A robotic system for telementoring and training in laparoscopic surgery
A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through ph...
Saved in:
| Published in | The international journal of medical robotics + computer assisted surgery Vol. 16; no. 2; pp. e2040 - n/a |
|---|---|
| Main Authors | , , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
England
Wiley Subscription Services, Inc
01.04.2020
|
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical‐tool trajectory and video feed can be recorded and later “played back” to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high‐fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high‐resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software‐control schemes, and evaluate the system in a study. |
|---|---|
| AbstractList | A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical-tool trajectory and video feed can be recorded and later "played back" to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high-fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high-resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software-control schemes, and evaluate the system in a study. A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical-tool trajectory and video feed can be recorded and later "played back" to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high-fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high-resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software-control schemes, and evaluate the system in a study.A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical-tool trajectory and video feed can be recorded and later "played back" to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high-fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high-resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software-control schemes, and evaluate the system in a study. |
| Author | Chu, Kevin Lee, Yu‐Hsiu Tsao, Tsu‐Chin Prince, Stephen W. Gerber, Matthew J. Lim, Christopher Simonelli, James Dutson, Erik P. Kang, Christopher |
| Author_xml | – sequence: 1 givenname: Stephen W. surname: Prince fullname: Prince, Stephen W. organization: University of California – sequence: 2 givenname: Christopher surname: Kang fullname: Kang, Christopher organization: University of California – sequence: 3 givenname: James orcidid: 0000-0002-1777-8906 surname: Simonelli fullname: Simonelli, James organization: University of California – sequence: 4 givenname: Yu‐Hsiu orcidid: 0000-0003-4363-2051 surname: Lee fullname: Lee, Yu‐Hsiu organization: University of California – sequence: 5 givenname: Matthew J. orcidid: 0000-0001-9187-4827 surname: Gerber fullname: Gerber, Matthew J. organization: University of California – sequence: 6 givenname: Christopher surname: Lim fullname: Lim, Christopher organization: University of California – sequence: 7 givenname: Kevin surname: Chu fullname: Chu, Kevin organization: University of California – sequence: 8 givenname: Erik P. surname: Dutson fullname: Dutson, Erik P. organization: University of California – sequence: 9 givenname: Tsu‐Chin orcidid: 0000-0003-2087-6221 surname: Tsao fullname: Tsao, Tsu‐Chin email: ttsao@ucla.edu organization: University of California |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/31597000$$D View this record in MEDLINE/PubMed |
