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Published on: November 14, 2015
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Safety enhanced surgical robot for flexible ureteroscopy based on force feedback
Xiongpeng Shu1,2, Peng Hua1, Shuang Wang1
1Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.
Summary
This study introduces a novel robotic system for flexible ureteroscopy (FURS) with enhanced force feedback. The system allows surgeons to better sense obstructions during procedures, improving safety in robot-assisted urology.
Area of Science:
- Robotics in Urology
- Surgical Technology
- Medical Device Innovation
Background:
- Flexible ureteroscopy (FURS) is a key urological intervention.
- Existing robotic systems for FURS often lack comprehensive force feedback.
- Force feedback is crucial for precise control in master-slave robotic surgery.
Purpose of the Study:
- To design and develop a novel FURS robot incorporating a comprehensive force feedback system.
- To implement a neural network-based method for accurate estimation of interactive forces during FURS.
Main Methods:
- Fabrication of a new FURS robotic system with integrated force feedback.
- Utilization of a neural network model to estimate forces between the ureteroscope and surrounding tissues.
- Teleoperation of the flexible ureteroscope using the developed robotic system.
Main Results:
- Operators could accurately detect obstructions when axial force exceeded 1.2 N or torque exceeded 15.6 mN·m.
- Augmented force feedback significantly enhanced the operator's ability to perceive obstructions during bending movements.
Conclusions:
- The novel robotic system provides effective force feedback for FURS.
- This technology is anticipated to enhance the safety and precision of robot-assisted flexible ureteroscopy.
