryngology department. The impacted fish bones are usually found in the palatine tonsil, base of the tongue, valleculae, pyriform sinus, and esophagus, which can be successfully removed after a thorough examination. However, in some cases, the fish bone may penetrate into the neck soft tissue and migrate to extraluminal organs, causing infection, abscess formation, or rupture of vessels. In such cases, prompt recognition and immediate removal of the impacted fish bone are necessary. Herein, we report a rare case of a 60-year-old woman who had accidently swallowed a fish bone 10 days prior to visiting the outpatient department. The fiberoptic scope and head and neck computed tomography scans were obtained from the outpatient department. The fish bone was found to migrate from the upper esophagus to the left thyroid gland. First, a rigid esophageal endoscopy was performed in the operating room, but no obvious fish bone was noted over the esophagus. Finally, the fish bone was removed via exploratory cervicotomy with left-sided total lobectomy of the thyroid. The patient recovered after the operation, and there were no further complications during the 3 years of follow-up. PMID:35348022 | DOI:10.1177/01455613221086032 View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.

Prolactinoma

a.sfakia shared this article with you from Inoreader Prolactinoma Via Otolaryngologic Clinics of North America Prolactinomas are the most common secretory tumor of the pituitary gland. Clinical symptoms may be due to prolactin oversecretion, localized mass effect, or a combination of both. Although the mainstay of prolactinoma management is medical therapy with dopamine agonists, endoscopic endonasal or transcranial surgery, radiation therapy, or a combination of these is an important treatment option in select cases. This article discusses prolactinoma phenotypes, clinical presentations, and clinically pertinent medical and surgical considerations when managing these tumors. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.

Acromegaly

a.sfakia shared this article with you from Inoreader Acromegaly Via Otolaryngologic Clinics of North America Acromegaly results from excessive secretion of insulinlike growth factor-1 and growth hormone, which most commonly occurs because of pituitary somatotrophinoma. Diagnostic features of acromegaly include elevated insulinlike growth factor-1 and growth hormone; lesion on brain MRI; and clinically dysmorphic features, such as soft tissue swelling, jaw prognathism, and acral overgrowth. Transsphenoidal resection is the primary therapy for individuals with acromegaly, even in the cases where gross total resection is not possible because of parasellar extension and cavernous sinus involvement. For recurrent or persistent disease after resection, systemic medications and stereotactic radiosurgery are used. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.

Cushing Disease

a.sfakia shared this article with you from Inoreader Cushing Disease Via Otolaryngologic Clinics of North America Cushing disease is a disorder of hypercortisolemia caused by hypersecretion of adrenocorticotropic hormone by a pituitary adenoma and is a rare diagnosis. Cushing disease presents with characteristic clinical signs and symptoms associated with excess cortisol, but diagnosis is difficult and often relies on repeated and varied endocrinologic assays and neuroradiologic investigations. Gold standard treatment is surgical resection of adrenocorticotropic hormone–secreting pituitary adenoma, which is curative. Patients require close endocrinologic follow-up for maintenance of associated neuroendocrine deficiencies and surveillance for potential recurrence. Medications, radiation therapy, and bilateral adrenalectomy are alternative treatments for residual or recurrent disease. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.

Giant Pituitary Adenoma – Special Considerations

a.sfakia shared this article with you from Inoreader Giant Pituitary Adenoma – Special Considerations Via Otolaryngologic Clinics of North America Giant pituitary adenomas (GPAs) comprise 5% to 15% of pituitary adenomas, but have higher rates of extrasellar invasion, subtotal resection, surgical morbidity, and recurrence. With the possible exception of giant prolactinomas, GPAs require surgical decompression. On review of 3 decades of case series encompassing 699 microsurgical transsphenoidal (MT), 1060 endoscopic endonasal trans-sphenoidal (EET), and 513 transcranial (TC) patients, gross total resection and recurrence rates were comparable across modalities, but the EET approach had lower perioperative mortality and superior restoration of visual function. Each approach has unique indications. Combined EET-TC approaches for minimizing residual tumor represent another area of study. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.

Surgical treatment trends and identification of primary breast tumors after surgery in occult breast cancer: a study based on the Japanese National Clinical Database-Breast Cancer Registry

a.l.s.f.akia shared this article with you from Inoreader Surgical treatment trends and identification of primary breast tumors after surgery in occult breast cancer: a study based on the Japanese National Clinical Database-Breast Cancer Registry Via Breast Cancer CONCLUSIONS: Breast surgery for cT0N+ decreased between 2010 and 2018. Despite the high identification rate of primary tumors, most tumors were small, and there was no significant change in the identification rate or invasive diameter of the identified tumors after 2010.PMID:35316446 | DOI:10.1007/s12282-022-01348-y (Source: Breast Cancer) View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.