Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

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 a...

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Autores principales:	Jianchang Zhao, Jianmin Li, Liang Cui, Chaoyang Shi, Guowu Wei
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Biotechnology TP248.13-248.65 Biology (General) QH301-705.5
Acceso en línea:	https://doaj.org/article/83071f48b9ab499f835ef65b5d7231da
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spelling	oai:doaj.org-article:83071f48b9ab499f835ef65b5d7231da2021-11-29T00:56:38ZDesign and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System1754-210310.1155/2021/6911202https://doaj.org/article/83071f48b9ab499f835ef65b5d7231da2021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/6911202https://doaj.org/toc/1754-2103Flexible 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.Jianchang ZhaoJianmin LiLiang CuiChaoyang ShiGuowu WeiHindawi LimitedarticleBiotechnologyTP248.13-248.65Biology (General)QH301-705.5ENApplied Bionics and Biomechanics, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Biotechnology TP248.13-248.65 Biology (General) QH301-705.5
spellingShingle	Biotechnology TP248.13-248.65 Biology (General) QH301-705.5 Jianchang Zhao Jianmin Li Liang Cui Chaoyang Shi Guowu Wei Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System
description	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.
format	article
author	Jianchang Zhao Jianmin Li Liang Cui Chaoyang Shi Guowu Wei
author_facet	Jianchang Zhao Jianmin Li Liang Cui Chaoyang Shi Guowu Wei
author_sort	Jianchang Zhao
title	Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System
title_short	Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System
title_full	Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System
title_fullStr	Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System
title_full_unstemmed	Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System
title_sort	design and performance investigation of a robot-assisted flexible ureteroscopy system
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/83071f48b9ab499f835ef65b5d7231da
work_keys_str_mv	AT jianchangzhao designandperformanceinvestigationofarobotassistedflexibleureteroscopysystem AT jianminli designandperformanceinvestigationofarobotassistedflexibleureteroscopysystem AT liangcui designandperformanceinvestigationofarobotassistedflexibleureteroscopysystem AT chaoyangshi designandperformanceinvestigationofarobotassistedflexibleureteroscopysystem AT guowuwei designandperformanceinvestigationofarobotassistedflexibleureteroscopysystem
_version_	1718407718184681472

Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

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