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Vipul R. Patel - Operative Atlas of Laparoscopic and Robotic Reconstructive Urology

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Vipul R. Patel Operative Atlas of Laparoscopic and Robotic Reconstructive Urology

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Section I: Surgical Basics. Surgical Basics. -- Section II: The Urologist at Work. Basic Surgical Techniques ; Basic Laparoscopy ; Suture Techniques ; Plastic Surgical Techniques ; Bowel Stapling Techniques ; Mobilization of the Omentum ; Methods of Nerve Block ; Repair of Vascular Injuries ; Closure of Bowel Lacerations ; Basic Robotic Surgery. -- Section III: Penis: Plastic Operations. Basic Instructions for Hypospadias Repair ; Postoperative Management ; Pediatric Meatotomy ; Decision-Making in Hypospadias Surgery ; Flaps in Hypospadias Surgery ; Proximal. -- Section IV: Penis: Malignancy. Partial Penectomy ; Total Penectomy ; Ilioinguinal Lymphdenectomy ; Laser Treatment of the Penis. -- Section V: Penis: Correction. Circumcision ; Dorsal Slit ; Penile Curvature in the Pediatric Patient ; Hidden Penis. -- Section VI: Penis: Reconstruction. Insertion of Flexible Prosthesis ; Inflatable Penile Prosthesis Implantation ; Penile Arterial Revascularization ; Procedures for Peyronies Disease ; Operations for Priapism ; Repair of Genital Injuries. -- Section VII: Female Genital Reconstruction. Cecal Vagina ; Urethrovaginal Fistula Repair ; Bulbocavernosus Muscle and Fat Pad Supplement ; Female Urethral Diverticulectomy ; Neourethral Reconstruction ; Urethral Prolapse ; Cystocele Repair, Enterocele Repair, and Rectocele Repair ; The Michigan Four-Wall Sacrospinous Suspension. -- Section VIII: Urethra: Reconstruction. Urethral Reconstruction: General Concepts ; Reconstruction of the Fossa Navicularis ; Reconstruction of Strictures of the Penile ; Reconstruction of Strictures of the Bulbar Urethra ; Reconstruction of Membranous Urethral Disruption Injuries ; York-Mason Closure of Recto-Urinary Fistula ; Direct Vision Internal Urethrectomy. -- Section IX: Testis: Repair and Reconstruction. Testis Biopsy (DX) ; Sperm Retrieval ; Varicocele Ligation ; Vasectomy ; Vasovasostomy and Vasoepididymostomy ; Excision of the Utricular Cyst ; Spermatocelectomy ; Epididymectomy ; Undescended Testis ; Reduction of Testicular Torsion. -- Section X: Testis: Malignancy. Simple Orchiectomy ; Testis-Sparing Surgery for Benign and Malignant Tumors ; Radical Orchiectomy ; Retroperitoneal Lymph Node Dissection ; Laparoscopic Retroperitoneal Lymph Node Dissection. -- Section XI: Surgical Approaches to the Pelvis. Midline Lower Abdominal Extraperitoneal Incision ; Transverse Lower Abdominal Incision ; Gibson Incision. -- Section XII: Prostate: Malignancy. Anatomy and Principles of Excision of the Prostate ; Radical Retropubic Prostatectomy ; Radical Perineal Prostatectomy ; Pelvic Lymph Node Dissection ; Robotic-Assisted Laparoscopic Prostatectomy ; Cryotherapy. -- Section XIII: Prostate: Benign Disease. Transurethral Resection of the Prostate ; Transurethral Incision of the Prostate ; Laser Treatment of Benign Prostatic Disease ; Suprapubic Prostatectomy ; Retropubic Prostatectomy. -- Section XIV: Bladder: Excision. Transurethral Resection of Bladder Tumors ; Partial Cystectomy ; Radical Cystectomy ; Urethrectomy ; Pelvic Lymphadenectomy ; Pelvic Exenteration ; Excision of Vesical Diverticulum ; Cystolithotomy ; Laparoscopic / Robotic Radical Cystectomy. -- Section XV: Bladder Reconstruction. Pubovaginal Sling for Incontinence ; Autologous Pubovaginal Sling Synthetic ; Tension Free Vaginal Tape (TVT) / Suprapubic Midurethral Sling ; Transobdurator Midurethral