1. Volume 66, Issue 6, Pages 1092-1100 (December 2014)
A New Robot for Flexible Ureteroscopy: Development and Early Clinical Results (IDEAL Stage 1–2b) 
Remzi Saglam, Ahmet Yaser Muslumanoglu, Zafer Tokatlı, Turhan Çaşkurlu, Kemal Sarica, Ali İhsan Taşçi, Bülent Erkurt, Evren Süer, Ahmet Sinan Kabakci, Glenn Preminger, Olivier Traxer, Jens J. Rassweiler 
European Urology 
Volume 66, Issue 6, Pages (December 2014)
DOI: /j.eururo
Copyright © 2014 European Association of Urology Terms and Conditions

2. Fig. 1
Prototype of Roboflex Avicenna for flexible ureteroscopy: (a) console with seat, armrest, and monitor; (b) manipulator of the flexible ureteroscope; (c) use of the device in an experimental setting using a ureteroscopy model (R.S.).
European Urology  , DOI: ( /j.eururo )
Copyright © 2014 European Association of Urology Terms and Conditions

3. Fig. 2
New design of Roboflex Avicenna for flexible ureteroscopy: (a) manipulator for the flexible ureteroscope; (b) console with seat, adjustable armrest, two joysticks, central wheel, and touch screen and set-up for clinical use including a C-arm, a monitor for digital ureteroscopy, a laser device, and an irrigation bag.
European Urology  , DOI: ( /j.eururo )
Copyright © 2014 European Association of Urology Terms and Conditions

4. Fig. 3
A different solution for fine adjustment of deflection of the endoscope: (a) In the prototype, the wheel is integrated with the joystick; (b) in the new design, the central wheel is integrated with the console with robust mechanics.
European Urology  , DOI: ( /j.eururo )
Copyright © 2014 European Association of Urology Terms and Conditions

5. Fig. 4
The touch screen of the control monitor with various functions: adaptation to mode of ureterorenoscope (ie, US or European), change of speed of rotation and advancement, advancement and retraction of the laser fibre, adjustment of the irrigation flow rate, and display of the degree of rotation and deflection.
European Urology  , DOI: ( /j.eururo )
Copyright © 2014 European Association of Urology Terms and Conditions

6. Fig. 5
The manipulator of the endoscope covered by a sterile drape. (a) The flexible ureterorenoscope is fixed in the manipulator and stabilized by two holders. The distal stabilizer also fixes the access sheath. The laser fibre and irrigation tube are attached to the endoscope by a control unit. (b) Control unit to advance the laser fibre.
European Urology  , DOI: ( /j.eururo )
Copyright © 2014 European Association of Urology Terms and Conditions