Research On Ureteral Renal Interventional Robot

Flexible ureteroscopy is a type of minimal surgery,but the conventional method has its limitations during the operation.Firstly,the surgeon needs to stand and hold ureteroscope for operation,which can easily make surgeon tired,decreasing the accuracy of surgeon's operation.Secondly,if the kidney stones are difficult to find,surgeon need to use X-ray,which results in surgeon being exposed toradiation.At the present,with the development of minimal surgery robot,more and more researchers devote themselves to this promising field.Based on the disadvantages of traditional flexible ureteroscopy,a ureteral renal interventional robot(URIR)was designed in this paper.The main research content is as follows:This paper first introduces the process of traditional flexible ureteroscopy,requirements were analyzed by the procedures.The slave URIR with four degrees of freedom was fabricated to realize flexible manipulation of up-down motion,advancing and retracting,as well as rotation and bending.Before the operation,surgeon can control the vertical movement of the ureteroscope through elevating platform to ensure that the ureteroscope is inserted horizontally into the patient's natural cavity.Then,the slave robot can manipulate flexible ureteroscope to achieve the horizontal position when the ureteroscope is inserted into the bladder,ureter and pelvis.Meanwhile,the flexible ureteroscope can also be easily rotated and bent to search for kidney stones with the help of URIR.In a word,URIR can improve ergonomics to avoid fatigue of the surgeon.Furthermore,in order to avoid X-ray irradiation,the robot system adopted master-slave control strategy.The hardware of control system includes haptic device,micro control unit,actuator,signal conversion module and communication module.In this method,surgeons can manipulate the slave robot remotely.Finally,an easy-to-use human-robot interaction interface was designed.Surgeons can control the degrees of freedom separately by switching the button on the interface,which can avoid the interference of different degrees of freedom in specific circumstance.The movement of human hand reflecting to the slave robot can be scaled to achieve fine and rapid operation in surgery.