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81	A simulation system of vascular interventional radiology procedures for training endovascular skills. / 一套训练用的血管介入式手术模拟系统 / CUHK electronic theses & dissertations collection / Yi tao xun lian yong de xue guan jie ru shi shou shu mo ni xi tong January 2012 (has links) 近年来，血管类疾病已经成为人类健康的第一杀手。每年有成百上千万人死于血管疾病。血管介入术是一种非常有前景的血管类疾病的治疗手段。血管介入术是一种微创手术，它已经被广泛的用于治疗中风，血管狭窄，血管瘤等疾病。相对于传统的开放式手术，它具有风险低，恢复快，住院时间短等优点。该疗法通常在透视影像的引导下由导管和导线在血管内协同完成手术过程。因为介入术的复杂性和特殊性，作为介入手术医生的必要技能，掌握手术中手眼协同，各种手术器具的使用和复杂细致的手术流程无疑是一个巨大的挑战。因此，迫切地需要一种高效、安全的训练系统。相对于传统的训练方法，基于虚拟现实技术的训练系统是一种非常好的训练手段。 / 为了建立一套高仿真的介入手术训练模拟器，首先，我们要为病人的血管网重建三维模型。我们提出了一种自动的提取中心线的方法，用来从分割好的CTA/MRA体数据中获取病人血管网的中心线。基于改进的平行传递算法，沿着这些中心线，生成了一系列连续的标架。根据这些标架，我们构造了血管的横截面，并在此基础上生成了光滑连续的三维血管模型。 / 其次，作为血管介入术中最基础和最重要的手术器械，我们为导管和导线建立了物理模型。我们提出了一种基于最小势能原理的可变形的模型用于模拟导管和导线对于受力的反应。我们还提出了一个快速并且稳定的多网格算法来保证模拟的真实性和严格的实时交互要求。另外，我们做了几组实验。通过这些实验，验证了多网格算法在稳定性、实时性、模拟的真实性等方面满足了我们对于训练用模拟系统的要求。 / 再次，为了模拟血管栓塞术的手术过程，我们提出了一种模拟线圈填充血管瘤的过程的新方法。通过加总线圈弯曲变形的弹性势能、血管瘤变形的弹性势能以及外力做的功，我们建立了在血管栓塞术的环境下的总势能模型。为了求解这个模型，我们提出了一个基于有限元方法的求解器。从而模拟了线圈在介入医生的操作下慢慢的进入血管瘤，并缠绕起来的过程。 / 另外，我们提出了一个分层圆柱网格模型（LCGM）用于模拟在血管网中血流的运动。这一模型在几何上和拓扑结构上都非常适合我们的应用。我们将血液在血管中的流动近似为一维的层流，并用一组线性等式描述了血管网中流速与血压的关系。通过求解这一线性系统，得到了在分层圆柱网格模型下血流的速度场。依据这个血流的速度场，我们采用平流-扩散模型来模拟造影剂在血管中的传播的过程。 / Vascular diseases have been becoming the number one cause of death worldwide in recent years. Millions of people were killed by vascular diseases each year. An increasingly promising therapy for treating vascular diseases is Vascular Interventional Radiology (VIR). VIR is a minimally invasive surgery (MIS) procedure, which has been widely used to cure stroke, angiostenosis, aneurysm and etc. A low risk, an accelerated recovery and a shorter stay in hospital are important advantages over the traditional vascular surgery. This therapy is performed by a guidewire-catheter combination inside the blood vessels under the guidance of the fluoroscopic imaging. Because of the complexity and particularity of these procedures, it is a great challenge to master hand-eye coordination, instrument manipulation and procedure protocols for each radiologist mandatory. An efficient and safe training system is needed urgently. In contrast to these traditional training methods, virtual reality (VR) based simulation systems is a pretty good surrogate. / In order to build a high fidelity interventional simulator for physician training, firstly, we reconstructed the three dimensional (3D) model for the vascular network of the patients. An method of automatic skeleton extraction was proposed to acquire the centerline of the vascular network from the segmented volume data from CTA/MRA. A series of continuing frames were generated along with the centerline based on improved parallel transporting method. According to these frames we built the crossections of the vessels and further the 3D vascular model with the smooth meshes. / Secondly, as the most basic and important instruments in the VIR procedure, the catheter and guidewire were modeled and simulated physically. We developed a deformable model to simulate complicated behaviors of guidewires and catheters based on the principle of minimum total potential energy. A fast and stable multigrid solver was proposed to ensure both realistic simulation and real time interaction. A series of experiments were conducted to evaluate our multigrid solver in terms of stability, time performance, the capability of simulating catheter behaviors and the realism of catheter deformation. / Thirdly, to simulate the procedure of embolization, we proposed a novel method to simulate the motion of coil and their interactions with the aneurysm. We formulated the total potential energy in the embolization circumstance by summing up the elastic energy deriving from the bending of coils, the potential energy due to the deformation of the aneurysm and the work by the external forces. A novel FEM-based approach was proposed to simulate the deformation of coils. And the motion of coils and their responses to every input from the interventional radiologist can be calculated globally. / Fourthly, we proposed our Layered Cylindrical Gird Model (LCGM) for simulating blood flow in vascular network, which is pretty suitable for sampling the vascular network geometrically and topologically. The blood flow in vessels was regarded as 1D laminar flow and formulated into a set of linear equations based on the Poiseuille law to describe the relationship between the speed of flow and the pressure. Solving those equations, we got the velocity fields in the blood flow. In terms of the velocity fields, an advection-diffusion model was adopted to simulate the propagation of contrast agent with the blood flow. / Finally, all above techniques and procedures were implemented and integrated into a simulation system for training the medical students to acquire the endovascular skill, and an empirical study was also designed based on a typical selective catheteriza- tion procedure to assess the feasibility and effectiveness of the proposed system. