Robotic surgery started nearly 30 years ago. It has achieved telepresence and the performance of ... more Robotic surgery started nearly 30 years ago. It has achieved telepresence and the performance of repetitive, precise, and accurate tasks. The "master-slave" robotic system allows control of manipulators by surgeon at distant site. Robotic surgical fingers were developed to allow surgeons to move them with accuracy through sensors fixed on surgeon's hand. Also, haptic sensors were developed to allow transmission of sensation from robotic finger to surgeon's finger. A complete system of a, 3D printed by a stereolithography (SLA) 3D printer, robotic surgical finger with haptic feedback system is proposed. The developed system includes a master glove that controls the motion of a 3DOF robotic slave finger while getting haptic feedback of force/pressure exerted on it. The precise control of the slave robotic finger was achieved by applying a Proportional Integral and Derivative (PID), fast and robust, control algorithm using an Arduino based hardware and software module. The individual joint angles, metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP), and wrist were measured using rotatory and inertial sensors respectively. The degree of movement for MCP, PIP, and Wrist joints were measured to be 0-86°, 0-71°, and 0-89° respectively. Motion to the robotic finger is mimicked by a glove motion requiring minimal learning curve for the device. The collected data for the slave motion is in good agreement with the master-glove motion data. The vibro-tactile haptic feedback system was developed to distinguish between three different materials to mimic human flesh, tumor, and bone. The master-slave system using robotic surgical finger with good simultaneous movement to surgeon's finger and good haptic sensation will provide the surgeon with the opportunity to perform finger dissection in laparoscopic and robotic surgery, as it used to be in open surgery. 3D bio printing will make this process even cheaper with the added advantage of making surgical tools locally according to the need of the surgery. An ongoing work is to develop silicone based 8 mm robotic surgical finger with multiple type haptic feedback.
Development of a Remotely Controlled Robotic Hand System for Surgical Application
2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)
The Hand-Assistive Laparoscopic Surgery (HALS) has made some improvement to the surgical operatio... more The Hand-Assistive Laparoscopic Surgery (HALS) has made some improvement to the surgical operation; however, it has some risks and limitations. Therefore, we proposed the idea of developing a robotic hand system that can be used as a replacement for the surgeon's hand during the operation. The system is controlled using a teleoperation system, and is equipped with a haptic feedback system. In order to provide the user with the flexibility and robustness of the control we developed a contactless input interface system for controlling the robotic hand motion. The developed system gives the advantages of making the user's hand free of contacting devices which will give a free space for the haptic feedback sensation system.
Development of a Teleoperation Precision Grasping System with a Haptic Feedback Sensation on the User's Fingertip
Tactile feedback sensation is an important factor in the surgical and medical application. A simp... more Tactile feedback sensation is an important factor in the surgical and medical application. A simple gripper is developed to perform precision grasping using teleoperation technology. The system provides the user with the tactile feedback sensation through a haptic device that applies forces on the user’s fingertip based on the measured force at the gripper’s fingertip.
Journal of King Abdulaziz University - Medical Sciences, 2010
Acute appendicitis is the most common acute surgical condition of the abdomen. The diagnosis of a... more Acute appendicitis is the most common acute surgical condition of the abdomen. The diagnosis of acute appendicitis continues to present clinicians with problems despite the advances in the investigating technology. This retrospective study aims to review appendiceal histopathological records in a district hospital in Makkah in 2007. The study was based on all appendices removed during emergency appendectomies to identify the proportion of normal and mildly inflamed appendices, in addition to their sex ratio, so that a prospective study can be carried out with conservative treatment with antibiotics, if justified. The records were divided into negative, mild and severely inflamed or perforated appendix. The number of the operations was 405, with nearly equal male and female ratio. The ratio of normal appendix was 24.2%, mild appendicitis was 26.4%, and severe appendicitis was 49.4%. Over 50% of all emergency appendectomies were performed on normal or mildly inflamed appendix, which rises to over 60% in females alone. The number of the males with severe appendicitis is nearly 50% more than that of the females. Patients, especially females, with normal or mildly inflamed appendix, if identified before surgery, may benefit from conservative treatment with antibiotics.
