Kinematic and experimental investigation of manual resection tools for transurethral bladder tumor resection

Transurethral Resection of Bladder Tumors (TURBT) is a challenging procedure partly due to resectoscope limitations. To date, manual resection performance has not been fully characterized. This work characterizes manual resection performance in the bladder while analyzing the effect of resection location on accuracy.

Kinematic simulations are used to assess kinematic measures of resection dexterity. An experimental protocol for manual resection accuracy assessment is developed. Cross correlations between the theoretical performance measures and the observed experimental accuracy are investigated.

Tangential accuracy correlates relatively strongly with normal singular value and moderately with tangential kinematic conditioning index and tangential minimum singular value. Simulations also clarified difficulties in resecting close to the bladder neck.

Measures to evaluate accuracy and dexterity of TURBT from a kinematic viewpoint are presented to provide a currently missing quantified dexterity baseline in manual TURBT. Limitations in various bladder regions are illustrated. Copyright © 2016 John Wiley & Sons, Ltd.

The international journal of medical robotics + computer assisted surgery : MRCAS. 2016 Oct 20 [Epub ahead of print]

Nima Sarli, Tracy Marien, Christopher R Mitchell, Giuseppe Del Giudice, Mary S Dietrich, S Duke Herrell, Nabil Simaan

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37240, USA., Department of Urologic Surgery, A-1302 Medical Center North, Vanderbilt University Medical Center, Nashville, TN, 37232-2765., School of Nursing, Vanderbilt University, Nashville, TN, USA., Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37240, USA. .