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / 最后，我们将所有以上提到的技术和方法集成到模拟系统中用于训练医学院的学生，并使他们获得血管介入术的技能。并且，我们基于一个典型的导管插入术过程，使用经验分析的方法对模拟系统的可用性和效率进行了评估。 / Li, Shun. / Thesis (Ph.D.)--Chinese University of Hong Kong, 2012. / Includes bibliographical references (leaves 105-116). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Abstracts in also Chinese. / Abstract --- p.i / Acknowledgement --- p.vi / Chapter 1 --- Introduction --- p.1 / Chapter 2 --- Vascular Modeling --- p.14 / Chapter 2.1 --- Introduction and Related Work --- p.14 / Chapter 2.2 --- Vascular Skeleton Graph Construction --- p.15 / Chapter 2.2.1 --- Chamfer distance transform and Dijkstra's shortest-path algorithm --- p.17 / Chapter 2.2.2 --- End vertices retrieval --- p.19 / Chapter 2.2.3 --- The algorithm of vascular skeleton extraction --- p.21 / Chapter 2.3 --- Vascular Modeling --- p.21 / Chapter 2.3.1 --- Tubular Model --- p.21 / Chapter 2.3.2 --- Bifurcation Model --- p.23 / Chapter 3 --- Catheter Simulation --- p.28 / Chapter 3.1 --- Introduction and Related Works --- p.28 / Chapter 3.2 --- Catheter Simulation --- p.31 / Chapter 3.2.1 --- Kirchhoff Theory of Elastic Rod --- p.32 / Chapter 3.2.2 --- Problem Formulation --- p.34 / Chapter 3.2.3 --- The Multigrid Iterative Solver --- p.38 / Chapter 3.3 --- Collision detection --- p.45 / Chapter 3.4 --- Validation of the Catheter Simulation Method --- p.47 / Chapter 3.4.1 --- Stability --- p.49 / Chapter 3.4.2 --- Time Performance --- p.50 / Chapter 3.4.3 --- Preservation of Curved Tip --- p.51 / Chapter 3.4.4 --- The realism of catheter deformation --- p.53 / Chapter 4 --- Coil Embolization Simulation --- p.59 / Chapter 4.1 --- Introduction and Related Work --- p.59 / Chapter 4.2 --- Methodology --- p.61 / Chapter 4.2.1 --- Total potential energy of a coil --- p.61 / Chapter 4.2.2 --- The FEM-based numeric solver for interactive coil simulation --- p.61 / Chapter 5 --- Angiography Simulation --- p.70 / Chapter 5.1 --- Introduction and related works --- p.70 / Chapter 5.2 --- The Equations of Fluid --- p.72 / Chapter 5.3 --- Layered Cylindrical Gird Model --- p.73 / Chapter 5.4 --- Numerical Method --- p.76 / Chapter 5.4.1 --- Evaluation of the velocity field of blood flow --- p.76 / Chapter 5.4.2 --- Evaluation of the density field --- p.78 / Chapter 5.5 --- Results --- p.81 / Chapter 6 --- System Implementation and Evaluation --- p.84 / Chapter 6.1 --- Introduction and Related Work --- p.84 / Chapter 6.2 --- System Construction --- p.85 / Chapter 6.3 --- Empirical Study of the Training System --- p.89 / Chapter 7 --- Conclusion and Discussion --- p.98 / Chapter 7.1 --- Geometric Modeling of Vasculature --- p.99 / Chapter 7.2 --- Catheterization Simulation --- p.99 / Chapter 7.3 --- Embolization Simulation --- p.100 / Chapter 7.4 --- Angiography Simulation --- p.101 / Chapter 7.5 --- System and Evaluation --- p.102 / Publication List --- p.103 / Bibliography --- p.105 Blood-vessels--Endoscopic surgery Blood-vessels--Interventional radiology Laparoscopic surgery--Study and teaching Virtual reality in medicine Vascular Diseases--surgery Minimally Invasive Surgical Procedures Vascular Diseases--radiography Computer simulation General Surgery--education