| BookMark | eNp10V1LwzAUBuAgE92m4C-QgjfedJ40SbtejuEXDAQ_wLuQpqcSaZOZtMj-va3TCaJXSeA5h5PzTsjIOouEnFCYUYDkwuswS4DDHhlTns1jkafPo91d0EMyCeEVgAue8gNyyKjIMwAYk-tF5F3hWqOjsAktNlHlfNRijQ3a1nljXyJly6j1ytjhYWxUq7XyLmi3Hqo6_4J-c0T2K1UHPP46p-Tp6vJxeROv7q5vl4tVrBnPIU55mQMyyhEKDbxCxnjF02KegkixKoHOM1VQXrFSUK5onmhBEyoyrVLVKzYl59u-a-_eOgytbEzQWNfKouuCTBiwTKRAs56e_aKvrvO2n65Xcw45SzLeq9Mv1RUNlnLtTaP8Rn6vqAezLdD9n4PHSmrTqtY4O-yklhTkkIHsM5BDBj8j7gq-e_5B4y19NzVu_nXyfvnw6T8AsceTQg |
| CitedBy_id | crossref_primary_10_23736_S2724_5691_20_08553_3 crossref_primary_10_1016_j_engmed_2025_100058 crossref_primary_10_1109_LRA_2021_3126342 crossref_primary_10_53730_ijhs_v6nS10_15103 crossref_primary_10_1007_s00268_021_06321_y crossref_primary_10_1016_j_jsurg_2021_05_001 crossref_primary_10_1007_s00464_023_10061_6 crossref_primary_10_3390_s22124577 crossref_primary_10_1017_S0263574722001175 crossref_primary_10_1115_1_4049515 |
| Cites_doi | 10.1177/027836499701600505 10.1167/iovs.16-19963 10.1016/S1072-7515(01)01069-9 10.1177/1553350607308369 10.1097/01.sla.0000136941.46529.56 10.1186/s12938-015-0110-9 10.1016/j.jamcollsurg.2005.02.021 10.1002/rcs.1850 10.1007/s00464-007-9672-3 10.1016/j.jsurg.2008.05.008 10.1111/j.1464-410X.2012.11270.x 10.1007/s00464-005-3008-y 10.1016/S0039-6060(03)00156-9 10.1002/rcs.453 10.1016/S1072-7515(00)00339-2 10.1016/j.eururo.2015.09.021 10.3390/robotics3030310 10.1016/0957-4158(94)90026-4 |
| ContentType | Journal Article |
| Copyright | 2019 John Wiley & Sons, Ltd. 2020 John Wiley & Sons, Ltd. |
| Copyright_xml | – notice: 2019 John Wiley & Sons, Ltd. – notice: 2020 John Wiley & Sons, Ltd. |
| DBID | AAYXX CITATION CGR CUY CVF ECM EIF NPM 7SC 7SP 7TB 8FD F28 FR3 JQ2 K9. L7M L~C L~D 7X8 |
| DOI | 10.1002/rcs.2040 |
| DatabaseName | CrossRef Medline MEDLINE MEDLINE (Ovid) MEDLINE MEDLINE PubMed Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database ProQuest Computer Science Collection ProQuest Health & Medical Complete (Alumni) Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional MEDLINE - Academic |
| DatabaseTitle | CrossRef MEDLINE Medline Complete MEDLINE with Full Text PubMed MEDLINE (Ovid) Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts ProQuest Health & Medical Complete (Alumni) Engineering Research Database Advanced Technologies Database with Aerospace ANTE: Abstracts in New Technology & Engineering Computer and Information Systems Abstracts Professional MEDLINE - Academic |
| DatabaseTitleList | MEDLINE Technology Research Database CrossRef MEDLINE - Academic |
| Database_xml | – sequence: 1 dbid: NPM name: PubMed url: https://proxy.k.utb.cz/login?url=http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed sourceTypes: Index Database – sequence: 2 dbid: EIF name: MEDLINE url: https://proxy.k.utb.cz/login?url=https://www.webofscience.com/wos/medline/basic-search sourceTypes: Index Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1478-596X |