Sling ; Bulking Agents ; Artificial Urinary Sphincter ; Vesicovaginal Fistulae ; Transvaginal Repair of Vesicovaginal Fistula ; Transvesical Repair of Vesicovaginal Fistula ; Transperitoneal Vesicovaginal Fistula Repair ; Female Vesical Neck Closure ; Sacral Neuromodulation. -- Section XVI: Urinary and Bowel Diversion. Vesicostomy ; Ileal Conduit ; Laparoscopic / Robotic Ileal Conduit ; Sigmoid and Transverse Colon Conduits ; Fecal Diversion. -- Section XVII: Continent Reconstruction. Principles of Continent Reconstruction ; Ileal Reservoir (T-Pouch) ; Ileocecal Reservoir ; Appendicovesicostomy ; Ureterosigmoidostomy ; Ileal Bladder Substitution. -- Section XVIII: Bladder Augmentation. Ileocystoplasty ; Colocystoplasty ; Ureterocystoplasty ; Autoaugmentation by Seromyotomy. -- Secton XIX: Ureteral Reconstruction and Excision. Principles of Ureteral Reconstruction ; Ureteroneocystostomy ; Psoas Hitch ; Bladder Flap (Boari) Repair ; Ureteral Stricture Repair and Ureterolysis ; Repair of Ureterovaginal Fistula ; Ureteroureterostomy / Transureteroureterostomy ; Ileal Ureter Replacement ; Open Ureterolithotomy ; Principles of Endoscopic Ureteral Surgery ; Ureteral Access ; Ureteroscopy: Rigid and Flexible ; Ureteroscopic Management of Ureteral Calculi ; Ureteroscopic Management of Renal Calculi ; Ureteroscopic Endoureterotomy ; Ureteroscopic Endopyelotomy ; Ureteroscopic Management of Transitional Cell Carcinoma ; Laparoscopic Ureterolithotomy ; Endoscopic Management of VUR ; Endoscopic Incision of Ureterocele. -- Section XX: Surgical Approaches to the Kidney. Open Renal Surgery ; Surgical Approaches for Open Renal Surgery ; Endoscopic Renal Surgery ; Anatomic Basis for Renal Endoscopy ; Percutaneous Renal Access ; Percutaneous Nephrolithotomy ; Retroperitoneal Laparoscopic Access ; Transperitoneal Laparoscopic Access ; Hand-Assisted Laparoscopic Surgery ; Renal Cryosurgery ; Renal Radiofrequency Ablation. -- Section XXI: Kidney: Reconstruction. Principles of Open Reconstructive Renal Surgery ; Open Pyeloplasty ; Surgery of the Horseshoe Kidney ; Repair of Renal Injuries ; Surgery for Renal Vascular Disease ; Renal Transplant Recipient ; Living Donor Nephrectomy/ Cadaver Donor Nephrectomy ; Principles of Endoscopic / Laparoscopic Renal Reconstruction ; Percutaneous Endopyelotomy ; Percutaneous Endopyeloplasty ; Laparoscopic Renal Biopsy ; Laparoscopic Pyeloplasty ; Robot-Assisted Laparoscopic Pyeloplasty ; Laparoscopic Live Donor Nephrectomy. -- Section XXII: Kidney: Excision. Anatomy and Principles of Renal Surgery ; Open Simple Nephrectomy ; Open Radical Nephrectomy ; Open Partial / Hemi-Nephrectomy ; Open Nephroureterectomy ; Extracorporeal Renal Surgery ; Vena Caval Thrombectomy ; Open Stone Surgery: Anatrophic Nephrolithotomy Pyelolithotomy ; Anatomy and Principles of Laparoscopic Kidney Excision ; Laparoscopic Simple Nephrectomy ; Laparoscopic Transperitoneal Radical Nephrectomy ; Laparoscopic Heminephrectomy ; Laparoscopic Partial Nephrectomy ; Laparoscopic Nephroureterectomy ; Laparoscopic Pyelolithotomy ; Laparoscopic Caliceal Diverticulectomy ; Laparoscopic Renal Cyst Ablation ; Percutaneous Resection of Upper Tract Urothelial Carcinoma. -- Section XXIII: Adrenal Excision. Adrenal Anatomy and Preparation for Adrenal Excision ; Open Approaches to the Adrenal Gland (Lateral/Anterior/Posterior) ; Laparoscopic Approaches to the Adrenal Gland.;Regarded as the most authoritative surgical atlas in the field, Hinmans Atlas of Urologic Surgery brings you the detailed visual guidance and unmatched expertise you need to confidently perform virtually any urologic surgical procedure. Detailed color illustrations and clinical photographs-all accompanied by commentary