Development/Evaluation of a User Interface for Robotically-Assisted Ureteroscopy

机器人辅助输尿管镜用户界面的开发/评估

• 批准号: 8892345
• 负责人: Kevin R. Cleary
• 金额: $ 8.62万
• 依托单位: CHILDREN'S RESEARCH INSTITUTE
• 依托单位国家: 美国
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-04-15 至 2017-03-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8892345
• 关键词: Address; Anatomy; Back; Biopsy; Bladder; Bronchoscopy; Calculi; Calibration; Charge; Child; Clinical Trials; Colonoscopy; Computer software; Contrast Media; Development; Devices; Diagnosis; Diagnostic Procedure; Effectiveness; Electrocoagulation; Endoscopes; Endoscopy; Engineering; Ensure; Evaluation; Excision; Exposure to; Failure; Fatigue; Feasibility Studies; Fluoroscopy; Foundations; Funding; Goals; Hand; Health; Hemorrhage; Hospitals; Hour; Image; Imagery; Joystick; Kidney; Laser Lithotripsy; Lead; Malignant Neoplasms; Manuals; Marketing; Mechanics; Medical center; Motion; Movement; Patients; Performance; Phase; Physicians; Positioning Attribute; Procedures; Productivity; Radiation; Radio-Opaque; Renal pelvis; Reporting; Research; Robot; Robotics; System; Techniques; Tremor; Ureter; Ureteroscopes; Ureteroscopy; Urologist; Urology; Work; arm; design; ergonomics; experience; flexibility; improved; instrument; minimally invasive; prototype; public health relevance; satisfaction; skills; software development; software systems; tumor; urologic

 DESCRIPTION (provided by applicant): The goal of this proposal is to develop and evaluate an intuitive and ergonomically superior user interface for robotically-assisted ureteroscopy. Conventional ureteroscopy of the renal pelvis with a flexible endoscope is fraught with visualization, radiation exposure, and ergonomic challenges. This minimally invasive procedure enables stone removal, diagnosis for bleeding or malignancy, as well as direct biopsy and destruction of malignant tumors. For tumor inspection, the physician has to maneuver the ureteroscope through each of the 10 to 12 calyces in the kidney under fluoroscopy to keep track of the ureteroscope tip within the kidney. This involves estimating the 3D position of the ureteroscope using the 2D images from fluoroscopy. Moreover, ureteroscope control requires use of both hands, one to move the ureteroscope in and out and the other to rotate and flex the ureteroscope. Thus, there is great need for improved control and tracking of the flexible ureteroscope for this essential and common urologic procedure. Over the past two years, our research group has developed a robotic mechanical system that addresses some of these ergonomic challenges. This robotic assembly also provides a foundation to develop software and hardware to address the other challenges associated with ureteroscopy. The goal of this proposal is to develop and evaluate software for intuitive control of the robot using an affordable hardware interface device such as a joystick. The central hypothesis of this proposal is that development of a robotic system with an intuitive interface integrated with tracking capability wil allow for more efficient, ergonomic, and accurate ureteroscopy for kidney procedures. We will address this hypothesis through these two specific aims: Specific Aim 1: Extend our existing user interface for robotically assisted ureteroscopy to provide 3D tracking of the ureteroscope tip and improve the calibration between joystick movement and tip motion. These improvements should allow the urologist to easily, efficiently, and accurately control the ureteroscope. Specifi Aim 2: Evaluate the new user interface for effectiveness, efficiency, and user satisfaction using kidney phantoms. Once the interface is considered satisfactory by our urology team, we will compare urologist performance using our robotic system versus the conventional manual technique. Our long-term goal is the development of a hardware and software system that enables lower radiation exposure to the patients and hospital staff, effective tumor inspections, and a comfortable ergonomic experience for the physicians during ureteroscopy.

 描述（由申请人提供）：该提案的目标是开发和评估用于机器人辅助输尿管镜检查的直观且符合人体工程学的卓越用户界面。使用柔性内窥镜进行肾盂的传统输尿管镜检查充满了可视化、辐射暴露和人体工程学方面的挑战。这种微创手术可以去除结石、诊断出血或恶性肿瘤，以及直接活检和破坏恶性肿瘤。对于肿瘤检查，医生必须在透视下操纵输尿管镜穿过肾脏中的 10 至 12 个肾盏，以跟踪肾脏内的输尿管镜尖端。这涉及使用荧光镜检查的 2D 图像来估计输尿管镜的 3D 位置。此外，输尿管镜控制需要使用双手，一只手将输尿管镜移入和移出，另一只手旋转和弯曲输尿管镜。因此，对于这种重要且常见的泌尿外科手术，非常需要改进输尿管软镜的控制和跟踪。 在过去的两年里，我们的研究小组开发了一种机器人机械系统，可以解决其中一些人体工程学挑战。该机器人组件还为开发软件和硬件奠定了基础，以解决与输尿管镜检查相关的其他挑战。该提案的目标是开发和评估软件，以经济实惠的方式直观地控制机器人 硬件接口设备，例如操纵杆。该提案的中心假设是，开发具有集成跟踪功能的直观界面的机器人系统将使肾脏手术的输尿管镜检查更加高效、符合人体工程学和准确。我们将通过以下两个具体目标来解决这一假设： 具体目标 1：扩展我们现有的机器人辅助输尿管镜用户界面，以提供输尿管镜尖端的 3D 跟踪 并改进操纵杆运动和尖端运动之间的校准。这些改进将使泌尿科医生能够轻松、高效、准确地控制输尿管镜。具体目标 2：使用肾脏模型评估新用户界面的有效性、效率和用户满意度。一旦我们的泌尿外科团队认为界面令人满意，我们将比较使用我们的机器人系统与传统手动技术的泌尿科医生的表现。 我们的长期目标是开发一种硬件和软件系统，能够降低患者和医院工作人员的辐射暴露，实现有效的肿瘤检查，并在输尿管镜检查期间为医生提供舒适的人体工程学体验。