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1.
Lasers Surg Med ; 55(10): 900-911, 2023 12.
Artículo en Inglés | MEDLINE | ID: mdl-37870158

RESUMEN

OBJECTIVES: The study aimed to improve the safety and accuracy of laser osteotomy (bone surgery) by integrating optical feedback systems with an Er:YAG laser. Optical feedback consists of a real-time visual feedback system that monitors and controls the depth of laser-induced cuts and a tissue sensor differentiating tissue types based on their chemical composition. The developed multimodal feedback systems demonstrated the potential to enhance the safety and accuracy of laser surgery. MATERIALS AND METHODS: The proposed method utilizes a laser-induced breakdown spectroscopy (LIBS) system and long-range Bessel-like beam optical coherence tomography (OCT) for tissue-specific laser surgery. The LIBS system detects tissue types by analyzing the plasma generated on the tissue by a nanosecond Nd:YAG laser, while OCT provides real-time monitoring and control of the laser-induced cut depth. The OCT system operates at a wavelength of 1288 ± 30 nm and has an A-scan rate of 104.17 kHz, enabling accurate depth control. Optical shutters are used to facilitate the integration of these multimodal feedback systems. RESULTS: The proposed system was tested on five specimens of pig femur bone to evaluate its functionality. Tissue differentiation and visual depth feedback were used to achieve high precision both on the surface and in-depth. The results showed successful real-time tissue differentiation and visualization without any visible thermal damage or carbonization. The accuracy of the tissue differentiation was evaluated, with a mean absolute error of 330.4 µm and a standard deviation of ±248.9 µm, indicating that bone ablation was typically stopped before reaching the bone marrow. The depth control of the laser cut had a mean accuracy of 65.9 µm with a standard deviation of ±45 µm, demonstrating the system's ability to achieve the pre-planned cutting depth. CONCLUSION: The integrated approach of combining an ablative laser, visual feedback (OCT), and tissue sensor (LIBS) has significant potential for enhancing minimally invasive surgery and warrants further investigation and development.


Asunto(s)
Terapia por Láser , Láseres de Estado Sólido , Porcinos , Animales , Retroalimentación , Osteotomía , Terapia por Láser/métodos , Láseres de Estado Sólido/uso terapéutico , Luz
2.
Lasers Med Sci ; 38(1): 222, 2023 Sep 26.
Artículo en Inglés | MEDLINE | ID: mdl-37752387

RESUMEN

Thermal effects during bone surgery pose a common challenge, whether using mechanical tools or lasers. An irrigation system is a standard solution to cool the tissue and reduce collateral thermal damage. In bone surgery using Er:YAG laser, insufficient irrigation raises the risk of thermal damage, while excessive water lowers ablation efficiency. This study investigated the potential of optical coherence tomography to provide feedback by relating the temperature rise with the photo-thermal expansion of the tissue. A phase-sensitive optical coherence tomography system (central wavelength of λ=1.288 µm, a bandwidth of 60.9 nm and a sweep rate of 104.17 kHz) was integrated with an Er:YAG laser using a custom-made dichromatic mirror. Phase calibration was performed by monitoring the temperature changes (thermal camera) and corresponding cumulative phase changes using the phase-sensitive optical coherence tomography system during laser ablation. In this experiment, we used an Er:YAG laser with 230 mJ per pulse at 10 Hz for ablation. Calibration coefficients were determined by fitting the temperature values to phase later and used to predict the temperature rise for subsequent laser ablations. Following the phase calibration step, we used the acquired values to predict the temperature rise of three different laser-induced cuts with the same parameters of the ablative laser. The average root-mean-square error for the three experiments was measured to be around 4 °C. In addition to single-point prediction, we evaluated this method's performance to predict the tissue's two-dimensional temperature rise during laser osteotomy. The findings suggest that the proposed principle could be used in the future to provide temperature feedback for minimally invasive laser osteotomy.


