Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma...Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments.Soft robots are relatively fexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument.A soft robot system for single-port transvesical robot-assisted radical prostatectomy(STvRARP)is developed in this study.The soft manipulator with 10 mm in diameter and a maximum bending angle of 270°has good fexibility and dexterity.The design and mechanical structure of the soft robot are described.The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator.The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.展开更多
Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a spe...Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment.However,the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery.In this study,we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments.Then,two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis,we proposed two hysteresis compensation strategies for the distal shaft deflection.Finally,wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies.Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5°.展开更多
基金the National Natural Science Foundation of China(Nos.62133009,61973211,51911540479 and M-0221)the Project of the Science and Technology Commission of Shanghai Municipality(No.21550714200)+1 种基金the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University,the Foreign Cooperation Project of Fujian Science and Technology Plan(No.202210041)the Quanzhou High-Level Talent Innovation and Entrepreneurship Project(No.2021C003R)。
文摘Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments.Soft robots are relatively fexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument.A soft robot system for single-port transvesical robot-assisted radical prostatectomy(STvRARP)is developed in this study.The soft manipulator with 10 mm in diameter and a maximum bending angle of 270°has good fexibility and dexterity.The design and mechanical structure of the soft robot are described.The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator.The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.
基金the National Natural Science Foundation of China(Nos.61973211,62133009,51911540479 and M-0221)the Project of the Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)the Project of the Institute of Medical Robotics of Shanghai Jiao Tong University,and the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.ZH2018QNB31 and YG2017MS27)。
文摘Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment.However,the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery.In this study,we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments.Then,two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis,we proposed two hysteresis compensation strategies for the distal shaft deflection.Finally,wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies.Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5°.
