Using a Guidance Virtual Fixture on a Soft Robot to Improve Ureteroscopy Procedures in a Phantom
Chun-Feng Lai,
Elena De Momi,
Giancarlo Ferrigno
et al.
Abstract:Manipulating a flexible ureteroscope is difficult, due to its bendable body and hand–eye coordination problems, especially when exploring the lower pole of the kidney. Though robotic interventions have been adopted in various clinical scenarios, they are rarely used in ureteroscopy. This study proposes a teleoperation system consists of a soft robotic endoscope together with a Guidance Virtual Fixture (GVF) to help users explore the kidney’s lower pole. The soft robotic arm was a cable-driven, 3D-printed desig… Show more
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