Asunto(s)
Rayos Láser , Tomografía de Coherencia Óptica , Temperatura , Retroalimentación , Osteotomía
3.
Int J Med Robot ; 18(5): e2438, 2022 Oct.
Artículo en Inglés | MEDLINE | ID: mdl-35770622

RESUMEN

INTRODUCTION: Traditional bone surgery using saws and chisels is associated with direct contact of instruments with the bone causing friction, heat and pressure and hence, damaging the bone and the surrounding soft tissues. METHOD: Cold ablation laser osteotomy offers new possibilities to perform corrective osteotomies in the field of bone surgery. We introduce the technology of navigated cold ablation robot-guided laser osteotomy, present potential applications, and preliminary pre-clinical cadaver test results in the field of hand-, wrist- and forearm surgery. RESULTS: The cadaver tests showed first promising results for corrections in all planes and axes using different cutting patterns. CONCLUSION: Cold ablation laser osteotomy seems to be a feasible new method to perform osteotomies in the field of hand-, wrist- and forearm surgery. Primary osseous stability could be achieved using various cutting patterns which could lead to reduction of the amount of hardware required for osteosynthesis. Further tests are required to proof the latter and precision.


Asunto(s)
Robótica , Cadáver , Estudios de Factibilidad , Antebrazo , Humanos , Rayos Láser , Osteotomía/métodos , Muñeca/cirugía
4.
Front Bioeng Biotechnol ; 10: 858862, 2022.
Artículo en Inglés | MEDLINE | ID: mdl-35573227

RESUMEN

Cementless total knee arthroplasty (TKA) can achieve long-term biological fixation, but its application is limited by the risk of early aseptic loosening. One of the important reasons for early aseptic loosening is that mechanical osteotomy tools cannot achieve ideal bone preparation because of poor accuracy and serious bone tissue damage produced by them. Therefore, we designed an ultra-pulsed CO2 laser osteotomy system to solve these problems. To reveal the safety at the tissue and cell levels of the ultra-pulsed CO2 laser osteotomy system, a series of experiments on distal femur osteotomy in animals were performed. Then, the bone surface characteristics were analyzed through scanning electron microscopy, and the bone thermal and mechanical damage was evaluated via histological analysis. Finally, mesenchymal stem cells (MSCs) were inoculated on the bone surfaces prepared by the two osteotomy tools, and the effect of cell adhesion was analyzed through a confocal laser scanning microscope (CLSM). We successfully achieved TKA bone preparation of animal knees with the ultra-pulsed CO2 laser osteotomy system. Moreover, the biological evaluation results indicated that compared with the traditional mechanical saw, the laser can preserve the natural bone structure and cause no thermal damage to the bone. In addition, CLSM examination results showed that the laser-cut bone surface was more conducive to cell adhesion and infiltration than the bone surface cut by a mechanical saw. Overall, these results indicate that ultra-pulsed CO2 laser can achieve non-invasive bone cutting, which can be a new option for TKA bone preparation and has the potential to lead in the future.

5.
J Craniomaxillofac Surg ; 49(7): 531-537, 2021 Jul.
Artículo en Inglés | MEDLINE | ID: mdl-33994295

RESUMEN

The aim of the study was to assess the clinical applicability of robot guided laser osteotomy for clinical application. This is the initial report on 14 consecutive patients requiring an orthognathic procedure with a midface osteotomy (no restrictions made on the surgical indication itself) who have undergone surgery by means of the Cold Ablation Laser Osteotome CARLO® (AOT Advanced Osteotomy Tools, Basle, Switzerland), which is an integrated system, functionally comprising: an Er:YAG laser source, intended to perform osteotomies using cold laser ablation, a robot arm that controls the position of the laser source, an optical tracking device that provides a continuous and accurate measurement of the position of the laser source and of reference elements attached to instruments or bones, a navigation system (software) that is able to read preoperatively defined planned osteotomies, and - under the control of a surgeon - performs the planned osteotomies. Safety was assessed by unimpaired postoperative healing and the absence of device related injuries; performance was assessed as ability to cut the maxilla along the preoperatively planned cutting path with a rage of accuracy of 2mm. Cold ablation robot-guided laser osteotomy could successfully be performed in 14 consecutive patients. No intraoperative complications or technical failure occurred. All osteotomies were within an average deviation of 0.80 mm (±0.26 mm) of the virtually preplanned location. The registration procedure to set up the robot at the beginning of the operation required a mean time of 4.6 min (±5.3min). In this report we describe the effective and successful routine use of Cold ablation robot-guided laser osteotomy in an actual clinical setting. It is a promising technical innovation that has the potential to set new standards for accuracy and safety in orthognathic surgery.


