TY - JOUR
T1 - CoFlex TOP
T2 - A Teleoperation System for Flexible Ureteroscopy
AU - Schlenk, Christopher
AU - Hellings-Kus, Anja
AU - Hagmann, Katharina
AU - Budjakoski, Nikola
AU - Maza, Laura Oliva
AU - Klodmann, Julian
AU - Muller-Spahn, Sebastian
AU - Steidle, Florian
AU - Miernik, Arkadiusz
AU - Albu-Schaffer, Alin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2024/6/1
Y1 - 2024/6/1
N2 - 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. Subsequently, 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.
AB - 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. Subsequently, 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.
KW - Medical robots and systems
KW - performance evaluation and benchmarking
KW - telerobotics and teleoperation
UR - http://www.scopus.com/inward/record.url?scp=85189156136&partnerID=8YFLogxK
U2 - 10.1109/LRA.2024.3382492
DO - 10.1109/LRA.2024.3382492
M3 - Article
AN - SCOPUS:85189156136
SN - 2377-3766
VL - 9
SP - 4942
EP - 4949
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 6
ER -