Mp43-05 Development of a Novel Simulation System for Flexible Ureteroscopy With Tip and Hand Motion Tracking

You have accessJournal of UrologySurgical Technology & Simulation: Instrumentation & Technology II (MP43)1 May 2024MP43-05 DEVELOPMENT OF A NOVEL SIMULATION SYSTEM FOR FLEXIBLE URETEROSCOPY WITH TIP AND HAND MOTION TRACKING Jonguk Lee, Ihtisham Ahmad, Kai-Ho Fok, Jessica Trac, Sufyan Shaikh, Brian Carrillo, and Monica Farcas Jonguk LeeJonguk Lee , Ihtisham AhmadIhtisham Ahmad , Kai-Ho FokKai-Ho Fok , Jessica TracJessica Trac , Sufyan ShaikhSufyan Shaikh , Brian CarrilloBrian Carrillo , and Monica FarcasMonica Farcas View All Author Informationhttps://doi.org/10.1097/01.JU.0001008720.96896.83.05AboutPDF ToolsAdd to favoritesDownload CitationsTrack CitationsPermissionsReprints ShareFacebookLinked InTwitterEmail Abstract INTRODUCTION AND OBJECTIVE: Motion-tracking in surgical simulation is valuable for improving hand dexterity and 3D spatial awareness. While motion analysis of flexible ureteroscopy (fURS) using the scope's body has been explored, evaluating the movement of the scope tip has not been studied. Here, we designed a synchronized motion-tracking and video capture system capable of collecting kinematic parameters of the ureteroscope's body, distal tip, and surgeon's hand during fURS. METHODS: We attached one Polhemus Patriot sensor 90 degrees to the instrument port of a LithoVue™ Single-Use Ureteroscope, and a second micro-sensor to the tip of the scope (Figure 1A). Both sensors track the 3-D position (x, y, z) and orientation (pitch, roll, yaw). Additionally, we affixed a potentiometer to the scope's control lever to measure the angular position. Two synchronized cameras captured both the endoscopic view and the hand of the operator. All these scope peripherals were interfaced using the Raspberry Pi microprocessor, and a custom software developed in Python. We 3D-printed a human kidney model obtained from a CT scan. To validate our system, we performed a series of tests consisting of discrete translation and orientation in 3D space, as well as mapping the mock kidney. RESULTS: Our system showed that location and movement data from the tip sensor correlated well with the shape and size of the mock kidney that was mapped (Figure 1B). In addition, our system tracks the ureteroscope body's translation in the x-, y-, and z-axis, as well as pitch, roll, and yaw at pre-defined orientations of 0, ±30, ±60 and±90 degrees (Figure 1C). In addition, the control lever deflection was consistently correlated with 275 degrees of tip deflection with the potentiometer. CONCLUSIONS: We implemented a comprehensive motion-tracking and video-capturing system for fURS that records scope movement, surgeon's hand-motion, and intrarenal tip movement. Integrating video-capture capability with motion-tracking presents a crucial opportunity to increase efficiency in teaching and evaluating endourology skills. Future studies will investigate kinematic parameters between different skill levels and different surgical settings. Download PPT Source of Funding: None © 2024 by American Urological Association Education and Research, Inc.FiguresReferencesRelatedDetails Volume 211Issue 5SMay 2024Page: e694 Advertisement Copyright & Permissions© 2024 by American Urological Association Education and Research, Inc.Metrics Author Information Jonguk Lee More articles by this author Ihtisham Ahmad More articles by this author Kai-Ho Fok More articles by this author Jessica Trac More articles by this author Sufyan Shaikh More articles by this author Brian Carrillo More articles by this author Monica Farcas More articles by this author Expand All Advertisement PDF downloadLoading ...