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Rosa, Benoît
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document
Robotization of a ureteroscope for efficient semi-automatic vaporization of kidney stones
Abstract
This paper presents a robotized system for semi-automatic vaporization of kidney stones during ureteroscopy. The kidney stone must be regularly sweeped while shooting a laser in order to efficiently vaporize it, which is a tedious task to do with current instrumentation. Shape memory alloy wires are integrated into the tip of a standard ureteroscope in order to control its movements using visual servoing. Furthermore, boundaries of the stone are detected in ureteroscopic images in order to guide the sweeping. The next step is to integrate a planning phase for the ureteroscope movements based on the stone detection algorithm.