A Robotic System for Solo Surgery in Flexible Ureterorenoscopy

Schlenk, Christopher and Klodmann, Julian and Hagmann, Katharina and Kolb, Alexander and Hellings, Anja and Steidle, Florian and Schoeb, Dominik, Stefan and Jürgens, Thorsten and Miernik, Arkadiusz and Albu-Schäffer, Alin Olimpiu (2022) A Robotic System for Solo Surgery in Flexible Ureterorenoscopy. IEEE Robotics and Automation Letters, 7 (4), pp. 10558-10565. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3194668. ISSN 2377-3766.

PDF - Published version
2MB

Official URL: https://ieeexplore.ieee.org/abstract/document/9844165

Abstract

Urolithiasis is a common disease with increasing prevalence across all ages. A common treatment option for smaller kidney stones is flexible ureterorenoscopy (fURS), where a flexible ureteroscope (FU) is used for stone removal and to inspect the renal collecting system. The handling of the flexible ureteroscope and end effectors (EEs), however, is challenging and requires two surgeons. In this article, we introduce a modular robotic system for endoscope manipulation, which enables solo surgery (SSU) and is adaptable to various hand-held FUs. Both the developed hardware components and the proposed workflow and its representation in software are described. We then present and discuss the results of an initial user study. Finally, we describe subsequent developmental steps towards more extensive testing by clinical staff.

Item URL in elib:

https://elib.dlr.de/188565/

Document Type:

Article

Title:

A Robotic System for Solo Surgery in Flexible Ureterorenoscopy

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Schlenk, Christopher	UNSPECIFIED	https://orcid.org/0000-0003-1918-6119	UNSPECIFIED
Klodmann, Julian	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Hagmann, Katharina	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Kolb, Alexander	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Hellings, Anja	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Steidle, Florian	UNSPECIFIED	https://orcid.org/0000-0001-6935-9810	UNSPECIFIED
Schoeb, Dominik, Stefan	Department of Urology, Faculty of Medicine and Medical Center—University of Freiburg, University of Freiburg, Freiburg, Germany	https://orcid.org/0000-0001-6394-7064	UNSPECIFIED
Jürgens, Thorsten	Olympus Winter & Ibe GmbH, Hamburg, Germany	UNSPECIFIED	UNSPECIFIED
Miernik, Arkadiusz	Department of Urology, Faculty of Medicine and Medical Center—University of Freiburg, University of Freiburg, Freiburg, Germany	UNSPECIFIED	UNSPECIFIED
Albu-Schäffer, Alin Olimpiu	UNSPECIFIED	https://orcid.org/0000-0001-5343-9074	142115910

Date:

28 July 2022

Journal or Publication Title:

IEEE Robotics and Automation Letters

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

In SCOPUS:

Yes

In ISI Web of Science:

Yes

Volume:

DOI:

10.1109/LRA.2022.3194668

Page Range:

pp. 10558-10565

Publisher:

IEEE - Institute of Electrical and Electronics Engineers

Series Name:

IEEE Robotics and Automation Letters

ISSN:

2377-3766

Status:

Published

Keywords:

Medical robots and systems, physical humanrobot interaction, performance evaluation and benchmarking, fURS, DLR MIRO

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Robotics

DLR - Research area:

Raumfahrt

DLR - Program:

R RO - Robotics

DLR - Research theme (Project):

R - Medical Assistance Systems [RO]

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013)

Deposited By:

Schlenk, Christopher

Deposited On:

30 Sep 2022 11:03

Last Modified:

11 Sep 2023 13:25

Repository Staff Only: item control page