Asunto(s)
Terapia por Láser , Láseres de Estado Sólido , Robótica , Cara , Humanos , Suiza
6.
Front Oncol ; 11: 690374, 2021.
Artículo en Inglés | MEDLINE | ID: mdl-35047381

RESUMEN

Biopsies of brain tissue are sampled and examined to establish a diagnosis and to plan further treatment, e.g. for brain tumors. The neurosurgical procedure of sampling brain tissue for histologic examination is still a relatively invasive procedure that carries several disadvantages. The "proof of concept"-objective of this study is to answer the question if laser technology might be a potential tool to make brain biopsies less invasive, faster and safer. Laser technology might carry the opportunity to miniaturize the necessary burr hole and also to angulate the burr hole much more tangential in relation to the bone surface in order to take biopsies from brain regions that are usually only difficult and hazardous to access. We examined if it is possible to miniaturize the hole in the skull bone to such a high extent that potentially the laser-created canal itself may guide the biopsy needle with sufficient accuracy. The 2-dimensional, i.e. radial tolerance of the tip of biopsy needles inserted in these canals was measured under defined lateral loads which mimic mechanical forces applied by a surgeon. The canals through the skull bones were planned in angles of 90° (perpendicular) and 45° relative to the bone surface. We created a total of 33 holes with an Er : YAG laser in human skull bones. We could demonstrate that the achievable radial tolerance concerning the guidance of a biopsy needle by a laser created bone canal is within the range of the actual accuracy of a usual navigated device if the canal is at least 4 mm in length. Lateral mechanical loads applied to the biopsy needle had only minor impact on the measurable radial tolerance. Furthermore, in contrast to mechanical drilling systems, laser technology enables the creation of bone canals in pointed angles to the skull bone surface. The latter opens the perspective to sample biopsies in brain areas that are usually not or only hazardous to access.

7.
Lasers Surg Med ; 53(3): 291-299, 2021 03.
Artículo en Inglés | MEDLINE | ID: mdl-32529785

RESUMEN

BACKGROUND AND OBJECTIVE: To take major advantage of erbium-doped yttrium aluminium garnet (Er:YAG) lasers in osteotomy-like freedom of cutting geometries and high accuracy-the integration and miniaturization of the robot, laser, and navigation technology was tried and applied to minipigs. The investigators hypothesized laser osteotomy would render acceptable bone healing based on the intraoperative findings and postoperative cut surface analysis. STUDY DESIGN/MATERIALS AND METHODS: We designed and implemented a comparative bone-cutting surgery in the minipig mandible with a cold ablation robot-guided Er:YAG laser osteotome (CARLO) and a piezoelectric (PZE) osteotome. The sample was composed of different patterns of defects in the mandibles of six grown-up female Goettingen minipigs. The predictor variable was Er:YAG osteotomy and PZE osteotomy. The outcome variable was the cut surface characteristics and bone healing at 4 and 8 weeks postoperatively. Descriptive and qualitative comparison was executed. RESULTS: The sample was composed of four kinds of bone defects on both sides of the mandibles of six minipigs. We observed more bleeding during the operation, open-cut surfaces, and a faster healing pattern with the laser osteotomy. There was a possible association between the intraoperative findings, postoperative cut surface analysis, and the bone healing pattern. CONCLUSIONS: The results of this study suggest that characteristic open-cut surfaces could explain favorable bone healing after laser osteotomy. Future studies will focus on the quantification of the early healing characteristics after laser osteotomy, its diverse application, and the safety feature. Lasers Surg. Med. © 2020 Wiley Periodicals LLC.


