Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a spe...Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment.However,the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery.In this study,we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments.Then,two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis,we proposed two hysteresis compensation strategies for the distal shaft deflection.Finally,wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies.Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5°.展开更多
基金the National Natural Science Foundation of China(Nos.61973211,62133009,51911540479 and M-0221)the Project of the Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)the Project of the Institute of Medical Robotics of Shanghai Jiao Tong University,and the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.ZH2018QNB31 and YG2017MS27)。
文摘Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment.However,the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery.In this study,we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments.Then,two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis,we proposed two hysteresis compensation strategies for the distal shaft deflection.Finally,wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies.Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5°.