82	Contribution to the design of control laws for bilateral teleoperation with a view to applications in minimally invasive surgery Delwiche, Thomas 09 December 2009 (has links) Teleoperation systems have been used in the operating rooms for more than a decade. However, the lack of force feedback in commercially available systems still raises safety issues and forbids surgical gestures like palpation. Although force feedback has already been implemented in experimental setups, a systematic methodology is still lacking to design the control laws.<p><p>The approach developed in this thesis is a contribution towards such a systematic<p>methodology: it combines the use of disturbance observers with the use of a structured fixed-order controller. This approach is validated by experiments performed on a one degree of freedom teleoperation system. A physical model of this system is proposed and validated experimentally.<p><p>Disturbance observers allow to compensate friction, which is responsible for performance degradation in teleoperation. Contrary to alternative approaches,they are based on a model of the frictionless mechanical system. This allows to compensate friction with a time varying behavior, which occurs in laparoscopy.<p><p>Parametric uncertainties in this model may lead to an unstable closed-loop. A kind of "separation principle" is provided to decouple the design of the closed-loop system from the design of the observer. It relies on a modified problem statement and on the use of available robust design and analysis tools.<p><p>A new metric is proposed to evaluate the performance of friction compensation systems experimentally. This metric evaluates the ability of a compensation system to linearize a motion system, irrespective of the task and as a function of frequency. The observer-based friction compensation is evaluated with respect to this new metric and to a task-based metric. It correctly attenuates the friction in the bandwidth of interest and significantly improves position and force tracking during a palpation task.<p><p>Structured fixed-order controllers are optimized numerically to achieve robust closed-loop performance despite modeling uncertainty. The structure is chosen among classical teleoperation structures. An efficient algorithm is selected and implemented to design such a controller, which is evaluated for a palpation task. It is compared to a full-order unstructured controller, representative of the design approach that has been used in the teleoperation literature up to now. The comparison highlights the advantages of our new approach: order-reduction steps and counter-intuitive behaviors are avoided. <p><p>A structured fixed-order controller combined with a disturbance observer is implemented during a needle insertion experiment and allowed to obtain excellent performance. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished Mécanique Sciences de l'ingénieur Surgical instruments and apparatus Robotics in medicine Surgical robots Laparoscopic surgery Chirurgie -- Appareils et matériel Robotique en médecine Robots chirurgiens Chirurgie laparoscopique teleoperation medical devices friction compensation disturbance observers robust control
83	Optimisation de la conception et commande de robot à tubes concentriques pour la chirurgie laparoscopique par accès unique / Design Optimization and Control for Concentric Tube Robot in Assisted Single-Access Laparoscopic Surgery Boushaki, Mohamed Nassim 06 October 2016 (has links) Les robots à tubes concentriques deviennent de plus en plus populaires dans la communauté de la robotique médicale. Dans cette thèse, un état de l’art général des travaux existants et qui couvre les thématiques de recherche en robots à tubes concentriques (RTC) est présenté dans un premier temps. Les modélisations géométrique (directe et inverse) et cinématique des RTC sont détaillées car elles servent de base pour les contributions de cette thèse. La première contribution consiste en une étude de concept d’utilisation des RTCs pour la résection des tumeurs profondes situées au niveau du lobe frontal du cérveau. ‘Grid searching’a été utilisée comme méthode d’optimisation pour la conception des tubes des RTCs. Cette méthode permet d’éviter le problème crucial de présélection des coefficients de pondération, cette pondération étant nécessaire dans toutes les méthodes de scalarisation existantes dans la litérature. La méthode de ‘grid searching’ utilisée dans ce travail permet la sélection des paramères optimaux avec l’aide d’une illustration graphique de la distribution des résultats de calcul concernant les critères de séléction. La stabilité élastique due aux interactions destubes en flexion et en torsion est incluse dans les critères de séléction et est évaluée avec une nouvelle approche introduite dans ce travail. La deuxième contribution de cette thèse repose sur la synthèse d’une loi de commande qui permet de faire face aux incertitudes cinématiques dans le contrôle de mouvement des RTCs. L’étude réalisée a montré qu’un contrôle au niveau des couples moteurs avec un retour dans l’espace opérationnel et une matrice