Robotically assisted ureteroscopy for kidney exploration

Hadi F. Talari; Reza Monfaredi; Emmanuel Wilson; Emily Blum; Christopher Bayne; Craig Peters; Anlin Zhang; Kevin Cleary

doi:10.1117/12.2253862

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3 March 2017 Robotically assisted ureteroscopy for kidney exploration

Hadi F. Talari, Reza Monfaredi, Emmanuel Wilson, Emily Blum, Christopher Bayne, Craig Peters, Anlin Zhang, Kevin Cleary

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Proceedings Volume 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling; 1013512 (2017) https://doi.org/10.1117/12.2253862
Event: SPIE Medical Imaging, 2017, Orlando, Florida, United States

Abstract

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.

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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 (3 March 2017); https://doi.org/10.1117/12.2253862

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