{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T04:26:28Z","timestamp":1784694388121,"version":"3.55.0"},"reference-count":34,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2016,10,20]],"date-time":"2016-10-20T00:00:00Z","timestamp":1476921600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R21EB015623\u201001A1"],"award-info":[{"award-number":["R21EB015623\u201001A1"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2017,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>Transurethral Resection of Bladder Tumors (TURBT) is a challenging procedure partly due to resectoscope limitations. To date, manual resection performance has not been fully characterized. This work characterizes manual resection performance in the bladder while analyzing the effect of resection location on accuracy.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>Kinematic simulations are used to assess kinematic measures of resection dexterity. An experimental protocol for manual resection accuracy assessment is developed. Cross correlations between the theoretical performance measures and the observed experimental accuracy are investigated.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Tangential accuracy correlates relatively strongly with normal singular value and moderately with tangential kinematic conditioning index and tangential minimum singular value. Simulations also clarified difficulties in resecting close to the bladder neck.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>Measures to evaluate accuracy and dexterity of TURBT from a kinematic viewpoint are presented to provide a currently missing quantified dexterity baseline in manual TURBT. Limitations in various bladder regions are illustrated. Copyright \u00a9 2016 John Wiley &amp; Sons, Ltd.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.1757","type":"journal-article","created":{"date-parts":[[2016,10,21]],"date-time":"2016-10-21T01:52:41Z","timestamp":1477014761000},"source":"Crossref","is-referenced-by-count":5,"title":["Kinematic and experimental investigation of manual resection tools for transurethral bladder tumor resection"],"prefix":"10.1002","volume":"13","author":[{"given":"Nima","family":"Sarli","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Vanderbilt University Nashville TN 37240 USA"},{"name":"Vanderbilt Initiative in Surgical Engineering (ViSE) Nashville Tennessee USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tracy","family":"Marien","sequence":"additional","affiliation":[{"name":"Department of Urologic Surgery, A\u20101302 Medical Center North Vanderbilt University Medical Center Nashville TN 37232\u20102765"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christopher R.","family":"Mitchell","sequence":"additional","affiliation":[{"name":"Department of Urologic Surgery, A\u20101302 Medical Center North Vanderbilt University Medical Center Nashville TN 37232\u20102765"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Giuseppe","family":"Del Giudice","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Vanderbilt University Nashville TN 37240 USA"},{"name":"Vanderbilt Initiative in Surgical Engineering (ViSE) Nashville Tennessee USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mary S.","family":"Dietrich","sequence":"additional","affiliation":[{"name":"School of Nursing Vanderbilt University Nashville TN USA"},{"name":"Department of Biostatistics, School of Medicine Vanderbilt University Nashville TN USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S. Duke","family":"Herrell","sequence":"additional","affiliation":[{"name":"Department of Urologic Surgery, A\u20101302 Medical Center North Vanderbilt University Medical Center Nashville TN 37232\u20102765"},{"name":"Vanderbilt Initiative in Surgical Engineering (ViSE) Nashville Tennessee USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nabil","family":"Simaan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Vanderbilt University Nashville TN 37240 USA"},{"name":"Vanderbilt Initiative in Surgical Engineering (ViSE) Nashville Tennessee USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2016,10,20]]},"reference":[{"key":"e_1_2_8_2_1","unstructured":"Cancer Facts & Figures\u00a02015.Atlanta Ga: American Cancer 2015."},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1097\/MOU.0000000000000093"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.juro.2014.01.087"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1078-1439(99)00052-6"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00345-009-0395-z"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-5347(17)55677-3"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.3109\/00365599509180038"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-5347(17)58740-6"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.urology.2009.08.082"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.juro.2011.07.076"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.juro.2014.03.083"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.urology.2003.12.035"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2012.03.018"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0302-2838(02)00068-4"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00345-009-0398-9"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF03262330"},{"issue":"10","key":"e_1_2_8_18_1","first-page":"1247","article-title":"New master arm for transurethral resection with a robot","volume":"55","author":"Sanchez de Badajoz E","year":"2002","journal-title":"Arch Esp Urol"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3054381"},{"key":"e_1_2_8_20_1","doi-asserted-by":"crossref","unstructured":"HashimotoR KimD HataN DohiT.A tubular organ resection manipulator for transurethral resection of the prostate. In: Intelligent Robots and Systems 2004. (IROS 2004). Proceedings. 2004 IEEE\/RSJ International Conference on. vol. 4;2004. p.3954\u20133959.","DOI":"10.1109\/IROS.2004.1390032"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2226031"},{"key":"e_1_2_8_22_1","doi-asserted-by":"crossref","unstructured":"BajoA PickensRB HerrellSD SimaanN.Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. In Proceedings \u2010 IEEE International Conference on Robotics and Automation 2013;5837\u20135842.","DOI":"10.1109\/ICRA.2013.6631417"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1089\/end.2014.0366"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eursup.2009.06.003"},{"key":"e_1_2_8_25_1","doi-asserted-by":"crossref","unstructured":"SarliN MarienT HerrellSD SimaanN.Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study. In IEEE International Conference on Robotics and Automation (ICRA) 2015;5324\u20135329.","DOI":"10.1109\/ICRA.2015.7139942"},{"key":"e_1_2_8_26_1","volume-title":"Human Anatomy and Physiology","author":"Hole JW","year":"1981"},{"key":"e_1_2_8_27_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"e_1_2_8_28_1","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/3074.001.0001","volume-title":"Foundations of robotics: analysis and control","author":"Yoshikawa T","year":"1990"},{"key":"e_1_2_8_29_1","doi-asserted-by":"publisher","DOI":"10.1007\/b97597"},{"key":"e_1_2_8_30_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"issue":"9","key":"e_1_2_8_31_1","first-page":"394","article-title":"On the Reciprocal of General Algebraic Matrix","volume":"26","author":"H PE, P P","year":"1920","journal-title":"Bull Amer Math Soc"},{"key":"e_1_2_8_32_1","volume-title":"The Theroy of Mastrices with Applications","author":"Lancaster P","year":"1985"},{"key":"e_1_2_8_33_1","doi-asserted-by":"crossref","unstructured":"HendrickRJ HerrellSD WebsterIIIRJ.A Multi\u2010Arm Hand\u2010Held Robotic System for Transurethral Laser Prostate Surgery. In IEEE International Conference on Robotics and Automation 2014;2850\u20132855.","DOI":"10.1109\/ICRA.2014.6907268"},{"key":"e_1_2_8_34_1","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig JJ","year":"1989"},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-0258(20000515)19:9<1141::AID-SIM479>3.0.CO;2-F"}],"container-title":["The International Journal of Medical Robotics and Computer Assisted Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frcs.1757","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frcs.1757","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rcs.1757","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T18:52:06Z","timestamp":1749667926000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rcs.1757"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,10,20]]},"references-count":34,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,6]]}},"alternative-id":["10.1002\/rcs.1757"],"URL":"https:\/\/doi.org\/10.1002\/rcs.1757","archive":["Portico"],"relation":{},"ISSN":["1478-5951","1478-596X"],"issn-type":[{"value":"1478-5951","type":"print"},{"value":"1478-596X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,10,20]]},"article-number":"e1757"}}