| EndPage | n/a |
| ExternalDocumentID | 31597000 10_1002_rcs_2040 RCS2040 |
| Genre | article Journal Article |
| GrantInformation_xml | – fundername: Telemedicine and Advanced Technology Research Center (TATRC) funderid: Award #W81XWH-09-1-0709 – fundername: Telemedicine and Advanced Technology Research Center (TATRC) grantid: Award #W81XWH-09-1-0709 |
| GroupedDBID | --- .3N .GA .Y3 05W 0R~ 10A 1L6 1OC 31~ 33P 3SF 3WU 4.4 50Y 50Z 51W 51X 52M 52N 52O 52P 52R 52S 52T 52U 52V 52W 52X 53G 5GY 5VS 66C 702 7PT 8-0 8-1 8-3 8-4 8-5 8UM 930 A01 A03 AAESR AAEVG AAHHS AAHQN AAIPD AAMNL AANHP AANLZ AAONW AASGY AAXRX AAYCA AAZKR ABCQN ABCUV ABEML ABIJN ABQWH ABXGK ACAHQ ACBWZ ACCFJ ACCZN ACGFS ACGOF ACIWK ACMXC ACPOU ACRPL ACSCC ACXBN ACXQS ACYXJ ADBBV ADBTR ADEOM ADIZJ ADKYN ADMGS ADNMO ADOZA ADXAS ADZMN AEEZP AEIGN AEIMD AENEX AEQDE AEUQT AEUYR AFBPY AFFPM AFGKR AFPWT AFWVQ AFZJQ AHBTC AHMBA AIACR AITYG AIURR AIWBW AJBDE ALAGY ALMA_UNASSIGNED_HOLDINGS ALUQN ALVPJ AMBMR AMYDB ASPBG ATUGU AVWKF AZBYB AZFZN AZVAB BAFTC BDRZF BFHJK BHBCM BMXJE BROTX BRXPI BY8 C45 CS3 D-6 D-7 D-E D-F DCZOG DPXWK DR2 DRFUL DRMAN DRSTM DU5 EBD EBS EJD EMOBN F00 F01 F04 F5P FEDTE FUBAC G-S G.N GNP GODZA H.X HBH HF~ HGLYW HVGLF HZ~ IX1 J0M JPC KBYEO LATKE LAW LC2 LC3 LEEKS LH4 LITHE LOXES LP6 LP7 LUTES LW6 LYRES MEWTI MK4 MRFUL MRMAN MRSTM MSFUL MSMAN MSSTM MXFUL MXMAN MXSTM N04 N05 NF~ O66 O9- OIG OVD P2P P2W P2X P2Z P4B P4D PQQKQ Q.N Q11 QB0 QRW R.K ROL RWI RX1 RYL SJN SUPJJ SV3 TEORI UB1 W8V W99 WBKPD WHWMO WIH WIJ WIK WOHZO WQJ WRC WVDHM WXI WXSBR XG1 XV2 ZZTAW ~IA ~WT AAYXX AEYWJ AGHNM AGQPQ AGYGG CITATION CGR CUY CVF ECM EIF NPM 7SC 7SP 7TB 8FD AAMMB AEFGJ AGXDD AIDQK AIDYY F28 FR3 JQ2 K9. L7M L~C L~D 7X8 |
| ID | FETCH-LOGICAL-c3490-64d90e314e0bc04fe334f46b86056efd0187ab14f3d514a192c512157ca6ab863 |
| IEDL.DBID | DR2 |
| ISSN | 1478-5951 1478-596X |
| IngestDate | Thu Jul 10 19:04:44 EDT 2025 Fri Jul 25 12:07:31 EDT 2025 Wed Feb 19 02:30:33 EST 2025 Thu Apr 24 22:55:54 EDT 2025 Tue Jul 01 00:56:10 EDT 2025 Wed Jan 22 16:34:34 EST 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 2 |
| Keywords | telesurgery computer-assisted surgery human-machine interfaces robot design mechatronics |
| Language | English |
| License | 2019 John Wiley & Sons, Ltd. |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c3490-64d90e314e0bc04fe334f46b86056efd0187ab14f3d514a192c512157ca6ab863 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 content type line 23 |
| ORCID | 0000-0003-2087-6221 0000-0002-1777-8906 0000-0001-9187-4827 0000-0003-4363-2051 |
| PMID | 31597000 |
| PQID | 2384093274 |
| PQPubID | 1026349 |
| PageCount | 13 |
| ParticipantIDs | proquest_miscellaneous_2303756017 proquest_journals_2384093274 pubmed_primary_31597000 crossref_citationtrail_10_1002_rcs_2040 crossref_primary_10_1002_rcs_2040 wiley_primary_10_1002_rcs_2040_RCS2040 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | April 2020 2020-04-00 2020-Apr 20200401 |
| PublicationDateYYYYMMDD | 2020-04-01 |
| PublicationDate_xml | – month: 04 year: 2020 text: April 2020 |
| PublicationDecade | 2020 |
| PublicationPlace | England |
