Optimization Design and Bending Hysteresis Compensation of a Flexible Ureteroscopy Robot.

Key Points

• The aim is to design and optimize a flexible ureteroscopy robot for effective lithotripsy.
• Developed a flexible ureteroscopy robot with optimization design strategies.
• Implemented compensation techniques for bending hysteresis.
• Tested the robot's performance in a simulated lithotripsy setting.
• The robot met the essential requirements for ureteroscopic lithotripsy.
• Displayed improved performance metrics in initial evaluations.