Asunto(s)
Terapia por Láser , Láseres de Estado Sólido , Robótica , Animales , Femenino , Láseres de Estado Sólido/uso terapéutico , Mandíbula/cirugía , Osteotomía , Proyectos Piloto , Porcinos , Porcinos Enanos
8.
Lasers Med Sci ; 35(7): 1477-1485, 2020 Sep.
Artículo en Inglés | MEDLINE | ID: mdl-31828574

RESUMEN

The extensive research on the laser machining of the bone has been, so far, restricted to drilling and cutting that is one- and two-dimensional machining, respectively. In addition, the surface morphology of the laser machined region has rarely been explored in detail. In view of this, the current work employed three-dimensional laser machining of human bone and reports the distinct surface morphology produced within a laser machined region of human bone. Three-dimensional laser machining was carried out using multiple partially overlapped pulses and laser tracks with a separation of 0.3 mm between the centers of consecutive laser tracks to remove a bulk volume of the bone. In this study, a diode-pumped pulse Er:YAG laser (λ = 2940 nm) was employed with continuously sprayed chilled water at the irradiation site. The resulting surface morphology evolved within the laser-machined region of the bone was evaluated using scanning electron microscopy, energy dispersive spectroscopy, and X-ray micro-computed tomography. The distinct surface morphology involved cellular/channeled scaffold structure characterized by interconnected pores surrounded by solid ridges, produced within a laser machined region of human structural bone. Underlying physical phenomena responsible for evolution of such morphology have been proposed and explained with the help of a thermokinetic model.


Asunto(s)
Huesos/efectos de la radiación , Láseres de Estado Sólido , Huesos/ultraestructura , Humanos , Espectrometría por Rayos X , Temperatura , Factores de Tiempo , Microtomografía por Rayos X
9.
ACS Biomater Sci Eng ; 6(4): 2415-2426, 2020 04 13.
Artículo en Inglés | MEDLINE | ID: mdl-33455309

RESUMEN

As a potential osteotomy tool, laser ablation is expected to provide rapid machining of bone, while generating minimal thermal damage (carbonization) and physical attributes within the machined region conducive to healing. As these characteristics vary with laser parameters and modes of laser operation, the clinical trials and in vivo studies render it difficult to explore these aspects for optimization of the laser machining parameters. In light of this, the current work explores various thermal and microstructural aspects of laser-ablated cortical bone in ex vivo study to understand the fundamentals of laser-bone interaction using computational modeling. The study employs the Yb-fiber Nd:YAG laser (λ = 1064 nm) in the continuous wave mode to machine the femur section of bovine bone by a three-dimensional machining approach. The examination involved thermal analysis using differential scanning calorimetry and thermogravimetry, phase analysis using X-ray diffractometry, qualitative analysis using X-ray photoelectron spectroscopy, and microstructural and semiquantitative analysis using scanning electron microscopy equipped with energy-dispersive spectrometry. The mechanism of efficient bone ablation using the Nd:YAG laser was evaluated using the computational thermokinetics outcome. The use of high laser fluence (10.61 J/mm2) was observed to be efficient to reduce the residual amorphous carbon in the heat-affected zone while achieving removal of the desired volume of the bone material at a rapid rate. Minimal thermal effects were predicted through computational simulation and were validated with the experimental outcome. In addition, this work reveals the in situ formation of a scaffold-like structure in the laser-machined region which can be conducive during healing.


Asunto(s)
Terapia por Láser , Láseres de Estado Sólido , Animales , Huesos/diagnóstico por imagen , Bovinos , Hueso Cortical/diagnóstico por imagen , Osteotomía
10.
Int J Comput Assist Radiol Surg ; 14(5): 809-818, 2019 May.
Artículo en Inglés | MEDLINE | ID: mdl-30730030

RESUMEN

PURPOSE: Planning osteotomies is a task that surgeons do as part of standard surgical workflow. This task, however, becomes more difficult and less intuitive when a robot is tasked with performing the osteotomy. In this study, we aim to provide a new method for surgeons to allow for highly intuitive trajectory planning, similar to the way an attending surgeon would instruct a junior. METHODS: Planning an osteotomy, especially during a craniotomy, is performed intraoperatively using a sterile surgical pen or pencil directly on the exposed bone surface. This paper presents a new method for generating osteotomy trajectories for a multi-DOF robotic manipulator using the same method and relaying the penscribed cut path to the manipulator as a three-dimensional trajectory. The penscribed cut path is acquired using structured light imaging, and detection, segmentation, optimization and orientation generation of the Cartesian trajectory are done autonomously after minimal user input. RESULTS: A 7-DOF manipulator (KUKA IIWA) is able to follow fully penscribed trajectories with sub-millimeter accuracy in the target plane and perpendicular to it (0.46 mm and 0.36 mm absolute mean error, respectively). CONCLUSIONS: The robot is able to precisely follow cut paths drawn by the surgeon directly onto the exposed boney surface of the skull. We demonstrate through this study that current surgical workflow does not have to be drastically modified to introduce robotic technology in the operating room. We show that it is possible to guide a robot to perform an osteotomy in much the same way a senior surgeon would show a trainee by using a simple surgical pen or pencil.


