Zhao Jianchang, Li Jianmin, Cui Liang, Shi Chaoyang, Wei Guowu
School of Mechanical Engineering, Tianjin University, Tianjin 300350, China.
Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin 300350, China.
Appl Bionics Biomech. 2021 Nov 18;2021:6911202. doi: 10.1155/2021/6911202. eCollection 2021.
Flexible ureteroscopy (FURS) has been developed and has become a preferred routine procedure for both diagnosis and treatment of kidney stones and other renal diseases inside the urinary tract. The traditional manual FURS procedure is highly skill-demanding and easily brings about physical fatigue and burnout for surgeons. The improper operational ergonomics and fragile instruments also hinder its further development and patient safety enhancement. A robotic system is presented in this paper to assist the FURS procedure. The system with a master-slave configuration is designed based on the requirement analysis in manual operation. A joint-to-joint mapping strategy and several control strategies are built to realize intuitive and safe operations. Both phantom and animal experiments validate that the robot has significant advantages over manual operations, including the easy-to-use manner, reduced intraoperative time, and improved surgical ergonomics. The proposed robotic system can solve the major drawbacks of manual FURS. The test results demonstrate that the robot has great potential for clinical applications.
柔性输尿管镜检查（FURS）技术已经得到发展，并已成为诊断和治疗肾结石及其他泌尿道肾脏疾病的首选常规方法。传统的手动FURS操作对技术要求很高，很容易使外科医生产生身体疲劳和职业倦怠。不当的操作人体工程学和易碎的器械也阻碍了其进一步发展以及患者安全的提升。本文提出了一种用于辅助FURS操作的机器人系统。该系统采用主从配置，基于手动操作的需求分析进行设计。构建了关节到关节的映射策略和几种控制策略，以实现直观和安全的操作。模型实验和动物实验均证实，该机器人相对于手动操作具有显著优势，包括使用方便、术中时间缩短以及手术人体工程学得到改善。所提出的机器人系统可以解决手动FURS的主要缺点。测试结果表明，该机器人在临床应用中具有巨大潜力。
