Bending laser manipulator for intrauterine surgery and viscoelastic model of fetal rat tissue

Kanako Harada, Zhang Bo, Shin Enosawa, Toshio Chiba, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    26 Citations (Scopus)

    Abstract

    A bending laser manipulator of 2.4 mm in diameter has been developed for intrauterine fetal surgery. This manipulator deflects a laser fiber in any direction thorough 90 degrees. The results of a positioning test and in vitro / in vivo tests are reported. Meanwhile, creep tests for fetal rat tissue of 16 to 20 days in gestation were performed to evaluate fetal tissue fragility. Unique features of fetal rat tissue compared to other soft organs are discussed and a viscoelastic model of the fetal rat tissue was proposed. The result of the modeling will be used not only for fabricating fetal tissue phantom but also for the force control of robotic application for fetal surgery.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages611-616
    Number of pages6
    DOIs
    Publication statusPublished - 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
    Duration: 2007 Apr 102007 Apr 14

    Other

    Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
    CityRome
    Period07/4/1007/4/14

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

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  • Cite this

    Harada, K., Bo, Z., Enosawa, S., Chiba, T., & Fujie, M. G. (2007). Bending laser manipulator for intrauterine surgery and viscoelastic model of fetal rat tissue. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 611-616). [4209158] https://doi.org/10.1109/ROBOT.2007.363054