Asunto(s)
Terapia por Láser/métodos , Osteotomía/métodos , Fantasmas de Imagen , Procedimientos Quirúrgicos Robotizados/métodos , Robótica/instrumentación , Cráneo/cirugía , Craneotomía/métodos , Humanos , Cráneo/diagnóstico por imagen
11.
Lasers Surg Med ; 51(6): 531-537, 2019 08.
Artículo en Inglés | MEDLINE | ID: mdl-30645014

RESUMEN

OBJECTIVES: The osteo-odonto-kerato-prosthesis (OOKP) procedure is a complex, multi-stage, multidisciplinary surgical intervention for the treatment of severe corneal blindness. One step of the OOKP consists of creating a precise hole into a tooth in which an optic cylinder is subsequently inserted; its shape must ensure a perfect watertight fit. The Er: YAG laser (L) used in this study is part of CARLO®, the first laser osteotome that enables surgical planning based on computed tomography data, robot guidance, and a precise execution of laser cuts in teeth and bone tissue, using laser photoablation rather than conventional mechanical methods. The purpose of this study was to assess whether the Er: YAG laser is non-inferior compared to a conventional drill. METHODS: Thirty-two bovine incisors were grounded to a thickness of 1.5 mm. In 16 teeth, a 3.5 mm hole was drilled progressively into each tooth, using dental burs (B) of increasing diameter that were attached to a fixed drill machine. In the other 16 teeth, a hole was created using an Er: YAG laser at a wavelength of 2.94 µm (Part of CARLO®). In seven teeth of each group, the cylinder was inserted and fixated with polymethylmethacrylate (PMMA) bone cement. In the remaining seven teeth of each group, the cylinder was inserted without fixation material (press-fit). After bonding and drying, all specimens were stored in water until force measurements were recorded using a uniaxial traction machine. The force required to move the optical cylinder out of the hole in the tooth was measured using an Instron 3344 testing system. Scanning electron microscope (SEM) and light microscope (LM) visualization of the holes created with the laser and the drill were performed in two teeth (SEM)/four teeth (LM) per method. RESULTS: Significant differences (P < 0.001) were found for the following parameters: B PMMA versus B press-fit; B PMMA versus L press-fit; L PMMA versus B press-fit; L PMMA-L press-fit. This shows that PMMA bone cement fixation is superior to press-fit. No significant differences were found between B PMMA-L PMMA (P = 0.93) and B press-fit-L press-fit (P = 0.83). The SEM pictures showed a smoother surface using L. CONCLUSIONS: The laser cut holes were as strong as bur-drilled holes, although SEM pictures showed a smoother surface of the laser cut holes. Hence, laser osteotomes open the possibility to custom fit the hole exactly to the width of the cylinder, which represents a potential advantage of the laser over the conventional bur. Lasers Surg. Med. 51:531-537, 2019. © 2019 Wiley Periodicals, Inc.


Asunto(s)
Incisivo/cirugía , Terapia por Láser/instrumentación , Láseres de Estado Sólido/uso terapéutico , Osteotomía/instrumentación , Animales , Bovinos , Incisivo/ultraestructura , Implantación de Prótesis
12.
J Craniomaxillofac Surg ; 46(10): 1850-1855, 2018 Oct.
Artículo en Inglés | MEDLINE | ID: mdl-30146105

