Computer-assisted transurethral laser resection of the prostate (CALRP): theoretical and experimental motion plan

Abstract

Computer-Assisted transurethral laser resection of the prostate (CALRP) is a treatment modality that was designed and developed based on an integrated system of computer, robotics and laser technology in association with a minimally invasive surgery known as laser transurethral resection of the prostate (LRP). CALRP possesses complementary capabilities that could remedy many of the problems faced by surgeons in conventional LRP by delivering a treatment with repeatability and reliability. The work deals primarily in determining the feasibility study of the computer-assisted lasing motion plan (planned motion sequence controlled by a program) for LRP. A theoretical motion plan that analyzes numerically the lasing motion of the fiber was designed by calculating the profile removal rate and in vitro experiments conducted on human cadaveric prostate to verify and validate the designed motion plan. The novel motion plan, which was executed experimentally using the LaserTrode lightguide, accomplished the objective of resecting the enlarged prostate with the aid of computer and robotics technology.

Structural Design and Puncture Control of Insertion Robot for FBG Embedded Cannula Flexible Needle

“…Ho et al developed a transperineal insertion robot for the prostate insertion, which consisted of an insertion mechanism, a posture adjustment mechanism for the flexible needle and a driving mechanism for an ultrasonic probe. However, the movements of the robot required manual operations [15]. proposed a control method using the duty cycled spinning of the needle shaft, which achieved the curvature adjustment of the curved trajectory [21].…”