Tracy Marien

Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study

Transurethral resection of bladder tumors (TURBT) presents surgeons with challenges of limited tool dexterity. This paper investigates the limitations of dexterity and resection reach and accuracy within the intra-vesicular space of the bladder. The paper assumes the kinematics and geometry of curre…