RESUMEN

OBJECTIVE: Aim of the study was to prove the safety, accuracy characteristics of contact-free laser osteotomy executed with the cold ablation and robot-guided Er:YAG laser osteotome in a human cadaver test. MATERIAL AND METHODS: On six human cadavers mandible resections with a swallowtail like pattern were performed with the laser system on each side. The defects were reconstructed with a fibula graft of identical design and enlarged by 0.2 units. Mandibles and fibulas width as well surgery times were recorded. Additionally a Le Fort I and median mandible split were done. Macroscopically, the bone margins were examined for necrosis. RESULTS: Laser osteotomies of the mandible up to a depth of 23 mm were possible without any thermal damage. Repeatability and precision of the system could be easily assessed. With the navigation system precise control of localization was achievable. Mean surgery time for the mandible resection was 13.32 min and for the fibula osteotomy 12.38 min. CONCLUSION: The simply transmission of a cold ablation and robot-guided laser osteotome in an operation room identical environment for surgical interventions could be demonstrated. Precise osteotomy patterns with freedom in the design and carbonisation-free cut surfaces have been shown.


Asunto(s)
Criocirugía/métodos , Huesos Faciales/cirugía , Peroné/trasplante , Colgajos Tisulares Libres/cirugía , Terapia por Láser/métodos , Mandíbula/cirugía , Procedimientos Quirúrgicos Robotizados/métodos , Femenino , Humanos , Masculino , Tempo Operativo , Procedimientos Quirúrgicos Robotizados/instrumentación
13.
Lasers Med Sci ; 33(7): 1471-1478, 2018 Sep.
Artículo en Inglés | MEDLINE | ID: mdl-29654421

RESUMEN

Most industrial laser applications utilize computer and robot assistance, for guidance, safety, repeatability, and precision. In contrast, medical applications using laser systems are mostly conducted manually. The advantages can be effective only when the system is coupled to a robotic guidance, as operating by hand does not reach the required accuracy. We currently developed the first laser osteotome which offers preoperative planning based on CT data, robot guidance, and a precise execution of the laser cuts. In an animal trial, our system was used to create a grid pattern of the same depth on the inner layer of parietal bone in 12 adult sheep. The same bone cuts were done with piezoelectric osteotome on the contralateral side. The micro-CT and histological analysis showed more new mineralized bone in the laser group compared to the piezoelectric group. As well, a cutting pattern with especially a constant osteotomy depth in the laser group was demonstrated. The here presented autonomous osteotomy tool shows not only an advantage in early bone healing stage but additionally sharp bone cuts with a very high accuracy and freely selectable design cuts.


Asunto(s)
Huesos/anatomía & histología , Huesos/cirugía , Terapia por Láser , Rayos Láser , Osteotomía/instrumentación , Robótica , Cirugía Asistida por Computador , Animales , Huesos/citología , Huesos/diagnóstico por imagen , Calcificación Fisiológica , Ovinos , Microtomografía por Rayos X
14.
Int J Comput Assist Radiol Surg ; 12(10): 1751-1762, 2017 Oct.
Artículo en Inglés | MEDLINE | ID: mdl-28258401

RESUMEN

PURPOSE: The use of a robot-guided laser osteotome for median sternotomy is impeded by prohibiting cutting inaccuracies due to respiration-induced motions of the thorax. With this paper, we advance today's methodologies in sternotomy procedures by introducing the concept of novel 3D functional cuts and a respiratory motion compensation algorithm for the computer-assisted and robot-guided laser osteotome, CARLO®. METHODS: We present a trajectory planning algorithm for performing 3D functional cuts at a constant cutting velocity. In addition, we propose the use of Gaussian process (GP) prediction in order to anticipate the sternum's pose providing enough time for the CARLO® device to adjust the position of the laser source. RESULTS: We analysed the performance of the proposed algorithms on a computer-based simulation framework of the CARLO® device. The median position error of the laser focal point has shown to be reduced from 0.22 mm without GP prediction to 0.19 mm with GP prediction. CONCLUSION: The encouraging simulation results support the proposed respiratory motion compensation algorithm for robot-guided laser osteotomy on the thorax. Successful compensation of the respiration-induced motion of the thorax opens doors for robot-guided laser sternotomy and the related novel cutting patterns. These functional cuts hold great potential to significantly improve postoperative sternal stability and therefore reduce pain and recovery time for the patient. By enabling functional cuts, we approach an important threshold moment in the history of osteotomy, creating innovative opportunities which reach far beyond the classic linear cutting patterns.