A total of 84 cases of primary gastric cancer were diagnosed in the histopathology laboratory of ... more A total of 84 cases of primary gastric cancer were diagnosed in the histopathology laboratory of Asir Central Hospital over a five year period (1987 to 1991). Seventy-two patients (86%) were Saudis and 12 cases (14%) were non-Saudis. The mean age of the patients included in this study was 60 years with a range of 22 to 85 years and a male:female ratio of 4.6:1. Intestinal adenocarcinoma occurred in 63 patients (75%) followed by malignant lymphomas in 12 cases (14%) and diffuse adenocarcinoma in nine cases (11%). The gastric antrum was the most common site affected (47%), followed by gastric corpus (27%), cardia (14%), and fundus (12%). Comparisons of our findings to similar reports from other provinces of Saudi Arabia and other countries are discussed.
Gastric cancer can be divided into three histologic types: intestinal and diffuse adenocarcinoma,... more Gastric cancer can be divided into three histologic types: intestinal and diffuse adenocarcinoma, and malignant lymphoma. To determine whether Helicobacter pylori was associated with either cancer type, we reviewed histologic sections from stomachs of 84 patients with the diagnosis of gastric cancer. Of 63 patients with histologic evidence of intestinal adenocarcinoma, 53 (84%) contained H. pylori in noncancerous tissue compared with six (66.7%) of nine patients with diffuse adenocarcinoma (odds ratio = 2.65; Z= 1.048; P>0.05) and with eight (66.7%) of 12 patients with non-Hodgkin malignant lymphoma of the stomach (odds ratio = 2.65; Z=0.826; P>0.05). Our findings are compared with reported data from other countries and we are not aware of similar reports from the Kingdom of Saudi Arabia.
The prevalence of antibodies to hepatitis C virus (anti-HCV) was retrospectively determined using... more The prevalence of antibodies to hepatitis C virus (anti-HCV) was retrospectively determined using a second generation enzyme immunoassay in 3868 blood donors from the southern part of Saudi Arabia in an area with high prevalence of hepatitis B virus (HBV) infection. Of 3354 Saudis, 48 (1.43%) were seropositive for anti-HCV. A high prevalence (43 of 204, 21.08%) of anti-HCV was observed among Egyptian donors compared with Saudis (1.43%) and other nationalities (eight of 310, 2.58%). Furthermore, the prevalence of anti-HCV antibodies was observed to increase with age, peaking in the 25 to 34 year age group. From this and other studies conducted in different regions of Saudi Arabia, the prevalence of anti-HCV among Egyptian donors appears to range from 19.2 to 24.5%, and among Saudi donors appears to range from 1.00 to 1.7%, a rate similar to that reported from western countries; this latter rate does not seem to be influenced by the high prevalence of HBV infection in this region.
Journal of the Royal College of Surgeons of Edinburgh, 1995
Failure to deflate Foley catheters is a rare problem in clinical practice. There are various meth... more Failure to deflate Foley catheters is a rare problem in clinical practice. There are various methods to overcome this problem. This is an experimental study of the commonly used methods. The balloons should never be inflated until rupture to prevent leaving loose fragments. A ureteric catheter or its stylet can be used to deflate the balloon. The balloon can be ruptured with fine needle under ultrasound guidance but it should not have been inflated to more than 50% of its volume to prevent leaving loose fragments in the bladder.
Hydatid cyst disease (Echinococcus granulosus): experience at Asir Central Hospital
Saudi journal of gastroenterology : official journal of the Saudi Gastroenterology Association, 1997
In a six-year period, starting from the commissioning of Asir Central Hospital in 1408 H (1988), ... more In a six-year period, starting from the commissioning of Asir Central Hospital in 1408 H (1988), 43 cases of hydatid cyst disease caused by echinococcus granulosus seen in Asir Central Hospital were studied. The pattern was not significantly different from other workers' experiences. There was equal sex distribution and the average age was 41.7 years. The clinical presentations depended essentially on the organs affected, and computed tomography usually confirmed the diagnosis. The serological test at times gave a false negative result. Most of the patients came from Abha in Asir region and the most commonly involved organ was the right lobe of the liver. All the patients had laparotomy, excision or incision and drainage of the cyst, depending on whether the cyst could be safely excised or only drained. The average hospital stay was 17 days. We believe that surgical intervention should be the first line of treatment especially when the cyst is large.
