Title

Authors' Reply To "Comments On 'Chattering Free Robust Control For Nonlinear Systems'"

Keywords

Nerve sparing; Prostate cancer; Robot assisted radical prostatectomy

Abstract

Background: Macroscopic landmarks are lacking to identify the cavernosal nerves (CNs) during radical prostatectomy. The prostatic and capsular arteries run along the lateral border of the prostate and could help identify the location of the CNs during robot-assisted radical prostatectomy (RARP). Objective: Describe the visual cues that have helped us achieve consistent nerve sparing (NS) during RARP, placing special emphasis on the usefulness of the prostatic vasculature (PV). Design, setting, and participants: Retrospective video analysis of 133 consecutive patients who underwent RARP in a single institution between January and February 2011. Surgical procedure: NS was performed using a retrograde, antegrade, or combined approach. Measurements: A landmark artery (LA) was identified running on the lateral border of the prostate corresponding to either a prostatic or capsular artery. NS was classified as either medial or lateral to the LA. The area of residual nerve tissue on surgical specimens was measured to compare the amount of NS between the groups. Results and limitations: We could identify an LA in 73.3% (195 of 266) of the operated sides. The area of residual nerve tissue was significantly different whether the NS was performed medial (between the LA and the prostate) or lateral to the LA (between the LA and pelvic side wall): median (interquartile range) of 0 (0-3) mm 2 versus14 (9-25) mm 2; p < 0.001, respectively. Conclusions: The PV is an identifiable landmark during NS. Fine tailoring on the medial border of an LA can consistently result in a complete or almost complete NS, whereas performing the NS on its lateral border results in several degrees of incomplete NS. © 2011 European Association of Urology. Published by Elsevier B.V. All rights reserved.

Publication Date

3-1-2012

Publication Title

IEEE Transactions on Control Systems Technology

Volume

20

Issue

3

Number of Pages

563-

Document Type

Note

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/TCST.2011.2116790

Socpus ID

84856510550 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84856510550

This document is currently not available here.

Share

COinS