Jacobienne approchée, ce contrôle assure une robustesse en présence des incertitudes cinématiques au niveau de la matrice Jacobienne et permet d’obtenir des bonnes performances de contrôle en terme d’erreur de poursuite. / Concentric Tube Robots (CTR) are becoming more and more popular in medical robotics community. In this thesis, a general literature survey on existing works covering the research topics of CTR is first presented. The kinematics of CTR is more specifically detailed since it is the basics of the main contributions of this thesis. The first contribution is a concept study of exploiting CTR for resection of deep brain tumors located at the frontal lobe. Grid searching has been used as the optimization method for the CTR tubes design. This method allows to avoid the crucial problem of weights preselection which is required in all scalarizationmethods existing in literature. Instead, the grid searching method used in this work allows to choose the optimal parameters with the help of graphical illustration of calculation results distribution with respect to the selection criteria. The elastic stability dues to the bending and torsion interaction between tubes is considered and evaluated with a new approach introduced in this work. The second contribution then is to deal with the kinematic uncertainties in motion control of CTR. The proposed control method designed at the actuator level shows that the control design of actuator input with task-space feedback and approximate Jacobian matrix provides robustness in handling inaccuracy in kinematic model and maintains good control performance at the same time. Control of concentric tube robot
84	Evolution von Distanzmaßen für chirurgische Prozesse Schumann, Sandra 14 May 2014 (has links) (PDF) Der Operationssaal ist ein hochkomplexes System mit dem Ziel patientenindividuelle Therapien zum Erfolg zu führen. Schwerpunkt dieser Arbeit ist der Arbeitsablauf des Chirurgen. Ein chirurgischer Prozess beinhaltet die durchgeführten Arbeitsschritte des Operateurs während eines Eingriffffs. Der protokollierte chirurgische Prozess ist Ausgangspunkt der Untersuchungen. Es wurde eine Methodik entwickelt, die mit statistischen und standardisierten Verfahren Unterschiede zwischen dem Ablauf verschiedener chirurgischer Prozesse messen kann. Dazu wurden die vier Distanzmaße Jaccard, Levenshtein, Adjazenz und Graphmatching auf chirurgische Prozesse angewandt. Eine Evaluation anhand von Daten einer Trainingsstudie zur Untersuchung laparoskopischer Instrumente in der minimalinvasiven Chirurgie bildet die Grundlage zur Bestimmung von Levenshteindistanz und Adjazenzdistanz als die Maße, die optimal geeignet sind Unterschiede zwischen chirurgen Prozessen zu messen. Die Retrospektivität der Distanzanalyse wird aufgehoben indem folgende Hypothese untersucht wird: Es gibt einen Zusammenhang zwischen der Distanz zur Laufzeit eines chirurgischen Eingriffs mit der Distanz nach kompletten Ablauf des Eingriffs. Die Hypothese konnte bestätigt werden. Der Zusammenhang zwischen Prozessablauf und Qualität des Prozessergebnisses wird mit folgender Hypothese untersucht: Je größer die Distanz eines chirurgischen Prozesses zum Best Practice, desto schlechter ist das Prozessergebnis. In der Chirurgie ist der Best Practice der chirurgische Prozess, der als die beste Prozedur angesehen wird, um das angestrebte Therapieziel zu erreichen. Auch diese Hypothese konnte bestätigt werden. Die Anwendung der Distanzmaße in der klinischen Praxis erfolgte beispielhaft an Eingriffffen aus der Neurochirurgie (zervikale Diskektomie) und der HNO (Neck Dissection). Insgesamt wurde mit der in dieser Arbeit dargelegten grundlegenden Methodik der Distanzmaße bei der Analyse chirurgischer Prozesse ein Grundstein für vielfältige weitere Untersuchungen gelegt. Distanzmaß Distanzanalyse Workflow Prozessablauf Prozessergebnis chirurgischer Prozess Prozessmodell Best Practice Benchmarking Jaccard Levenshtein Adjazenz Graphmatching Laparoskopie Kinderchirurgie process distances surgical process compliance workflow surgical process models prozess outcome surgical process Best Practice Benchmarking Jaccard Levenshtein Adjazenz Graphmatching laparoscopic surgery ddc:610 Ähnlichkeitsmaß Distanz Arbeitsablauf Prozess Prozessmodell Adjazenz Laparoskopie Kinderchirurgie Benchmarking
