A novel robotic system for flexible ureteroscopy

Abstract

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.

An irrigation system for noninvasively estimating intrarenal pressure during flexible ureteroscopy

“…7 Currently, no approach has been widely used for monitoring IRP in the clinic. Some researchers have tried to measure IRP with miniature pressure sensor wires 9,16 and UAS integrated with sensors. 13 However, these methods have some limitations.…”

“…But, the movement space is limited, so this type of error will not be great. In future work, a robot for FURS 16,22 is expected to improve the estimation accuracy, because the FURS robot can more accurately know the flexible ureteroscope's position, thus can compensate for the influence of the movement.…”

“…To monitor IRP in daily FURS, Song et al [13][14][15] developed a novel ureteral access sheath (UAS) with a tip that integrates miniature pressure sensors to directly measure IRP. Doizi et al 9 and Shu et al 16 used a digital pressure sensor wire to monitor IRP. However, these methods suffer from limitations such as the inconvenience of use, high cost of the single-use miniature sensors, and involving instruments that occupy the narrow ureter.…”

Intuitive master device for endoscopic robots with visual‐motor correspondence

“…Utilising a commercial endoscope in the robot for RIRS is a method employed by several research teams. The method of robotising the pitch, roll, and translation motions of a manual endoscope was similar to that proposed by other researchers 16,22,23 . To implement each rotation DOF of the slave robot, a DC motor was directly connected to the rotation axis.…”

“…The method of robotising the pitch, roll, and translation motions of a manual endoscope was similar to that proposed by other researchers. 16,22,23 To implement each rotation DOF of the slave robot, a DC motor was directly connected to the rotation axis. The translation motions were implemented using a linear guide, timing belt, and pulley.…”