Non-neoplastic changes in gastric antrum: are they different in distally located intestinal and diffuse-type gastric adenocarcinoma?
European journal of cancer prevention : the official journal of the European Cancer Prevention Organisation (ECP), 1997
A total of 126 cases of primary adenocarcinoma of distal (antrum and/or adjacent body) stomach we... more A total of 126 cases of primary adenocarcinoma of distal (antrum and/or adjacent body) stomach were reviewed. These cases were collected from the histopathology laboratory of Asir Central Hospital, Southwestern Saudi Arabia over an 8 year period (1987-94). Only gastrectomy specimens with non-neoplastic antral mucosa available for histological examination were included. Of 126 cases, 85 (67.5%) were of the intestinal type and 41 (32.5%) were of the diffuse type. Histological examination of the non-neoplastic antral mucosa showed: gastritis in 100% of these cases; Helicobacter pylori in 103/126 cases (81.8%); multifocal atrophic gastritis (MAG) in 53/126 cases (42.1%); intestinal metaplasia (IM) in 62/126 (49.2%); and type III intestinal metaplasia in 30/62 cases (47.7%). None of these non-neoplastic changes of antral mucosa was significantly different when the prevalence of these changes in intestinal and diffuse type gastric adenocarcinoma were compared using the chi 2 test. The pre...
Facial palsy following fine needle aspiration biopsy of parotid hemangioma: a case report and review of the literature
Ear, nose, & throat journal, 1991
We present here a case of cavernous hemangioma of the parotid which presented as an acute emergen... more We present here a case of cavernous hemangioma of the parotid which presented as an acute emergency with sudden pain, trismus and swelling. The patient subsequently developed a complete lower motor neuron facial palsy a few hours after a fine needle aspiration biopsy was performed. Total parotidectomy with preservation of the facial nerve relieved the patient of all his symptoms with complete recovery of facial function in six weeks.
African journal of medicine and medical sciences, 1995
A study was carried out on 366 female patients admitted consecutively to Asir Central Hospital wi... more A study was carried out on 366 female patients admitted consecutively to Asir Central Hospital with clinical diagnosis of acute appendicitis during the period between 1988 through 1991. In this study, 271 patients had histopathologically proven appendicitis for a diagnostic accuracy of 74%. Ninety-five (26%) patients did not have appendicitis, however, 27 (7.4%) of them had other disorders indicating surgical intervention. Consequently, 18.6% of the patients studied had negative laparotomy. This study showed insignificant (P > 0.05) relation between age, site of pain and its duration, presence of urinary symptoms, post-operative complications and hospitalization in one hand, and the final diagnosis on the other hand. The marital status, the presence of gynaecological symptoms, white blood cells count, neutrophils and lymphocytes percentages were, however, significantly related to the final diagnosis (P < 0.05). A conservative approach with in-hospital observation and repeated ...
Background: Tuberculosis (TB) is a contagious disease. More than 2 billion people, equal to one t... more Background: Tuberculosis (TB) is a contagious disease. More than 2 billion people, equal to one third of the world's population, are infected with TB bacilli, the microbes that cause TB. One in 10 people infected with TB bacilli will become sick with active TB in their lifetime. Objectives: The purpose of this study was to asses the pattern of TB in our setup and the impact of various factors on the disease spread and control. Methods: This is a retrospective study including all cases of tuberculosis diagnosed, referred, treated, and cured from year 2005 to 2009 in Hera General Hospital, Makkah. Results: Of a total of 316 cases, 191 cases were pulmonary and 125 cases were extrapulmonary. Most of the patients were young, with a mean age of 34.44 years and an SD of 17.087. Females of reproductive age outnumbered the males in both pulmonary and extrapulmonary tuberculosis, that is, 57.8% versus 42.2% and 72.4% versus 27.6%. Interestingly, the number of cases showed a sawtooth pattern from year to year. Lymph node tuberculosis was the most common form of extrapulmonary tuberculosis. Only 23% of the cases were smear positive and 20% of the cases were defaulters; only 66% of the cases were declared as cured. Conclusions: Tuberculosis was most common in young adult population, especially the females. Low smear positivity is indicative of less emphasis on sputum testing method due to a cultural custom of not producing sputum especially by females. The year-to-year change of pattern and resurgence of the cases show a need for commitment for directly observed therapy, short course; education; and awareness about the stigmatized disease. Also, a need to assess the impact of pilgrims year-round from all over the world on the spread and perpetuation of this dreaded contagious disease is crucial, which is negligible in the local community.
