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Hysteresis Modeling and Compensation for Distal Shaft Deflection of Flexible Ureteroscope

柔性输尿管镜末端偏转运动的迟滞特性建模与运动补偿

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Abstract

Flexible ureteroscopy (FURS) has been widely used in the diagnosis and treatment of upper urinary tract diseases. The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscope to a specific target for diagnosis and treatment. However, the hysteresis of flexible ureteroscope may be one of the most important factors that degrade the manipulation accuracy and the surgeon usually spends a long time navigating the distal shaft during surgery. In this study, we obtained hysteresis curves of distal shaft deflection for the flexible ureteroscope through extensive repeated experiments. Then, two methods based on piecewise linear approximation and long short-term memory neural network were employed to model the hysteresis curves. On this basis, we proposed two hysteresis compensation strategies for the distal shaft deflection. Finally, we carried out hysteresis compensation experiments to verify the two proposed compensation strategies. Experimental results showed that the hysteresis compensation strategies can significantly improve position accuracy with mean compensation errors of no more than 5°.

摘要

柔性输尿管镜手术已广泛应用于上尿路疾病的诊断和治疗中, 该手术的关键步骤是医生操作柔性镜末端到达目标区域进行诊疗. 然而, 柔性输尿管镜末端的偏转会表现出很明显的柔性迟滞特性, 这可能是降低医生操作精度的最重要因素之一, 因此在实际手术中医生往往需要花费较长的时间操作柔性镜末端到达目标治疗区域. 本研究中, 我们通过大量重复实验获得了柔性输尿管镜末端偏转的迟滞运动曲线, 然后分别使用分段线性**似方法和长短期记忆网络方法对迟滞特性曲线进行建模分析. 在此基础上, 我们提出两种柔性镜末端偏转运动的迟滞补偿策略并开展一系列补偿实验来验证运动补偿策略的有效性. 实验结果表明这两种迟滞补偿策略可以显著地提高柔性镜末端偏转运动精度, **均补偿误差不超过5°.

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Authors and Affiliations

  1. Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China

    Peng Hua  (华 鹏), **ongpeng Shu  (舒雄鹏) & Le **e  (谢 叻)

  2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200030, China

    Le **e  (谢 叻)

Authors
  1. Peng Hua  (华 鹏)
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  2. **ongpeng Shu  (舒雄鹏)
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  3. Le **e  (谢 叻)
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Correspondence to Le **e  (谢 叻).

Additional information

Foundation item: the National Natural Science Foundation of China (Nos. 61973211, 62133009, 51911540479 and M-0221), the Project of the Science and Technology Commission of Shanghai Municipality (Nos. 21550714200 and 20DZ2220400), the Project of the Institute of Medical Robotics of Shanghai Jiao Tong University, and the Interdisciplinary Program of Shanghai Jiao Tong University (Nos. ZH2018QNB31 and YG2017MS27)

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Hua, P., Shu, X. & **e, L. Hysteresis Modeling and Compensation for Distal Shaft Deflection of Flexible Ureteroscope. J. Shanghai Jiaotong Univ. (Sci.) 28, 507–516 (2023). https://doi.org/10.1007/s12204-022-2505-7

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  • DOI: https://doi.org/10.1007/s12204-022-2505-7

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