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Level I/II autonomy in robotically navigated lithotripsy: comprehensive system evaluation and performance assessment
Lambros Athanasiou1,2, Manivannan Senthil Kumar1,3, Franklin King2
1Collaborative Innovation Center, Canon Medical Research USA, Inc, Cambridge, MA, USA.
Summary
This study introduces an autonomous robotic system for laser lithotripsy, significantly improving stone targeting accuracy. This innovation enhances safety and feasibility in minimally invasive stone removal procedures.
Area of Science:
- Urology
- Robotics
- Medical Imaging
Background:
- Laser lithotripsy uses ureteroscopes for stone ablation but risks trauma from stone movement.
- Manual targeting of stones during laser lithotripsy can be challenging due to retro-pulsive movement.
Purpose of the Study:
- To develop and validate a Level I/II autonomous robotic system for laser lithotripsy.
- To minimize clinical complications associated with stone targeting during the procedure.
Main Methods:
- A robotic catheter and a U-Net segmentation method were integrated into an autonomous system.
- The system was designed to automatically target stones and guide ureteroscope navigation.
Main Results:
- The autonomous system achieved a 99.97% target accuracy in phantom studies.
- Validation was performed using a custom-manufactured phantom for autonomous stone ablation feasibility.
Conclusions:
- The study successfully implemented and evaluated an autonomous stone targeting method within a robotic system.
- Results indicate the feasibility of autonomy in robot-assisted laser lithotripsy, enhancing procedural safety.
