Algorithm of autonomous control of a robotic complex for performing urological operations

The purposes of the research is to study the possibilities of autonomous control of a robotic complex for performing urological operations; to develop an algorithm for planning the trajectory of movement of the distal end of the ureteroscope to the stone; to use a model kidney with a vision system as an algorithm test. Methods. To achieve this goal, methods of mathematical modeling of dynamic systems, control theory and theory of mechanisms and machines were used. When developing a trajectory planning algorithm, Delaunay triangulation is used to transform into a graph, and Dijkstra's algorithm is used to ensure a given movement of the distal end of the ureteroscope. When creating software products, the mathematical package Matlab is used. To test the algorithm, a mock-up of a kidney with a vision system was used. Results. In the course of the study, an algorithm was proposed for planning the trajectory of the distal end of the ureteroscope by dividing space into triangles using Delaunay triangulation and planning the trajectory of the distal end of the ureteroscope in the resulting graph using Dijkstra's algorithm. The scheme of the executive module of the medical stand for autonomous control of the ureteroscope, as well as a mock-up of the kidney for conducting experiments, is proposed. The reliability has been verified using experimental data. Conclusion. The results obtained will make it possible to create an autonomous robotic complex for performing retrograde intrarenal surgery. This will eliminate the human factor, ease the burden on the surgeon, and also make the movement of the distal end of the ureteroscope during surgery faster and more accurate. Also, the proposed scheme with a mock-up of the kidney will make it possible to develop a training and educational complex for teaching surgeons a new method of performing surgery.