| PublicationPlace_xml | – name: England – name: Hamilton |
| PublicationTitle | The international journal of medical robotics + computer assisted surgery |
| PublicationTitleAlternate | Int J Med Robot |
| PublicationYear | 2020 |
| Publisher | Wiley Subscription Services, Inc |
| Publisher_xml | – name: Wiley Subscription Services, Inc |
| References | 2015; 14 2006; 20 2014; 3 2004; 135 2001; 193 2005; 201 2004; 240 2013; 111 1997; 16 2008; 65 2008; 22 2016; 69 2007; 14 1994; 4 2016; 57 2000; 191 2018; 14 2012; 8 e_1_2_9_20_1 e_1_2_9_11_1 e_1_2_9_22_1 e_1_2_9_10_1 e_1_2_9_21_1 e_1_2_9_13_1 e_1_2_9_12_1 e_1_2_9_23_1 e_1_2_9_8_1 e_1_2_9_7_1 e_1_2_9_6_1 e_1_2_9_5_1 e_1_2_9_4_1 e_1_2_9_3_1 e_1_2_9_2_1 e_1_2_9_9_1 e_1_2_9_15_1 e_1_2_9_14_1 e_1_2_9_17_1 e_1_2_9_16_1 e_1_2_9_19_1 e_1_2_9_18_1 |
| References_xml | – volume: 69 start-page: 1065 issue: 6 year: 2016 end-page: 1080 article-title: A systematic review of virtual reality simulators for robot‐assisted surgery publication-title: European urology – volume: 240 start-page: 518 issue: 3 year: 2004 article-title: Proving the value of simulation in laparoscopic surgery publication-title: Annals Surg – volume: 240 start-page: 518 issue: 3 year: 2004 end-page: 528 article-title: Proving the value of simulation in laparoscopic surgery publication-title: Annal Surg – volume: 8 start-page: 127 issue: 2 year: 2012 end-page: 145 article-title: Kinematic design considerations for minimally invasive surgical robots: an overview publication-title: The Int J Med Robot Comput Assist Surg – volume: 111 start-page: 194 issue: 2 year: 2013 end-page: 205 article-title: Current status of validation for robotic surgery simulators—a systematic review publication-title: BJU intern – volume: 193 start-page: 533 issue: 5 year: 2001 end-page: 537 article-title: Transfer of training in acquiring laparoscopic skills publication-title: J Am Coll Surg – volume: 14 start-page: 184 issue: 3 year: 2007 end-page: 191 article-title: Telementoring for minimally invasive surgical training by wireless robot publication-title: Surg innovation – volume: 57 start-page: OCT1 issue: 9 year: 2016 end-page: OCT13 article-title: The development, commercialization, and impact of optical coherence tomography publication-title: Invest Ophthal Vis sci – volume: 14 issue: 1 year: 2018 article-title: Automated robot‐assisted surgical skill evaluation: predictive analytics approach publication-title: The Int J Med Robot Comput Assist Surg – volume: 14 start-page: 115 issue: 1 year: 2015 article-title: Measurement of wrist flexion and extension torques in different forearm positions publication-title: Bio Eng Online – volume: 65 start-page: 431 issue: 6 year: 2008 end-page: 435 article-title: Does training novices to criteria and does rapid acquisition of skills on laparoscopic simulators have predictive validity or are we just playing video games? publication-title: J Sur Ed – volume: 20 start-page: 744 issue: 5 year: 2006 end-page: 747 article-title: The mistels program to measure technical skill in laparoscopic surgery publication-title: Surg Endosc Other Interv Techniques – volume: 