BACKGROUND We decided to submit this case report because of the misdiagnosis of the patient for a... more BACKGROUND We decided to submit this case report because of the misdiagnosis of the patient for almost 4 years, and the patient's presentation with constipation and not dorsal root pain, from which the tumour was resected.
ABSTRACT Background: Tuberculosis is still rampant and a global issue. Extent of extrapulmonary t... more ABSTRACT Background: Tuberculosis is still rampant and a global issue. Extent of extrapulmonary tuberculosis (EPTB) depends upon the number of smear positive pulmonary TB in a community. Objective: We conducted this retrospective study to determine the clinical pattern and extent of EPTB in Makkah City, the site of pilgrimage for Muslims around the world. Methods: Records of all the cases of TB registered in our department of infection control for the last 6 years were reviewed, data of the total number of patients with TB were analyzed, and the number of EPTB was grouped as per site of involvement, age, and sex. Cases were classified as extrapulmonary according to the definition of the World Health Organization. Results: A total of 324 cases were recorded with 139 cases of EPTB. Lymph node TB was the most common form of EPTB followed by pleural, skeletal, central nervous system, abdominal, genitourinary, and breast TB. Female to male ratio was almost 2:1, and the age group involved was the most productive group of 20 to 40 years, which was similar to pulmonary TB. There was a yearly change in the number of cases with steep rise in the previous year. Conclusions: Extrapulmonary TB was most common in females during their most productive years of life. Lymph node, skeletal, central nervous system, and pleural TB were the most common forms of EPTB with the need for prolonged therapy, more defaulter rate, more relapses, decreased cure rate, more disability, and a progressive increase in the number of cases indicating an immediate need for directly observed short course therapy, health education, and proper allocation of resources.
2EMH.WLYH-To assess the antimicrobial potential of honey against certain microbial isolates. 0HWK... more 2EMH.WLYH-To assess the antimicrobial potential of honey against certain microbial isolates. 0HWKRG-Samples of commercial honeys sold in Makkah area of Saudi Arabia were checked for their antimicrobial activities using standard organisms, Staphylococcus aureus, Escherichia coli, and Pseudomonas aeruginosa. The minimal inhibitory concentration end points of six honey samples found to possess antimicrobial activities were used to determine the sensitivity patterns of some isolates from the laboratory. The temperature stabilities of the honey samples were also determined. 5HVXOWV-The six honey samples had differing levels of antimicrobial activities with the standard organisms and with the laboratory isolates. Black Forest honey showed the highest activity followed respectively by Turkish, Orange Flower, Forest Honey and Summer Flower. The antimicrobial activities of the samples were stable after storing at 2-8° C for six months and after boiling for 15 minutes. &RQ.OXVLRQ-The study shows that honey, like antibiotics, has certain organisms sensitive to it while others are resistant, and the sensitivity varies depending on the source of the honey.
Gastric antral vascular ectasia (GAVE) in a non-cirrhotic patients with diabetes: case report and possible pathophysiological mechanism
Case Reports, 2010
Gastric antral vascular ectasia (GAVE) syndrome is an uncommon but well-described cause of recurr... more Gastric antral vascular ectasia (GAVE) syndrome is an uncommon but well-described cause of recurrent upper gastrointestinal bleeding or iron deficiency anaemia. Atiology is unknown but several associated diseases have been reported like connective tissue or autoimmune disorders or cirrhosis. Cases have been reported in systemic sclerosis, achlorhydia, atrophic gastritis and chronic renal failure. The most common cause is portal hypertension and portal hypertensive gastropathy. This is especially so after eradication of oesophageal varices by sclerotherapy or banding. Diabetic complications are characterised by microvascular diseases especially in the retina, glomerulus and vasa nervorum. It involves apoptosis and remodelling of endothelial cells. Hyperglycaemia is an essential cause of reactive oxygen species (ROS)-mediated oxidative stress in this complication. Angiopathy of gastric mucosa in diabetes mellitus has not been reported so far in the literature. We are presenting an interesting case of diabetes mellitus with gastric vascular ectasia without evidence of any other systemic illness.
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