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 publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages611-616
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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