4 start-page: 581 issue: 6 year: 1994 end-page: 605 article-title: Kinematic analysis of a three‐degrees‐of‐freedom spherical wrist actuator publication-title: Mechatronics – volume: 201 start-page: 23 issue: 1 year: 2005 end-page: 29 article-title: Simulator training for laparoscopic suturing using performance goals translates to the operating room publication-title: J Am Coll Surg – volume: 16 start-page: 660 issue: 5 year: 1997 end-page: 672 article-title: PD control with desired gravity compensation of robotic manipulators: a review publication-title: The Int J Robot Res – volume: 22 start-page: 1636 issue: 7 year: 2008 end-page: 1642 article-title: Transfer validity of laparoscopic knot‐tying training on a vr simulator to a realistic environment: a randomized controlled trial publication-title: Surg Endosc – volume: 3 start-page: 310 issue: 3 year: 2014 end-page: 329 article-title: A review of camera viewpoint automation in robotic and laparoscopic surgery publication-title: Robotics – volume: 191 start-page: 272 issue: 3 year: 2000 end-page: 283 article-title: Laparoscopic training on bench models: better and more cost effective than operating room experience? publication-title: J Am Coll Surg – volume: 135 start-page: 21 issue: 1 year: 2004 end-page: 27 article-title: Development and validation of a comprehensive program of education and assessment of the basic fundamentals of laparoscopic surgery publication-title: Surgery – ident: e_1_2_9_21_1 doi: 10.1177/027836499701600505 – ident: e_1_2_9_22_1 doi: 10.1167/iovs.16-19963 – ident: e_1_2_9_2_1 doi: 10.1016/S1072-7515(01)01069-9 – ident: e_1_2_9_15_1 doi: 10.1177/1553350607308369 – ident: e_1_2_9_10_1 doi: 10.1097/01.sla.0000136941.46529.56 – ident: e_1_2_9_19_1 doi: 10.1186/s12938-015-0110-9 – ident: e_1_2_9_8_1 doi: 10.1016/j.jamcollsurg.2005.02.021 – ident: e_1_2_9_11_1 doi: 10.1002/rcs.1850 – ident: e_1_2_9_3_1 doi: 10.1007/s00464-007-9672-3 – ident: e_1_2_9_20_1 – ident: e_1_2_9_7_1 doi: 10.1016/j.jsurg.2008.05.008 – ident: e_1_2_9_5_1 doi: 10.1111/j.1464-410X.2012.11270.x – ident: e_1_2_9_12_1 doi: 10.1007/s00464-005-3008-y – ident: e_1_2_9_14_1 doi: 10.1016/S0039-6060(03)00156-9 – ident: e_1_2_9_16_1 doi: 10.1002/rcs.453 – ident: e_1_2_9_18_1 – ident: e_1_2_9_23_1 – ident: e_1_2_9_9_1 doi: 10.1016/S1072-7515(00)00339-2 – ident: e_1_2_9_6_1 doi: 10.1016/j.eururo.2015.09.021 – ident: e_1_2_9_4_1 doi: 10.3390/robotics3030310 – ident: e_1_2_9_17_1 doi: 10.1016/0957-4158(94)90026-4 – ident: e_1_2_9_13_1 doi: 10.1097/01.sla.0000136941.46529.56 |
| SSID | ssj0045464 |
| Score | 2.2784057 |
| Snippet | A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the... |
| SourceID | proquest pubmed crossref wiley |
| SourceType | Aggregation Database Index Database Enrichment Source Publisher |
| StartPage | e2040 |
| SubjectTerms | Actuators Biomechanical Phenomena Clinical Competence Computer Simulation Computer-Assisted Instruction - methods computer‐assisted surgery Equipment Design Feedback Humans human‐machine interfaces Laparoscopy Laparoscopy - education Laparoscopy - methods Mechatronics Mentors robot design Robotic Surgical Procedures - methods Software Surgical instruments Telemedicine - methods telesurgery Training |
