Robotic Assisted Percutaneous Access Of The Kidney System: Design And Fabrication

Backround and Objective:Kidney Calculus is a common urological diseases. Operations are the common treatments for this kind of disease. Percutaneous puncture is the basic technique of percutaneous nephrolithotomy holmium laser lithotripsy, percutaneous nephrolithot- omy lithotomy, it is an important part of urological surgery. In recent years, the robot came to medical domain from the industrial production line, the advanced robotics has brought new opportunities for percutaneous puncture technique. The issue focused on design and build a robotic system which can establish a percutaneous access of kidney based on existing surgical techniques, and tested through animal experiments for its performance, security, and feasibility.Methods:1. Percutaneous renal puncture robot model stages: Inspect the similar robotic system of percutaneous access of the kidney and learn from their experiences,design the model and make blueprint, create a robotic arm with 6DOF(Degree of freedom),control it with a personal computer. Then test on the velvet fruit and isolated kidney of mouse.Evaluation the flexibility, accuracy and handling. Get ready. for the design of the prototype.2. Percutaneous renal puncture robot prototype stage: According to demonstration of the model, design and produce a prototype robot with the co-manipulator. Then, the animal experiments are carried out on the rabbit model and on vitro pig kidney. With the guidance of the ultrasonic, robot is tested, to perform puncture in rabbit kidney (into the renal pelvis or calyx)and in the isolated pig kidney (into the target calyx). Evaluate the feasibility, accuracy. Record the extent permitted of puncture and puncture complications occurred.Results:1. Percutaneous robot model stage: Through the test,the model can successfully perform puncture on the velvet fruit and isolated kidney of mouse. The depth of the puncture is adjustable. In 3 cases of puncturing on the isolated kidney of mouse, all pathway successfully get into renal calices. Learning curve is relatively short.2. Percutaneous renal puncture robot prototype stage: On the test of tomatoes and isolated pig kidney,the model can successfully perform puncture on them. In puncture on the isolated pig kidney, the channel is successfully enter the target calyx. Success rate is 67%. Puncture accuracy, strength is well enough to perform percutaneous renal puncture. It also have values for percutaneous biopsy of other organs, percutaneous nephrolithotomy clamping function is available.In the puncture test on the rabbit, puncture success rate is 50%.Conclusion:The prototype manipulator has the ability to performe puncture. in animal experiments, the accuracy, security is essured. The operation is easily mastered, the learning curve is short.