from leading urologists-lead you step by step through each technique. Instructions and commentary from a veritable whos who in urologic surgery equip you to successfully deliver optimal results. Know what to do and expect with comprehensive coverage of nearly every surgical procedure you might need to perform. Get a true-to-life view of each operation through illustrations and full-color photographs shown from the surgeons perspective. Find answers fast thanks to a quick, clear, and easy-to-use format - ideal for residents as well as experienced surgeons. Turn to the companion reference, Hinmans Atlas of UroSurgical Anatomy, 2nd Edition, for a more in-depth view of the complex structures you must navigate when performing any procedure.

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Part I
Introduction
Springer International Publishing Switzerland 2017
Vipul R. Patel and Manickam Ramalingam (eds.) Operative Atlas of Laparoscopic and Robotic Reconstructive Urology 10.1007/978-3-319-33231-4_1
1. Surgical Robotics: Past, Present and Future
Hariharan Palayapalayam Ganapathi 1 , Gabriel Ogaya-Pinies 1, Travis Rogers 1 and Vipul R. Patel 1
(1)
University of Central Florida College of Medicine, Global Robotics Institute, Florida Hospital Celebration Health, 410 Celebration Place, Orlando, FL 34747, USA
Hariharan Palayapalayam Ganapathi
Email:
1.1 Introduction
The evolution of robots in surgical practice is an intriguing story that spans cultures, continents and centuries. The idea of reproducing himself with the use of a mechanical robot has been in mans imagination in the last 3000 years. However, the use of robots in medicine has only 30 years of history. Surgery has traditionally required larger incisions to allow the surgeon to introduce his hands into the body and to allow sufficient light to see the structures being operated on. Surgeon directly touched and felt the tissues and moved the tip of the instruments. However, innovations have radically changed the performance of surgical procedures in operating room by digitization, miniaturization, improved optics, novel imaging techniques, and computerized information systems. These surgical procedures can be done by manipulating instruments from outside the patient, by looking at displays of direct electronic images of the target organs on the monitor. The robot completes the transition to the Information Age. The surgeon is immersed in this computer-generated environment (called virtual reality, term coined by Jaron Lanier, 1986) and sends electronic signals from the joysticks of the console to the tip of the instruments, which mimic the surgeons hand movements [].
This chapter highlights the history of the robotic surgical platform, the current place of robot assisted surgery and the future emerging trends in robotic surgery.
1.2 History of Robotics
The first automated machine was built probably in 1300 BCE, when Amenhotep erected the statue of King Memnon, which emitted sound when sunlight fell on it at dawn []. King-shu Tse (500 BCE) in China designed a flying magpie and a wooden horse that can jump. In 400 BCE, Archytas of Tarentum in Greece, the father of mechanical engineering, designed a wooden bird which was propelled by steam. The philosophy of automation was first expounded by Aristotle in the fourth century BCE. Archimedes (287212 BC) invented many mechanical systems that are used in robotics today. Automatons were described in Alexandria, Roman province of Ptolemaic Egypt. Ctesibius of Alexandria (250 BC) designed the clepsydra an accurate continuously working water-clock with moveable figures on it. Heron of Alexandria (1070 AD) made several automatans, including animated statues.
