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This work was supported by the "Ministerio de Economia, Industria y Competitividad" within the framework of the project "LITHOS: Cirugia Robotica para el Tratamiento de Calculos Renales" under Grant RTC-2016-5338-1.

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Rodriguez-Vila, BorjaAuthor

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October 18, 2022
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Position Based Model of a Flexible Ureterorenoscope in a Virtual Reality Training Platform for a Minimally Invasive Surgical Robot

Publicated to:Ieee Access. 7 177414-177426 - 2019-01-01 7(), DOI: 10.1109/ACCESS.2019.2957857

Authors: Peral-Boiza, Maria; Gomez-Fernandez, Teresa; Sanchez-Gonzalez, Patricia; Rodriguez-Vila, Borja; Gomez, Enrique J; Gutierrez, Alvaro

Affiliations

Ctr Invest Biomed Red Bioingn Biomat & Nanomed, Madrid 28029, Spain - Author
Ctr Tecnol Biomed, ETS Ingenieros Telecomunicac, Grp Bioingn & Telemed, Madrid 28040, Spain - Author
Univ Europea Madrid, Escuela Arquitectura Ingn & Diseno, Madrid 28670, Spain - Author
Univ Politecn Madrid, ETS Ingenieros Telecomunicac, E-28040 Madrid, Spain - Author

Abstract

Although the total number of ureteroscopy interventions during the past years has significantly increased, current flexible ureteroscopy procedures still present some limitations to urologic surgeons. However, nowadays different robotic systems have been developed in order to reduce those limitations. Flexible ureteroscopy robots provide a technological alternative which combines the benefits that this type of procedures offers to the patients, and solutions to the problems encountered from the surgeons perspective. In this paper, a virtual reality training platform for robot-assisted flexible ureterorenoscopy interventions is presented. A position based model for the virtual flexible endoscope is detailed and a standard user interface for the training platform is designed. Moreover, a comparative analysis of the performance of the training platform in different scenarios, including the navigation through a three-dimensional ureterorenal model, is presented. The obtained results determine that the training platform presents different computational rates depending on the complexity of the implemented environment and on the number of collisions and constraints that have to be handled. Nevertheless, the virtual model is visually plausible, effective for real-time user interaction and suitable for training.

Keywords

Assisted laparoscopyErgonomicsFeasibilityFlexible ureterorenoscopyKidney-stonesLaser lithotripsyMagnetic navigation systemOpen surgeryPosition based modellingShape matchingSimulationSurgical simulationTelelap alf-xTraining environmentUreteroscopy

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Ieee Access due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2019, it was in position 35/156, thus managing to position itself as a Q1 (Primer Cuartil), in the category Computer Science, Information Systems.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 1.01, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-07, the following number of citations:

  • WoS: 3
  • Scopus: 4

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-07:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 44 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.