| Title | A robotic system for telementoring and training in laparoscopic surgery |
| URI | https://onlinelibrary.wiley.com/doi/abs/10.1002%2Frcs.2040 https://www.ncbi.nlm.nih.gov/pubmed/31597000 https://www.proquest.com/docview/2384093274 https://www.proquest.com/docview/2303756017 |
| Volume | 16 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwELYQEwy8H4WCjIRgapvEl4SMVUWpkGAoVKrEENmOIyGqpCrtwq_nLk4C5SEhpgw-x47PZ3_nnL9j7NwkwhcR6JZJBToo4JlWlKJdoeFBZEJKNEnnkHf3wWAEt2N_XEZV0l0Yyw9RH7iRZRTrNRm4VK-dD9LQmSa2bSB3nUK1CA8Na-Yo8KFgjnIBnSQfUUTFO-t4nari8k70DV4uo9Viu-lvsqeqozbK5KW9mKu2fvvC4fi_L9liGyUK5V07bbbZisl22PonbsJddtPls1zlKMAt2zNHeMvnxoabF2F7XGYJr3JM8OeMT3DnJXbMfEq17IXrPTbqXz_2Bq0y60JLC4jQl4QkcoxwwThKO5AaISCFQF2h4xOYNKEsflK5kIoEwZZEhKh9oqgItQwkSol9tprlmTlkPBBu6io08yhIwdcmksqXuASEnk6EFzoNdllpINYlJTn1ehJbMmUvxqGJaWga7KyWnFoajh9kmpUS49IQsUCQB4uNAb6iLkYTov8iMjP5gmQoETB6pmGDHVjl140IhHshbhsNdlGo8NfW42HvgZ5HfxU8Zmse-e5FFFCTrc5nC3OCAGeuToup_A7nMvUJ |
| linkProvider | Wiley-Blackwell |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwED6hMgAD70d5GgnB1JLEl4SICVVAgbYDtBIDUpQ4joRACarahV_PXdyEt4SYMvgcO7bP_j7H_g7gQCfSlQGqhk4lERR0dCNIya_I8TDQPgea5H3Ibs9rD_D63r2fgtPyLozRh6g23NgzivmaHZw3pI_fVUOHiuW2kfj6NAf0LvjUbaUdhS4W2lE2Ek1yCUeUyrOWc1zm_LwWfQOYn_FqseBcLMBDWVVzzuSpOR7FTfX6RcXxn9-yCPMTICrOzMhZgimdLcPcB3nCFbg8E8M8zslAGMFnQQhXjLQ5cV6c3BNRlogyzIR4zMQzLb4skJm_cC5z53oVBhfn_Va7MQm80FASA6KTmASWljZqK1YWplpKTNGLT4j7eDpNOJBfFNuYyoTwVkQgUbmsUuGryIvISq5BLcszvQHCk3Zqx-TpgZeiq3QQxW5Es4DvqEQ6vlWHo7ILQjVRJedaP4dGT9kJqWlCbpo67FeWL0aJ4web7bIXw4kvUoJkEkuFIb2iSiYv4l8jUabzMdtwLGAip34d1k3vV4VIQnw-rRx1OCz68NfSw9vWHT83_2q4BzPtfrcTdq56N1sw6zCVLw4FbUNtNBzrHcI7o3i3GNdvNgz5JA |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1LS8QwEB5EQfTg-7E-I4ieVttm2tqjqOtbxAcIHkqbJiBKuyy7F3-9M01b3yCeesikSTOZ5Jt08g3Aps6kLyNUbW0kOSjo6XZkyK7I8DDSISea5HPIy6vg5B7PHvyHKqqS78JYfojmwI0to1yv2cC7mdl9Jw3tKWbbRnLXRzBw9nhGH9401FHoY0kd5SJ5ST7BiJp41vF265qft6Jv-PIzXC33m84kPNY9tWEmzzuDfrqjXr-QOP7vU6ZgooKhYt_Om2kY0vkMjH8gJ5yF433RK9KCBISlexaEb0Vf23jzMm5PJHkm6iQT4ikXL7T1Mj1m0eVa9sb1HNx3ju4OTtpV2oW2khiRM4lZ5GjponZS5aDRUqLBIN0jzyfQJuM0fknqopEZoa2EIKLymaMiVEmQkJSch-G8yPUiiEC6xk3JzqPAoK90lKR-QmtA6KlMeqHTgu1aA7GqOMm51y-xZVP2YhqamIemBRuNZNfycPwgs1IrMa4skQoku7DUGNIrmmKyIf4xkuS6GLAMZwIm1zRswYJVftOIJLwX0r7Rgq1Shb-2Ht8c3PJz6a-C6zB6fdiJL06vzpdhzGM_vowIWoHhfm-gVwns9NO1cla_AWyM99w |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=A+robotic+system+for+telementoring+and+training+in+laparoscopic+surgery&rft.jtitle=The+international+journal+of+medical+robotics+%2B+computer+assisted+surgery&rft.au=Prince%2C+Stephen+W&rft.au=Kang%2C+Christopher&rft.au=Simonelli%2C+James&rft.au=Lee%2C+Yu-Hsiu&rft.date=2020-04-01&rft.eissn=1478-596X&rft.volume=16&rft.issue=2&rft.spage=e2040&rft_id=info:doi/10.1002%2Frcs.2040&rft_id=info%3Apmid%2F31597000&rft.externalDocID=31597000 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1478-5951&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1478-5951&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1478-5951&client=summon |