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. 2022 Oct;18(5):e2410.
doi: 10.1002/rcs.2410. Epub 2022 May 2.

Safety enhanced surgical robot for flexible ureteroscopy based on force feedback

Xiongpeng Shu  1   2 , Peng Hua  1 , Shuang Wang  1 , Ling Zhang  1 , Le Xie  1   2
Affiliations

Safety enhanced surgical robot for flexible ureteroscopy based on force feedback

Xiongpeng Shu et al. Int J Med Robot. 2022 Oct.

Abstract

Background: Although some robotic systems have been developed to improve conventional flexible ureteroscopy (FURS), a widely used intervention in urology, these robots rarely have a comprehensive force feedback function which is important for master-slave controlled surgical robots.

Methods: Here, we design and fabricate a novel FURS robot with a comprehensive force feedback function. Moreover, to realize better force feedback, a neural network-based method is also demonstrated to estimate the interactive forces between the flexible ureteroscope and the environment.

Results: We show that when teleoperating the flexible ureteroscope with our robot, the operator can accurately feel the obstruction if the interactive axial force or torque exceeds 1.2 N or 15.6 mN·m respectively. For bending movement, augmented force feedback greatly improves the accuracy of the operator's perception of obstruction.

Conclusions: The developed robotic system with force feedback is expected to improve the safety of robot-assisted FURS.

Keywords: irrigation; machine learning; retrograde intrarenal surgery; robot-assisted surgery; ureterorenoscopy; urolithiasis.

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References

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