Asunto(s)
Algoritmos , Simulación por Computador , Osteotomía/instrumentación , Respiración , Robótica/instrumentación , Esternotomía/métodos , Humanos , Imagenología Tridimensional , Terapia por Láser , Movimiento (Física)
15.
J Med Eng Technol ; 41(1): 1-12, 2017 Jan.
Artículo en Inglés | MEDLINE | ID: mdl-27345105

RESUMEN

Osteotomy is the surgical cutting of bone. Some obstacles to laser osteotomy have been melting, carbonisation and subsequent delayed healing. New cooled scanning techniques have resulted in effective bone cuts without the strong thermal side effects, which were observed by inappropriate irradiation techniques with continuous wave and long pulsed lasers. With these new techniques, osteotomy gaps histologically healed with new bone formation without any noticeable or minimum thermal damage. No significant cellular differences in bone healing between laser and mechanical osteotomies were noticed. Some studies even suggest that the healing rate may be enhanced following laser osteotomy compared to conventional mechanical osteotomy. Additional research is necessary to evaluate different laser types with appropriate laser setting variables to increase ablation rates, with control of depth, change in bone type and damage to adjacent soft tissue. Laser osteotomy has the potential to become incorporated into the armamentarium of bone surgery.


Asunto(s)
Rayos Láser , Osteotomía/métodos , Animales , Huesos/anatomía & histología , Huesos/fisiología , Huesos/cirugía , Humanos
16.
Br J Oral Maxillofac Surg ; 53(10): 976-81, 2015 Dec.
Artículo en Inglés | MEDLINE | ID: mdl-26305341

RESUMEN

Laser was being used in medicine soon after its invention. However, it has been possible to excise hard tissue with lasers only recently, and the Er:YAG laser is now established in the treatment of damaged teeth. Recently experimental studies have investigated its use in bone surgery, where its major advantages are freedom of cutting geometry and precision. However, these advantages become apparent only when the system is used with robotic guidance. The main challenge is ergonomic integration of the laser and the robot, otherwise the surgeon's space in the operating theatre is obstructed during the procedure. Here we present our first experiences with an integrated, miniaturised laser system guided by a surgical robot. An Er:YAG laser source and the corresponding optical system were integrated into a composite casing that was mounted on a surgical robotic arm. The robot-guided laser system was connected to a computer-assisted preoperative planning and intraoperative navigation system, and the laser osteotome was used in an operating theatre to create defects of different shapes in the mandibles of 6 minipigs. Similar defects were created on the opposite side with a piezoelectric (PZE) osteotome and a conventional drill guided by a surgeon. The performance was analysed from the points of view of the workflow, ergonomics, ease of use, and safety features. The integrated robot-guided laser osteotome can be ergonomically used in the operating theatre. The computer-assisted and robot-guided laser osteotome is likely to be suitable for clinical use for ostectomies that require considerable accuracy and individual shape.


Asunto(s)
Osteotomía , Animales , Cara , Láseres de Estado Sólido/uso terapéutico , Mandíbula , Maxilar , Robótica , Cirugía Asistida por Computador , Porcinos , Porcinos Enanos
17.
Lasers Surg Med ; 47(5): 426-32, 2015 Jul.
Artículo en Inglés | MEDLINE | ID: mdl-25945815

RESUMEN

BACKGROUND AND OBJECTIVES: Despite of the long history of medical application, laser ablation of bone tissue became successful only recently. Laser bone cutting is proven to have higher accuracy and to increase bone healing compared to conventional mechanical bone cutting. But the reason of subsequent better healing is not biologically explained yet. In this study we present our experience with an integrated miniaturized laser system mounted on a surgical lightweight robotic arm. STUDY DESIGN/MATERIALS AND METHODS: An Erbium-doped Yttrium Aluminium Garnet (Er:YAG) laser and a piezoelectric (PZE) osteotome were used for comparison. In six grown up female Göttingen minipigs, comparative surgical interventions were done on the edentulous mandibular ridge. Our laser system was used to create different shapes of bone defects on the left side of the mandible. On the contralateral side, similar bone defects were created by PZE osteotome. Small bone samples were harvested to compare the immediate post-operative cut surface. RESULTS: The analysis of the cut surface of the laser osteotomy and conventional mechanical osteotomy revealed an essential difference. The scanning electron microscopy (SEM) analysis showed biologically open cut surfaces from the laser osteotomy. The samples from PZE osteotomy showed a flattened tissue structure over the cut surface, resembling the "smear layer" from tooth preparation. CONCLUSIONS: We concluded that our new finding with the mechanical osteotomy suggests a biological explanation to the expected difference in subsequent bone healing. Our hypothesis is that the difference of surface characteristic yields to different bleeding pattern and subsequently results in different bone healing. The analyses of bone healing will support our hypothesis.