85	Evolution von Distanzmaßen für chirurgische Prozesse Schumann, Sandra 19 March 2014 (has links) Der Operationssaal ist ein hochkomplexes System mit dem Ziel patientenindividuelle Therapien zum Erfolg zu führen. Schwerpunkt dieser Arbeit ist der Arbeitsablauf des Chirurgen. Ein chirurgischer Prozess beinhaltet die durchgeführten Arbeitsschritte des Operateurs während eines Eingriffffs. Der protokollierte chirurgische Prozess ist Ausgangspunkt der Untersuchungen. Es wurde eine Methodik entwickelt, die mit statistischen und standardisierten Verfahren Unterschiede zwischen dem Ablauf verschiedener chirurgischer Prozesse messen kann. Dazu wurden die vier Distanzmaße Jaccard, Levenshtein, Adjazenz und Graphmatching auf chirurgische Prozesse angewandt. Eine Evaluation anhand von Daten einer Trainingsstudie zur Untersuchung laparoskopischer Instrumente in der minimalinvasiven Chirurgie bildet die Grundlage zur Bestimmung von Levenshteindistanz und Adjazenzdistanz als die Maße, die optimal geeignet sind Unterschiede zwischen chirurgen Prozessen zu messen. Die Retrospektivität der Distanzanalyse wird aufgehoben indem folgende Hypothese untersucht wird: Es gibt einen Zusammenhang zwischen der Distanz zur Laufzeit eines chirurgischen Eingriffs mit der Distanz nach kompletten Ablauf des Eingriffs. Die Hypothese konnte bestätigt werden. Der Zusammenhang zwischen Prozessablauf und Qualität des Prozessergebnisses wird mit folgender Hypothese untersucht: Je größer die Distanz eines chirurgischen Prozesses zum Best Practice, desto schlechter ist das Prozessergebnis. In der Chirurgie ist der Best Practice der chirurgische Prozess, der als die beste Prozedur angesehen wird, um das angestrebte Therapieziel zu erreichen. Auch diese Hypothese konnte bestätigt werden. Die Anwendung der Distanzmaße in der klinischen Praxis erfolgte beispielhaft an Eingriffffen aus der Neurochirurgie (zervikale Diskektomie) und der HNO (Neck Dissection). Insgesamt wurde mit der in dieser Arbeit dargelegten grundlegenden Methodik der Distanzmaße bei der Analyse chirurgischer Prozesse ein Grundstein für vielfältige weitere Untersuchungen gelegt. info:eu-repo/classification/ddc/610 ddc:610
86	Investigating the Application and Sustained Effects of Stochastic Resonance on Haptic Feedback Sensitivity in a Laparoscopic Task Wilcox, Kara Liane 08 June 2023 (has links) No description available. Biomedical Engineering Biomedical Research Engineering Health Health Care Mechanical Engineering Surgery stochastic resonance weak signals random noise non-linear system human motor control system laparoscopy laparoscopic surgery haptic feedback performance improvement palpation tumor detection sustained effects after effects haptic feedback sensitivity piezoelectric actuator
87	Disruptive Transformations in Health Care: Technological Innovation and the Acute Care General Hospital Lucas, D. Pulane 24 April 2013 (has links) Advances in medical technology have altered the need for certain types of surgery to be performed in traditional inpatient hospital settings. Less invasive surgical procedures allow a growing number of medical treatments to take place on an outpatient basis. Hospitals face growing competition from ambulatory surgery centers (ASCs). The competitive threats posed by ASCs are important, given that inpatient surgery has been the cornerstone of hospital services for over a century. Additional research is needed to understand how surgical volume shifts between and within acute care general hospitals (ACGHs) and ASCs. This study investigates how medical technology within the hospital industry is changing medical services delivery. The main purposes of this study are to (1) test Clayton M. Christensen’s theory of disruptive innovation in health care, and (2) examine the effects of disruptive innovation on appendectomy, cholecystectomy, and bariatric surgery (ACBS) utilization. Disruptive innovation theory contends that advanced technology combined with innovative business models—located outside of traditional product markets or delivery systems—will produce simplified, quality products and services at lower costs with broader accessibility. Consequently, new markets will emerge, and conventional industry leaders will experience a loss of market share to “non-traditional” new entrants into the marketplace. The underlying assumption of this work is that ASCs (innovative business models) have adopted laparoscopy (innovative technology) and their unification has initiated disruptive innovation within the hospital industry. The disruptive effects have spawned shifts in surgical volumes from open to laparoscopic