A pilot ex vivo evaluation of a telerobotic system for transurethral intervention and surveillance

Ryan Pickens, Andrea Bajo, Nabil Simaan, Duke Herrell

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

Introduction: Transurethral resection of bladder tumor (TURBT) and pathological staging are both standard surgical therapies for nonmuscle-invasive bladder cancer and integral parts of the diagnostic evaluation and progression monitoring of all bladder tumors. We developed and tested a dexterous robot that can fit through a standard resectoscope for evaluation for possible en bloc resection of bladder tumors, especially tumors along the dome and anterior wall of the bladder. Materials and Methods: Our dexterous robot uses a continuum (snake-like) mechanical architecture with three working channels through which a fiberscope, biopsy graspers, and a holmium laser were placed. The continuum robot has two segments. Using indigo carmine, injections were performed through the detrusor muscle into the mucosa of the ex vivo bovine bladders at a total of 11 positions throughout all quadrants of the bladder. The snake robot was used in conjunction with the holmium laser to ablate nine of the lesions; two additional lesions were resected en bloc using the grasper and the laser down through the muscle layer. Results: Both experiments showed that the robotic system was able to directly visualize all 11 targets. In both the bladders, we were able to resect en bloc two tumors using the grasper and 200μm holmium laser fiber down to the muscle layer indicating a good resection. All of the other targets were completely ablated using the holmium laser. Conclusion: The dexterous robot allowed for visualization as well as provided adequate ablation and en bloc resection of bladder lesions throughout the entire bladder.

Original languageEnglish (US)
Pages (from-to)231-234
Number of pages4
JournalJournal of Endourology
Volume29
Issue number2
DOIs
StatePublished - Feb 1 2015
Externally publishedYes

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Robotics
Urinary Bladder
Solid-State Lasers
Urinary Bladder Neoplasms
Snakes
Muscles
Indigo Carmine
Neoplasm Staging
Neoplasms
Mucous Membrane
Lasers
Biopsy
Injections

All Science Journal Classification (ASJC) codes

  • Urology

Cite this

A pilot ex vivo evaluation of a telerobotic system for transurethral intervention and surveillance. / Pickens, Ryan; Bajo, Andrea; Simaan, Nabil; Herrell, Duke.

In: Journal of Endourology, Vol. 29, No. 2, 01.02.2015, p. 231-234.

Research output: Contribution to journalArticle

Pickens, Ryan ; Bajo, Andrea ; Simaan, Nabil ; Herrell, Duke. / A pilot ex vivo evaluation of a telerobotic system for transurethral intervention and surveillance. In: Journal of Endourology. 2015 ; Vol. 29, No. 2. pp. 231-234.
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