Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery

Bo Zhang, Yo Kobayashi, Yoshinari Maeda, Toshio Chiba, Masakatsu G. Fujie

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

11 Citations (Scopus)

Abstract

The clinical target of this study is intratracheal balloon occlusion from minimally invasive fetal surgery for Congenital Diaphragmatic Hernia (CDH). The target for the surgery is prenatal temporary tracheal occlusion which enlarges the fetal lungs, and this procedure is promising for severe cases. A balloon is supposed to be inserted for tracheal occlusion using the manipulator. We propose a novel robotic manipulator for intrauterine fetal surgery for tracheal occlusion. In this study, a prototype of the robotic manipulator using a wire-driven mechanism has been developed. The manipulator is thin in structure and has multiple degrees of freedom to avoid damage to the fragile cells of the fetus. Specifically, we describe our development of the 3-unit robotic manipulator with ball joint-shaped arthroses and shaft diameter of 2.4 mm. The mechanism of the robotic manipulator was designed for providing the bending motion and controlling the contact force at its tip by the tension of the driven wires. Results of the experiment suggested that the contact force was controlled to under 0.04 N to insert the manipulator through the mouth of the fetus into the trachea without causing damage to the fetal tissues or changing the fetal attitude in the uterus.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2892-2897
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai
Duration: 2011 May 92011 May 13

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CityShanghai
Period11/5/911/5/13

Fingerprint

Surgery
Manipulators
Robotics
Wire
Balloons
Tissue
Experiments

ASJC Scopus subject areas

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

Cite this

Zhang, B., Kobayashi, Y., Maeda, Y., Chiba, T., & Fujie, M. G. (2011). Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2892-2897). [5979976] https://doi.org/10.1109/ICRA.2011.5979976

Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery. / Zhang, Bo; Kobayashi, Yo; Maeda, Yoshinari; Chiba, Toshio; Fujie, Masakatsu G.

Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 2892-2897 5979976.

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

Zhang, B, Kobayashi, Y, Maeda, Y, Chiba, T & Fujie, MG 2011, Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery. in Proceedings - IEEE International Conference on Robotics and Automation., 5979976, pp. 2892-2897, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, 11/5/9. https://doi.org/10.1109/ICRA.2011.5979976
Zhang B, Kobayashi Y, Maeda Y, Chiba T, Fujie MG. Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 2892-2897. 5979976 https://doi.org/10.1109/ICRA.2011.5979976
Zhang, Bo ; Kobayashi, Yo ; Maeda, Yoshinari ; Chiba, Toshio ; Fujie, Masakatsu G. / Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 2892-2897
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