Design and kinematics of a tube-shaped multidirectional bending robotic device using slackened SMA wires for transurethral ureterolithotripsy.

Journal: International journal of computer assisted radiology and surgery
PMID: 36269508

Abstract

PURPOSE: The complex and elaborate structure of the urinary system presents surgeons with difficulty in using a ureteroscope with a fixed optical fiber to reach the targeted calculus. To address this challenge, a robotic device is required to control the direction of laser irradiation position independently in ureteroscopes.

Authors

  • Wenrui Liu
    Graduate School of Biomedical Engineering, Tohoku University, 6-6 Aza-Aoba, Aramaki, Aoba-ku, Sendai, 980-8579, Japan. wenrui.liu.t3@dc.tohoku.ac.jp.
  • Noriko Tsuruoka
    Graduate School of Engineering, Tohoku University, 6-6 Aza-Aoba, Aramaki, Aoba-ku, Sendai, 980-8579, Japan.
  • Yoshikatsu Tanahashi
    The Urology Office of Tana-Hashi, 2-2-11 Kokubun-cho, Aoba-ku, Sendai, 980-0803, Japan.
  • Yoichi Haga
    Graduate School of Biomedical Engineering, Tohoku University, 6-6 Aza-Aoba, Aramaki, Aoba-ku, Sendai, 980-8579, Japan.

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