Visual‐electromagnetic system: A novel fusion‐based monocular localization, reconstruction, and measurement for flexible ureteroscopy

Abstract

Background During flexible ureteroscopy (FURS), surgeons may lose orientation due to intrarenal structural similarities and complex shape of the pyelocaliceal cavity. Decision‐making required after initially misjudging stone size will also increase the operative time and risk of severe complications. Methods A intraoperative navigation system based on electromagnetic tracking (EMT) and simultaneous localization and mapping (SLAM) was proposed to track the tip of the ureteroscope and reconstruct a dense intrarenal three‐dimensional (3D) map. Furthermore, the contour lines of stones were segmented to measure the size. Results Our system was evaluated on a kidney phantom, achieving an absolute trajectory accuracy root mean square error (RMSE) of 0.6 mm. The median error of the longitudinal and transversal measurements was 0.061 and 0.074 mm, respectively. The in vivo experiment also demonstrated the effectiveness. Conclusion The proposed system worked effectively in tracking and measurement. Further, this system can be extended to other surgical applications involving cavities, branches and intelligent robotic surgery.

Intuitive master device for endoscopic robots with visual‐motor correspondence

“…However, it is difficult to approach the desired calyx if the roll‐axis rotation is not accurately manipulated. This is because the entrances of all the calyces have similar shapes, and the pelvicalyceal shapes are complex 24,25 . The pelvicalyceal system is composed of the renal pelvis and major and minor calyces, as shown in Figure 12A.…”

“…This is because the entrances of all the calyces have similar shapes, and the pelvicalyceal shapes are complex. 24,25 The pelvicalyceal system is composed of the renal pelvis and major and minor calyces, as shown in Figure 12A. For the flexible ureteroscope to pass through the pelvicalyceal system, the roll-axis rotation of the endoscope must be manipulated frequently and accurately.…”