A Robotic System for Solo Surgery in Flexible Ureterorenoscopy
Urolithiasis is a common disease with increasing prevalence across all ages. A common treatment option for smaller kidney stones is flexible ureterorenoscopy (fURS), where a flexible ureteroscope (FU) is used for stone removal and to inspect the renal collecting system. The handling of the flexible...
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| Veröffentlicht in: | IEEE robotics and automation letters 2022-10, Vol.7 (4), p.10558-10565 |
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| creator | Schlenk, Christopher Klodmann, Julian Hagmann, Katharina Kolb, Alexander Hellings-Kus, Anja Steidle, Florian Schoeb, Dominik Jurgens, Thorsten Miernik, Arkadiusz Albu-Schaffer, Alin |
| description | Urolithiasis is a common disease with increasing prevalence across all ages. A common treatment option for smaller kidney stones is flexible ureterorenoscopy (fURS), where a flexible ureteroscope (FU) is used for stone removal and to inspect the renal collecting system. The handling of the flexible ureteroscope and end effectors (EEs), however, is challenging and requires two surgeons. In this article, we introduce a modular robotic system for endoscope manipulation, which enables solo surgery (SSU) and is adaptable to various hand-held FUs. Both the developed hardware components and the proposed workflow and its representation in software are described. We then present and discuss the results of an initial user study. Finally, we describe subsequent developmental steps towards more extensive testing by clinical staff. |
| doi_str_mv | 10.1109/LRA.2022.3194668 |
| format | Article |
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A common treatment option for smaller kidney stones is flexible ureterorenoscopy (fURS), where a flexible ureteroscope (FU) is used for stone removal and to inspect the renal collecting system. The handling of the flexible ureteroscope and end effectors (EEs), however, is challenging and requires two surgeons. In this article, we introduce a modular robotic system for endoscope manipulation, which enables solo surgery (SSU) and is adaptable to various hand-held FUs. Both the developed hardware components and the proposed workflow and its representation in software are described. We then present and discuss the results of an initial user study. 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A common treatment option for smaller kidney stones is flexible ureterorenoscopy (fURS), where a flexible ureteroscope (FU) is used for stone removal and to inspect the renal collecting system. The handling of the flexible ureteroscope and end effectors (EEs), however, is challenging and requires two surgeons. In this article, we introduce a modular robotic system for endoscope manipulation, which enables solo surgery (SSU) and is adaptable to various hand-held FUs. Both the developed hardware components and the proposed workflow and its representation in software are described. We then present and discuss the results of an initial user study. Finally, we describe subsequent developmental steps towards more extensive testing by clinical staff.</description><subject>Bending</subject><subject>Calculi</subject><subject>DLR MIRO</subject><subject>End effectors</subject><subject>Endoscopes</subject><subject>fURS</subject><subject>Medical robots and systems</subject><subject>Modular systems</subject><subject>performance evaluation and benchmarking</subject><subject>physical human-robot interaction</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Robotic surgery</subject><subject>Robots</subject><subject>Shafts</subject><subject>Surgery</subject><subject>Urolithiasis</subject><subject>Workflow</subject><issn>2377-3766</issn><issn>2377-3766</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><recordid>eNpNkE1LAzEQhoMoWGrvgpeA561JJk02F6EUq8KC0LXnsB8T2bJtarIL7r93S4t4mhl43nfgIeSesznnzDxlm-VcMCHmwI1UKr0iEwFaJ6CVuv6335JZjDvGGF8IDWYxIc9LuvGl75qK5kPscE-dDzT3rad5H74wDLQ50HWLP03ZIt0G7DD4gAcfK38c7siNK9qIs8ucku365XP1lmQfr--rZZZUANAltVBloUuHwBk6VCk6o6WRMuV1UUmoS6OEk-DGuzIc0BRaYS2FU7XgXMOUPJ57j8F_9xg7u_N9OIwvrdCMSa6U5iPFzlQVfIwBnT2GZl-EwXJmT6LsKMqeRNmLqDHycI40iPiHm1SOlQv4BdjTYzk</recordid><startdate>20221001</startdate><enddate>20221001</enddate><creator>Schlenk, Christopher</creator><creator>Klodmann, Julian</creator><creator>Hagmann, Katharina</creator><creator>Kolb, Alexander</creator><creator>Hellings-Kus, Anja</creator><creator>Steidle, Florian</creator><creator>Schoeb, Dominik</creator><creator>Jurgens, Thorsten</creator><creator>Miernik, Arkadiusz</creator><creator>Albu-Schaffer, Alin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Bending Calculi DLR MIRO End effectors Endoscopes fURS Medical robots and systems Modular systems performance evaluation and benchmarking physical human-robot interaction Robot kinematics Robot sensing systems Robotic surgery Robots Shafts Surgery Urolithiasis Workflow |
| title | A Robotic System for Solo Surgery in Flexible Ureterorenoscopy |
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