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Proceedings Paper

Robotically assisted ureteroscopy for kidney exploration
Author(s): Hadi F. Talari; Reza Monfaredi; Emmanuel Wilson; Emily Blum; Christopher Bayne; Craig Peters; Anlin Zhang; Kevin Cleary
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Paper Abstract

Ureteroscopy is a minimally invasive procedure for diagnosis and treatment of urinary tract pathology. Ergonomic and visualization challenges as well as radiation exposure are limitations to conventional ureteroscopy. Therefore, we have developed a robotic system to “power drive” a flexible ureteroscope with 3D tip tracking and pre-operative image overlay. The proposed system was evaluated using a kidney phantom registered to pre-operative MR images. Initial experiments show the potential of the device to provide additional assistance, precision, and guidance during urology procedures.

Paper Details

Date Published: 3 March 2017
PDF: 6 pages
Proc. SPIE 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, 1013512 (3 March 2017); doi: 10.1117/12.2253862
Show Author Affiliations
Hadi F. Talari, Children's National Medical Ctr. (United States)
Reza Monfaredi, Children's National Medical Ctr. (United States)
Emmanuel Wilson, Children's National Medical Ctr. (United States)
Emily Blum, Children's National Medical Ctr. (United States)
Christopher Bayne, Children's National Medical Ctr. (United States)
Craig Peters, The Univ. of Texas Southwestern (United States)
Anlin Zhang, Tianjin Univ. (China)
Kevin Cleary, Children's National Medical Ctr. (United States)


Published in SPIE Proceedings Vol. 10135:
Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling
Robert J. Webster; Baowei Fei, Editor(s)

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