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

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

doi:10.1109/ROBOT.2007.363054

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

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

^*Corresponding author for this work

Future Robotics Organization

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

30 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 language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	611-616
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363054
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

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

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2007.363054

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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 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 611-616). [4209158] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363054

Bending laser manipulator for intrauterine surgery and viscoelastic model of fetal rat tissue. / Harada, Kanako; Bo, Zhang; Enosawa, Shin et al.

2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 611-616 4209158 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Harada, K, Bo, Z, Enosawa, S, Chiba, T & Fujie, MG 2007, Bending laser manipulator for intrauterine surgery and viscoelastic model of fetal rat tissue. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209158, Proceedings - IEEE International Conference on Robotics and Automation, pp. 611-616, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363054

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AB - 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.

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

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