Safety enhanced surgical robot for flexible ureteroscopy based on force feedback

Abstract

Background: Although some robotic systems have been developed to improve conventional flexible ureteroscopy (FURS), a widely used intervention in urology, these robots rarely have a comprehensive force feedback function which is important for master-slave controlled surgical robots.Methods: Here, we design and fabricate a novel FURS robot with a comprehensive force feedback function. Moreover, to realize better force feedback, a neural network-based method is also demonstrated to estimate the interactive forces between the flexible ureteroscope and the environment. Results:We show that when teleoperating the flexible ureteroscope with our robot, the operator can accurately feel the obstruction if the interactive axial force or torque exceeds 1.2 N or 15.6 mN•m respectively. For bending movement, augmented force feedback greatly improves the accuracy of the operator's perception of obstruction. Conclusions:The developed robotic system with force feedback is expected to improve the safety of robot-assisted FURS.

Retrograde intrarenal surgery using the ILY robotic flexible ureteroscope: a single centre experience

“…Finally, the ILY and other robots lack tactile feedback. However, the technology is being developed to incorporate force feedback into robotic fURS in the future [ 5 ].…”

Recent advances in the treatment of renal stones using flexible ureteroscopys

“…Using a neural network-based approach to estimate the interaction force between the flexible ureteral scope and the environment, the operator can accurately perceive obstacles when the interacting axial force or torque exceeds 1.2 N or 15.6 mN·m, respectively, during the robot’s teleoperation of the flexible ureteral scope. This force feedback greatly improves the accuracy of the operator’s obstacle perception and is expected to improve the safety of robotic-assisted FURS 79 .…”

Robotic flexible ureteroscopy: A new challenge in endourology

“…In 2022, Shu et al [ 5 ] demonstrated their robotic RIRS system, which is based on force feedback with a neural network-based method. In their prototype system, the operator can accurately feel the obstruction if the interactive axial force or torque exceeds 1.2 N or 15.6 mN·m, respectively.…”

“…Soon, most robotic RIRS systems should have force feedback using haptic sense. Thus, the study by Shu et al [ 5 ] marked the beginning of this latest technology for enhancing the safety of robotic endoluminal surgery.…”