Development Of Portable Flexible Ureteroscope Robot Prototype Andin Vitro Experiments

Objective:Flexible ureteroscope lithotripsy is an important method for the treatment of upper urinary tract stones,but it has certain drawbacks.Try to use a robotic system in the operation of flexible ureteroscope to study whether it can solve the existing problems.The goal of this experiment is to develop a master-slave robotic system that can be used to assist traditional flexible ureteroscopes in norma surgical operations.Control the development cost,control the robot volume,and achieve the purpose of portability.Methods:The overall research ideas are: theoretical analysis and data collection?robot system design?prototype production?(in vitro experiment?optimization and improvement)?in vitro experiment.Result:At the end of this topic,a miniaturized and wirelessly controlled master-slave flexible ureteroscope robot was trial-produced.The 3 degrees of freedom(3DOF)at the master control end is responsible for controlling the 3 servo steering gears at the slave end to control the soft mirror.The three movements of human body movement:forward/backward,forward/counterclockwise rotation,forward/reverse bending of the soft lens end.The robot's movement experiment in vitro proved that its movement ability meets the needs of surgery.Both the operation of the flexible ureteroscope through the robotic system and the operation of the traditional hand-held flexible ureteroscope have a trend of increasing proficiency with the accumulation of cases on the learning curve.The learning curve of robotic systems is long.There is still room for improvement in human-computer communication design.The obvious difference is that the fatigue of operating the soft lens through the robot system is better than that of the traditional hand-held soft lens surgery.Conclusion:With the assistance of this system,it can meet the freedom of movement in flexible ureteroscopy,the delivery device of the lithotripsy fiber and the different lens holding modules,the ergonomic improvement of the main hand and the improvement of the robot base make it more Lightweight is the future direction of improvement.