113. Development, Optimization and Characterization of 3-mm Diameter Robotic Instruments for Robotic Assisted Cleft Palate Repair
Notice bibliographique
Résumé
PURPOSE: Cleft palate surgery involves dissection of delicate tissue within the confines of the infant oral cavity with reduced visualization, access and manipulability of standard instruments. Robotic assisted cleft palate repair uses dexterous tools and an endoscope that may improve precision. We have developed 3 mm diameter robotic tools that are optimized for cleft palate repair. This study investigates the performance of these tools using a high-fidelity cleft palate simulator test bed. METHODS: The 3 mm robotic instruments comprise of a wristed tool tip that couples to a da Vinci Research Kit (dVRK). The dVRK comprises two instrument arms with trocars and an endoscope for visualization. A virtual simulation was performed in MATLAB to determine the number of collisions (tool-tool and tool-oral cavity) based on the position along the palate and the height of the robotic arms (distance from trocar to oral aperture). Two experiments were performed using the 3 mm tools: (1) a MATLAB simulation validation involving suturing the cleft palate simulator oral mucosa at an anterior, middle and posterior position along the palate at three trocar heights and (2) a robotic assisted cleft palate repair on a high-fidelity cleft palate simulator. Both experiments were video recorded. The impact of tool position along the palate and the height of the robotic arms on collisions was determined for both experiments. RESULTS: The MATLAB simulation demonstrated increased collisions anteriorly and posteriorly with fewer collisions along the middle of the palate. The number of collisions increased with increasing trocar distance. The MATLAB simulation demonstrated a trend of increasing collisions anteriorly and posteriorly along the palate and increased collisions as the robotic arm trocar distance from the oral cavity increased (R2 = 0.9991, p = 0.0187). A robotic assisted cleft palate repair was successfully performed on the cleft palate simulator using the 3 mm tools. Lateral relaxing incisions, release of the velar muscles from the posterior hard palate shelf, suturing of the nasal mucosa, muscles and oral mucosa was successfully performed. Overall, collisions increased from anterior to posterior along the palate (mean increases of: 1.2 collisions/throw for nasal mucosal closure, R2 = 0.374, p = 0.005; 4.3 collisions/throw for oral mucosal closure, R2 = 0.407, p = 0.065) during the simulated cleft palate repair. CONCLUSION: A simulated robotic-assisted cleft palate repair was successfully performed using novel 3 mm diameter robotic tools. The tools were successful in executing the critical steps of a cleft palate repair. Instrument collisions were more frequent posteriorly and with increasing trocar height. Robotic assisted cleft palate repair using the 3 mm tools takes advantage of the robot’s superior visualization and dexterity and may improve the precision of cleft palate repair.
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,001 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».