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Related Experiment Video

Updated: Sep 26, 2025

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Robotic system with programmable motion constraint for transurethral resection.

Zhen Sun1, Tianmiao Wang1, Chunheng Lu1

  • 1School of Mechanical Engineering and Automation, Beihang University, No. 37 Xueyuan Road, Beijing, 100191, China.

International Journal of Computer Assisted Radiology and Surgery
|April 16, 2022
PubMed
Summary
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This study introduces a novel tele-operated robotic system for transurethral tissue resection, offering precise and controlled surgical movements. The system enables accurate, less laborious, and cleaner surgical procedures remotely.

Area of Science:

  • Robotics in Medicine
  • Surgical Technology
  • Minimally Invasive Surgery

Background:

  • Transurethral procedures require precise instrument control to minimize damage to surrounding tissues.
  • Existing robotic systems may lack the necessary dexterity and constraint for delicate transurethral resections.

Purpose of the Study:

  • To develop and evaluate a tele-operated transurethral robotic system with programmable motion constraint for tissue resection.
  • To enhance precision and safety in remote transurethral surgeries.

Main Methods:

  • A 7-degree-of-freedom robotic manipulator with a surgeon console and a motor-driven resectoscope was utilized.
  • A screw theory-based programmable remote center-of-motion (RCM) generator was implemented for precise movement control.
  • An online trajectory planner was developed for smooth, real-time manipulator following with RCM constraint.
Keywords:
Manipulator controlRemote center-of-motionRobotic surgeryTransurethral

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Main Results:

  • Experimental evaluations demonstrated RCM precision and accuracy within 1 mm.
  • Ex-vivo experiments confirmed the system's capability for instrumental manipulation and delicate soft tissue resection.
  • The robotic system successfully performed tissue resection under surgeon's real-time control.

Conclusions:

  • The developed robotic system facilitates remote transurethral procedures with enhanced accuracy.
  • The system offers potential advantages including reduced surgeon labor and improved surgical site cleanliness.
  • This technology holds promise for advancing minimally invasive transurethral surgery.