Proof-of-Concept Development of the Distal Module of a Cystoscope Transurethral Continuum Surgical Robotic System

Transurethral resection of bladder tumor (TURBT) is the typical procedure for non-muscle invasive bladder tumors. However, current TURBT using rigid surgical tools can hardly handle en bloc resection of bladder tumor and anterior tumor resection. This letter hence proposes a teleoperation-based cyst...

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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 9; no. 11; pp. 10002 - 10009
Main Authors: Kuang, Haomin, Wang, Xiang, Zhao, Chen, Zhu, Chuanxiang, Xu, Kai
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.11.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Accuracy
Algorithms
Bladder
Cameras
Closed loop systems
Closed loops
Cytometry
Degrees of freedom
Design optimization
Feedback control
Manipulators
Medical robotics
Modules
Optimization
Parallel continuum robots
Position errors
Shape
Surgical instruments
Topology
Topology optimization
transurethral surgical robot
Tumors
visual closed-loop control
ISSN:2377-3766, 2377-3766
Online Access:Get full text
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Summary:Transurethral resection of bladder tumor (TURBT) is the typical procedure for non-muscle invasive bladder tumors. However, current TURBT using rigid surgical tools can hardly handle en bloc resection of bladder tumor and anterior tumor resection. This letter hence proposes a teleoperation-based cystoscope transurethral continuum surgical robotic system and conducts proof-of-concept development of its distal module. The distal module uses a parallel continuum robot (PCR) form to fully utilize the urethra cross section as well as realize marker-less visual closed-loop control. The design of the distal module starts with a topology optimization of the PCR. Then, the PCR is modeled and optimized for better structural stiffness. Besides, the use of the PCR can inherently facilitate marker-less visual closed-loop control since its mobile platform has a toroidal shape that is easily identifiable in the endoscopic image based on the contour detection algorithm. The functionality of the distal module is evaluated via the experiments on a proof-of-concept construction. The distal module can grip the bladder mucosa and perform tumor resection with a bipolar loop under teleoperation. The experimental results showed that the 3-DoF (Degree of Freedom) distal module with an outer diameter of 7 mm realized a functional workspace volume of a φ 25-mm sphere and an average position error of 0.40 mm under closed-loop control. The teleoperation with closed-loop and open-loop control transition demonstrates a great potential for en bloc tumor resection.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2024.3469812