A novel robotic system for flexible ureteroscopy.

Autor: Shu X; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China., Chen Q; Department of Urology, Renji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai, China., Xie L; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China.
Jazyk: angličtina
Zdroj: The international journal of medical robotics + computer assisted surgery : MRCAS [Int J Med Robot] 2021 Feb; Vol. 17 (1), pp. 1-11. Date of Electronic Publication: 2020 Nov 13.
DOI: 10.1002/rcs.2191
Abstrakt: Background: Interventional robots currently exist for flexible ureteroscopy (fURS). However, force feedback and intra-renal pressure, which are important in fURS, were rarely considered when designing these robots.
Methods: We propose a novel robotic system for fURS integrated with partial force feedback function that is the bending knob's torque feedback of the flexible ureteroscope, and intra-renal pressure monitoring. The proposed robotic system adopts commercial haptic device to realize torque feedback. In addition, we further propose a neural network-based method to optimize the operation of above haptic device.
Results: Experimental results show that the slave robot can capture the variation of bending conditions and feedback to the operator, and can also accurately monitor the intra-renal pressure. Besides, the neural network-based method shows its potential in improving the operation.
Conclusions: The results confirm the feasibility of proposed robot's functions. In vivo experiments are needed to further evaluate this system in future work.
(© 2020 John Wiley & Sons Ltd.)
Databáze: MEDLINE
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