CoFlex TOP: A Teleoperation System for Flexible Ureteroscopy

Schlenk, Christopher and Hellings-Kuss, Anja and Hagmann, Katharina and Budjakoski, Nikola and Oliva Maza, Laura and Klodmann, Julian and Müller-Spahn, Sebastian and Steidle, Florian and Miernik, Arkadiusz and Albu-Schäffer, Alin (2024) CoFlex TOP: A Teleoperation System for Flexible Ureteroscopy. IEEE Robotics and Automation Letters, 9 (6), pp. 4942-4949. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2024.3382492. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/10480566

Abstract

In flexible ureteroscopy (fURS) for kidney stones, the renal collecting system is inspected and stones are removed with a flexible ureteroscope (FU). One alternative to the fragmentation of stones and their removal with the help of graspers or extraction baskets is the dusting of stones with laser light. To support a single surgeon during a fURS procedure, in particular with the fine manipulation during dusting, we developed the CoFlex TOP system for the teleoperation of a handheld FU with three degrees of freedom. This paper describes the overall structure of the system, its kinematics and the hardware and software components. Sub- sequently, the system properties and its position repeatability are investigated and the system's feasibility for a tip positioning task in virtual reality is evaluated in a user study. Finally, we discuss the implications of the evaluation and sketch possible foci of a user study with urology surgeons.

Item URL in elib:

https://elib.dlr.de/204053/

Document Type:

Article

Title:

CoFlex TOP: A Teleoperation System for Flexible Ureteroscopy

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
Hellings-Kuss, Anja	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Hagmann, Katharina	UNSPECIFIED	https://orcid.org/0000-0002-4273-3259	UNSPECIFIED
Budjakoski, Nikola	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Oliva Maza, Laura	UNSPECIFIED	https://orcid.org/0000-0001-5382-3025	UNSPECIFIED
Klodmann, Julian	UNSPECIFIED	https://orcid.org/0000-0002-9428-7211	UNSPECIFIED
Müller-Spahn, Sebastian	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Steidle, Florian	UNSPECIFIED	https://orcid.org/0000-0001-6935-9810	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	UNSPECIFIED	https://orcid.org/0000-0001-5343-9074	158950493

Date:

27 March 2024

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.2024.3382492

Page Range:

pp. 4942-4949

Publisher:

IEEE - Institute of Electrical and Electronics Engineers

ISSN:

2377-3766

Status:

Published

Keywords:

Medical robots and systems, performance evaluation and benchmarking, telerobotics and teleoperation

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 - Terrestrial Assistance Robotics, R - Intuitive human-robot interface, R - Telerobotics

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (since 2013)

Deposited By:

Klodmann, Julian

Deposited On:

03 May 2024 22:15

Last Modified:

08 May 2024 14:40

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