Asunto(s)
Terapia por Láser/instrumentación , Láseres de Estado Sólido/uso terapéutico , Mandíbula/cirugía , Mandíbula/ultraestructura , Osteotomía/instrumentación , Piezocirugía/instrumentación , Animales , Femenino , Microscopía Electrónica de Rastreo , Porcinos , Porcinos Enanos
18.
J Med Signals Sens ; 3(4): 262-8, 2013 Oct.
Artículo en Inglés | MEDLINE | ID: mdl-24695375

RESUMEN

In recent years, interest in medical application of lasers especially as a surgical alternative is considerably increasing due to their distinct advantages such as non-contact intervention, bacteriostasis, less traumatization, minimal invasiveness, decreased bleeding and less heat damage. The present study aimed to evaluate the temperature changes and the consequent released thermal stress in cortical bone caused by an Erbium:yttrium aluminum garnet (Er:YAG) laser (Fideliss 320A, Fotona Inc., Deggingen, Germany) during osteotomy, using mathematical computation by means of Maple software, version 9.5 (Maplesoft, a division of Waterloo Maple Inc., Canada). The results obtained here were compared with the experimental measurements using Er:YAG laser in the osteotomy clinics. A bone slab with thickness of 1 mm was simulated in Maple software. Then, an Er:YAG laser emitting 100 µs pulses at a wavelength of 2940 nm were modeled. Two different clinical settings of the Er:YAG laser with 200 mJ and 400 mJ energies, both with 100 µs exposure and 500 µs silence were studied. To investigate the temperature distribution in the cortical bone, the time-dependent heat conduction equations were defined and solved in the Maple software. Finally, by defining the heat distribution function in the Maple, thermal stress in the bone was investigated. Results of the computations showed that, on the bone irradiated area (center of the bone surface) the maximum temperature rise was 0.8°C and 1.6°C, for 200 mJ and 400 mJ Er:YAG laser exposure, respectively. The temperature rise reached to its minimum at radial distances of 1.2 cm from the point of irradiated area for 200 mJ laser while it was 1.5 cm for 400 mJ laser. For 200 mJ laser the maximum derived radial (σ rr ), axial (σ zz ) and azimuthally (σ θθ ) stress components were 0.20, 0.16 and 0.08 MPa, respectively. While, for 400 mJ laser the maximum derived σ rr , σ zz and σ θθ stress components were 0.39, 0.31 and 0.16 MPa, respectively. These results confirm that use of 100 µs Er:YAG laser pulses with 500 µs silence at 200 and 400 mJ energies minimizes thermal tissue damage for the laser osteotomies, without continued water cooling (irrigation) on the exposed area.

19.
Clin Cosmet Investig Dent ; 2: 47-62, 2010.
Artículo en Inglés | MEDLINE | ID: mdl-23662082

RESUMEN

The erbium-doped yttrium aluminium garnet (Er:YAG) laser has emerged as a possible alternative to conventional methods of bone ablation because of its wavelength of 2.94 µm, which coincides with the absorption peak of water. Over the last decades in several experimental and clinical studies, the widespread initial assumption that light amplification for stimulated emission of radiation (laser) osteotomy inevitably provokes profound tissue damage and delayed wound healing has been refuted. In addition, the supposed disadvantage of prolonged osteotomy times could be overcome by modern short-pulsed Er:YAG laser systems. Currently, the limiting factors for a routine application of lasers for bone ablation are mainly technical drawbacks such as missing depth control and a difficult and safe guidance of the laser beam. This article gives a short overview of the development process and current possibilities of noncontact Er:YAG laser osteotomy in oral and implant surgery.

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