Level I/II autonomy in robotically navigated lithotripsy: comprehensive system evaluation and performance assessment.
Background: Laser lithotripsy is a minimally invasive procedure performed by a urologist using a ureteroscope, a device composed of a flexible laser fiber and a camera. The camera is used to physically view and manually target the stone ablated by the laser. The procedure involves the risk of uninte...
| Publicado en: | Minimally Invasive Therapy & Allied Technologies Vol. 34; no. 6; pp. 484 - 493 |
|---|---|
| Autores principales: | , , , , |
| Formato: | pictorial research tables/charts Journal Article |
| Publicado: |
Taylor & Francis Ltd
Dec2025
|
| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=189706714&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 189706714 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 13645706 J4S jtl: Minimally Invasive Therapy & Allied Technologies issn: 13645706 maglogo: Y pubinfo: dt: Dec2025 vid: 34 iid: 6 pid: 377 pub: Taylor & Francis Ltd place: Philadelphia, Pennsylvania artinfo: ui: 189706714 188387306 189706714 189706714 10.1080/13645706.2025.2568611 189706714 ppf: 484 ppct: 9 formats: tig: atl: Level I/II autonomy in robotically navigated lithotripsy: comprehensive system evaluation and performance assessment. aug: au: Athanasiou, Lambros Senthil Kumar, Manivannan King, Franklin Wollin, Daniel A. Hata, Nobuhiko affil: Collaborative Innovation Center, Canon Medical Research USA, Inc, Cambridge, MA, USA sug: subj: Lithotripsy Robotic Surgical Procedures Automation Ureteroscopy Urinary Calculi Surgery Task Performance and Analysis Evaluation Catheters Image Processing, Computer Assisted Human Funding Source Hospitals Pilot Studies Phantoms, Imaging Regression Videorecording Data Curation User-Computer Interface Systems Integration Equipment Design Light Adverse Effects Printing, Three-Dimensional Computer Simulation ab: Background: Laser lithotripsy is a minimally invasive procedure performed by a urologist using a ureteroscope, a device composed of a flexible laser fiber and a camera. The camera is used to physically view and manually target the stone ablated by the laser. The procedure involves the risk of unintentional trauma caused by the laser when the stones are out of target due to their retro-pulsive movement. Methods: To minimize clinical complications, we propose a Level I/II autonomous system in robotic lithotripsy. The system consists of a robotic catheter and an integrated U-Net segmentation method. The system aims to automatically target the stones during lithotripsy and guide ureteroscope navigation autonomously. Results: The proposed system is designed and validated using a phantom specifically manufactured to investigate the feasibility of autonomous stone ablation. An overall target accuracy of 99.97% (leave-one-out: 99.971 min, 99.975 max) was reported. Conclusions: We successfully implemented a stone targeting method and integrated it with our robotic system to evaluate the level of success in autonomously targeting the stones. The results, indicate that autonomy in robot assisted lithotripsy is feasible. pubtype: Academic Journal doctype: pictorial research tables/charts Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
|---|