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Design and performance investigation of a robot-assisted flexible ureteroscopy system

Zhao, J; Li, J; Cui, L; Shi, C; Wei, G

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Authors

J Zhao

J Li

L Cui

C Shi



Abstract

Flexible ureteroscopy (FURS) has been developed and has become a preferred routine procedure for both diagnosis and treatment of kidney stones and other renal diseases inside the urinary tract. The traditional manual FURS procedure is highly skill-demanding and easily brings about physical fatigue and burnout for surgeons. The improper operational ergonomics and fragile instruments also hinder its further development and patient safety enhancement. A robotic system is presented in this paper to assist the FURS procedure. The system with a master-slave configuration is designed based on the requirement analysis in manual operation. A joint-to-joint mapping strategy and several control strategies are built to realize intuitive and safe operations. Both phantom and animal experiments validate that the robot has significant advantages over manual operations, including the easy-to-use manner, reduced intraoperative time, and improved surgical ergonomics. The proposed robotic system can solve the major drawbacks of manual FURS. The test results demonstrate that the robot has great potential for clinical applications.

Citation

Zhao, J., Li, J., Cui, L., Shi, C., & Wei, G. (2021). Design and performance investigation of a robot-assisted flexible ureteroscopy system. Applied Bionics and Biomechanics, 2021, 6911202. https://doi.org/10.1155/2021/6911202

Journal Article Type Article
Acceptance Date Oct 27, 2021
Publication Date Nov 18, 2021
Deposit Date Nov 29, 2021
Publicly Available Date Nov 29, 2021
Journal Applied Bionics and Biomechanics
Print ISSN 1176-2322
Electronic ISSN 1754-2103
Publisher Hindawi
Volume 2021
Pages 6911202
DOI https://doi.org/10.1155/2021/6911202
Publisher URL https://doi.org/10.1155/2021/6911202
Related Public URLs http://www.hindawi.com/journals/abb/biblio/
Additional Information Additional Information : ** From Crossref journal articles via Jisc Publications Router **Journal IDs: eissn 1754-2103; pissn 1176-2322 **History: issued 18-11-2021; published 18-11-2021
Funders : National Natural Science Foundation of China;National Key Research and Development Program of China
Projects : 51721003;52075277;2017YFB1302800
Grant Number: 51721003
Grant Number: 5207527
Grant Number: 2017YFB1302800

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