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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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2021/6911202 |
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| 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 |
| collection | DOAJ |
| 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 |
| id | doaj-art-83071f48b9ab499f835ef65b5d7231da |
| institution | Kabale University |
| issn | 1754-2103 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-83071f48b9ab499f835ef65b5d7231da2025-02-03T01:07:08ZengWileyApplied Bionics and Biomechanics1754-21032021-01-01202110.1155/2021/6911202Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy SystemJianchang Zhao0Jianmin Li1Liang Cui2Chaoyang Shi3Guowu Wei4School of Mechanical EngineeringSchool of Mechanical EngineeringUrology Department of Civil Aviation General HospitalSchool of Mechanical EngineeringSchool of ScienceFlexible 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.http://dx.doi.org/10.1155/2021/6911202 |
| spellingShingle | Jianchang Zhao Jianmin Li Liang Cui Chaoyang Shi Guowu Wei Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System Applied Bionics and Biomechanics |
| title | 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_short | Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System |
| title_sort | design and performance investigation of a robot assisted flexible ureteroscopy system |
| url | http://dx.doi.org/10.1155/2021/6911202 |
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