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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >TURBot: A System for Robot-Assisted Transurethral Bladder Tumor Resection
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TURBot: A System for Robot-Assisted Transurethral Bladder Tumor Resection

机译：TURBot：机器人辅助经尿道膀胱肿瘤切除术的系统

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摘要

Staging and treatment of nonmuscle-invasive bladder tumors using transurethral resection of bladder tumors (TURBT) is challenging due to limitations in intravesicular tool dexterity, visualization and risk of bladder wall perforation. Currently, TURBT is achieved via a rigid resectoscope. This dexterity limitation is exacerbated when tumors are located in the bladder neck region. To address these limitations, an endoscopic robotic system called TURBot was developed. The paper presents the design considerations, modeling, and control challenges that were addressed to enable the first robot-assisted in vivo TURBT. The design and control of a slave robot comprised of a multisegment continuum robot capable of deploying a micro snake-like continuum robot for control of an ablation laser, a grasper, and a fiberscope is presented. A strategy for constrained telemanipulation is presented based on the redundancy resolution with varying task dimension that is commensurate with the level of constraint experienced by the robot during transurethral deployment. In addition to evaluation in animals, TURBot resection is compared against manual resection in a mockup user study using a human bladder phantom. The contributions of this paper present key steps that pave the way toward successful clinical robot-assisted TURBT.
机译：由于膀胱内工具灵活性，可视化和膀胱壁穿孔风险的限制，使用经尿道膀胱肿瘤切除术（TURBT）进行非肌肉浸润性膀胱肿瘤的分期和治疗具有挑战性。目前，TURBT是通过刚性直肠镜实现的。当肿瘤位于膀胱颈区域时，这种灵活性的限制会加剧。为了解决这些限制，开发了一种称为TURBot的内窥镜机器人系统。本文介绍了设计考虑因素，建模和控制难题，这些难题已得到解决，以实现第一个机器人辅助的体内TURBT。提出了一种从机器人的设计和控制，该从机器人包括多段连续体机器人，该多段连续体机器人能够部署微蛇状连续体机器人以控制消融激光，抓取器和纤维镜。基于具有不同任务维度的冗余分辨率，提出了一种受约束的远程操纵策略，该策略与机器人在经尿道部署过程中所经历的约束水平相对应。除了在动物中进行评估外，在使用人类人体模型的模型用户研究中，将TURBot切除与手动切除进行了比较。本文的贡献提出了关键步骤，这些步骤为成功的临床机器人辅助TURBT铺平了道路。

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