Ureteroscopy is a minimally invasive procedure for diagnosis and treatment of urinary tract pathology. Ergonomic and visualization challenges as well as radiation exposure are limitations to conventional ureteroscopy. Therefore, we have developed a robotic system to “power drive” a flexible ureteroscope with 3D tip tracking and pre-operative image overlay. The proposed system was evaluated using a kidney phantom registered to pre-operative MR images. Initial experiments show the potential of the device to provide additional assistance, precision, and guidance during urology procedures.
Hadi F. Talari, Reza Monfaredi, Emmanuel Wilson, Emily Blum, Christopher Bayne, Craig Peters, Anlin Zhang, and Kevin Cleary, "Robotically assisted ureteroscopy for kidney exploration," Proc. SPIE 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, 1013512 (Presented at SPIE Medical Imaging: February 16, 2017; Published: 3 March 2017); https://doi.org/10.1117/12.2253862.
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