Design, Prototyping and Control of a Flexible Cystoscope for Biomedical Applications

[摘要] Kidney stone and prostate hyperplasia are very common urogenital diseases all over the world. To treat these diseases, one of the ESWL (Extracorporeal Shock Wave Lithotripsy), PCNL (Percutaneous Nephrolithotomy), cystoscopes or open surgery techniques can be used. Cystoscopes named devices are used for in-vivo intervention. A flexible or rigid cystoscope device is inserted into human body and operates on interested area. In this study, a flexible cystoscope prototype has been developed. The prototype is able to bend up to ±40°in X and Y axes, has a hydrodynamic cavitation probe for rounding sharp edges of kidney stone or resection of the filled prostate with hydrodynamic cavitation method and contains a waterproof medical camera to give visual feedback to the operator. The operator steers the flexible end-effector via joystick toward target region. This paper presents design, manufacturing, control and experimental setup of the tendon driven flexible cystoscope prototype. The prototype is 10 mm in outer diameter, 70 mm in flexible part only and 120 mm in total length with flexible part and rigid tube. The experimental results show that the prototype bending mechanism, control system, manufactured prototype parts and experimental setup function properly. A small piece of real kidney stone was broken in targeted area.

[发布机构] Mechatronics Engineering Department, Yildiz Technical University, Istanbul, Turkey^1;Faculty of Engineering and Natural Science, Sabanci University, Istanbul, Turkey^2;Sabanci University Nanotechnology Research and Application Center, Istanbul, Turkey^3;Integrated Manufacturing Technologies Research and Application Center, Sabanci University, Istanbul, Turkey^4

[效力级别] 无线电电子学

[关键词] Bending mechanism;Biomedical applications;Extracorporeal shock wave lithotripsy;Flexible cystoscopes;Hydrodynamic cavitations;Outer diameters;Target regions;Visual feedback