procedures, from inpatient to ambulatory settings, and from hospitals to ASCs. The research hypothesizes that: (1) there will be larger increases in the percentage of laparoscopic ACBS performed than open ACBS procedures; (2) ambulatory ACBS will experience larger percent increases than inpatient ACBS procedures; and (3) ASCs will experience larger percent increases than ACGHs. The study tracks the utilization of open, laparoscopic, inpatient and ambulatory ACBS. The research questions that guide the inquiry are: 1. How has ACBS utilization changed over this time? 2. Do ACGHs and ASCs differ in the utilization of ACBS? 3. How do states differ in the utilization of ACBS? 4. Do study findings support disruptive innovation theory in the hospital industry? The quantitative study employs a panel design using hospital discharge data from 2004 and 2009. The unit of analysis is the facility. The sampling frame is comprised of ACGHs and ASCs in Florida and Wisconsin. The study employs exploratory and confirmatory data analysis. This work finds that disruptive innovation theory is an effective model for assessing the hospital industry. The model provides a useful framework for analyzing the interplay between ACGHs and ASCs. While study findings did not support the stated hypotheses, the impact of government interventions into the competitive marketplace supports the claims of disruptive innovation theory. Regulations that intervened in the hospital industry facilitated interactions between ASCs and ACGHs, reducing the number of ASCs performing ACBS and altering the trajectory of ACBS volume by shifting surgeries from ASCs to ACGHs. Disruptive Disruptive Innovation Theory Disruptive Transformations Disruptive Innovation Innovation Technology Technological Innovation Medical Innovation Medical Technology Medical Advancement Laparoscopy Laparoscopic Surgery open surgery appendectomy cholecystectomy bariatric surgery weight loss surgery appendectomies cholecystectomies inpatient outpatient ambulatory ambulatory surgery ambulatory surgery center acute care general hospital hospital acute care hospital general hospital health care healthcare hospital industry health care industry Clayton Christensen Clayton M Christensen Michael Porter Harvard Business School Virginia Commonwealth University CMS Health policy public policy public administration organizational theory organization theory Population Ecology Theory Competitive Strategy policy analysis John Kimberly Organization Size Structural Inertia liability of smallness health spending health care cost specialty medical facility open system niche width dynamic outpatient department technology shift surgical setting surgical setting shift medical facility shift substitution threat health system system level analysis Ecological Approach hospital trends ambulatory surgery trends reimbursement rate Medicare CMS coverage decision P J DiMaggio DiMaggio and Powell w w Powell Hannan and Freeman M T Hannan Organizational change minimally invasive surgery less invasive surgery Prospective Payment System Outpatient Prospective Payment System entreprenuerial physician health care organization health care management Roice Luke Carl Ameringer new technology surgical utilization elective surgery Medicare Payment Advisory Commission MedPAC coverage decision trends in surgery abdominal surgery surgical variation physician-owned physician ownership physician autonomy outpatient clinic utilization trends unnecessary surgery Pfeffer Salancik technology diffusion redefining health care interdisciplinary research health care delivery panel design diffusion of hospital technology state variation regional variation local health care market government intervention medical facility health care capacity focused factory advances in health care physician organization relationship hospital competition medical specialization hospital expansion medical arms race integrated care integrated health system J E Wennberg health care transformation reimbursement scheme surgical volume Florida Wisconsin policy making health policy analysis competitive dynamics center of excellence intervening factor service line competition service-line competition surgical reimbursement innovative business model innovative technology environmental influence established firm new market entrant patient safety sophisticated technology Harvard Divinity School Social and Behavioral Sciences

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