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

Zhao, J ORCID:, Li, J, Cui, L, Shi, C ORCID: and Wei, G ORCID: 2021, 'Design and performance investigation of a robot-assisted flexible ureteroscopy system' , Applied Bionics and Biomechanics, 2021 , p. 6911202.

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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.

Item Type: Article
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
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: Applied Bionics and Biomechanics
Publisher: Hindawi
ISSN: 1176-2322
Related URLs:
Funders: National Natural Science Foundation of China, National Key Research and Development Program of China
SWORD Depositor: Publications Router
Depositing User: Publications Router
Date Deposited: 29 Nov 2021 09:14
Last Modified: 15 Feb 2022 17:03

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