A Master-Slave Robotic System for Transurethral Surgery

Transurethral prostatectomy surgical robot is the frontier field in surgical robot, which combines the traditional Transurethral Resection Prostate (TURP) and burgeoning Robot-assisted Minimally Invasive Surgery (RMIS). It can overcome the existing problems and effectively improve the efficiency and treatment of operation. In this regard, a master-slave robotic system is proposed to assist the surgeon to complete the transurethral surgery better in this paper. The Touch Haptic Device is employed to serve as master device, and an active algorithm based on the serial 6 DOFs robot is developed to realize Remote Center of Motion (RCM) which is the basic requirement of minimally invasive surgery. A series of vitro experiments are conducted to test the validity of the system and assess the trajectory accuracy of excision. The experiments results expresses that the accuracy is below 0.6 mm which satisfies the requirements of transurethral surgery.