In 1901, between the islands of Crete and Kythera, a diver found the remnants of The Antikythera Device, a mechanical computer which most likely calculated the position of the sun, moon or other celestial bodies. It dates back 2000 years and is considered to be of Greek origin. Medieval times featured the era of Automatons, moving human-like figures run by hidden mechanisms. The clock jack was a mechanical figure that could strike time on a bell with its axe.
In 1495, Leonardo da Vinci, the genius Italian sculptor, painter, architect, engineer, anatomist and mathematician designed the first humanoid robot (Fig. ]. In 1645, Blaise Pascal invented a calculating machine, the Pascaline, one of it is in display in the Des Arts et Metiers Museum in Paris.
Fig 11 Humanoid automaton designed by Leonardo da Vinci it is believed to - photo 1
Fig. 1.1
Humanoid automaton, designed by Leonardo da Vinci, it is believed to be able to perform several human-like motions
In the eighteenth century, miniature automatons became popular as toys that can move like humans or small animals. John Brainerd created the Steam Man used to pull wheeled carts in 1865 and its electric vision the Electric Man was built by Frank Reade Jr in 1885. The Industrial Revolution of the late eighteenth century led to the development of complex mechanics and electricity that paved the way for robotic advancement and its application in surgery.
1.3 Evolution of Surgical Robot
The term robot was first used in a play called R.U.R. or Rossums Universal Robots (from Czech robota meaning forced work) by the Czech writer Karel Capek in 1921 []. As a result, Engelberger has been called the father of robotics. These successful experiments were determining factors for the introduction of robotics in all other industrial areas around the world. Hence, the labor intensive or dangerous tasks, especially those that required high precision were performed by the industrial robot.
1.3.1 Pre-programmable Robot
In 1978 Victor Scheinman developed the Programmable Universal Manipulation Arm (PUMA Fig. ), and in urological procedures by UROBOT. These robots had to be preprogrammed based on the fixed anatomic landmarks of each patient.
Fig 12 Unimate PUMA 200 first robot used in a surgical intervention during a - photo 2
Fig. 1.2
Unimate PUMA 200 first robot used in a surgical intervention during a stereotactic brain biopsy
Fig 13 The PROBOT was able to performed precise and repetitive cone shaped - photo 3
Fig. 1.3
The PROBOT was able to performed precise and repetitive cone shaped cuts of the prostate following an pre-establish plan
1.3.2 Robotic Telesurgery
The United States mission to put man on Mars led NASAs Ames Research Center to develop research projects to perform long-distance surgeries in astronauts. Michael McGreevey, Stephen Ellis, and Scott Fischer developed a head-mounted display (HMD) that consisted of tiny television monitors attached to a helmet immersed in a three-dimensional (3D) environment. HMD combined with data gloves, created by Jaron Lanier, allowed the user to interact with the virtual world. The computer scientist, Scott Fischer, and the plastic surgeon, Joseph Rosen, produced the first idea of telepresence surgery to perform remote surgeries in space. They achieved it by combining SRI telemanipulator with the HMD and data glove. The telepresence surgery was not technically feasible. The HMD was replaced with monitors and the data gloves with handles for controllers at the surgeons console.
The US military assigned Richard Satava to be program manager for Advanced Biomedical Technologies of the government-run Defense Advanced Research Projects Agency (DARPA). Philip Green, at the Stanford Research Institute (SRI), and the military surgeon Richard Satava joined and developed an operating system for instrument telemanipulation, the Satava and Green Telepresence system with the goal of improving surgical capabilities on the battlefield. DARPA provided grant for the development of a robotic system the Bradley 557A that could virtually take the surgeon to the front lines to provide medical assistance to wounded soldiers in the battlefield. A pivotal point for the Green Telepresence Surgery System came in 1994 when Jon Bowersox, the medical scientist for the program, performed an intestinal anastomosis on ex-vivo porcine intestine using a wireless microwave connection [].
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