Development of a robotic manipulator system for congenital diaphragmatic hernia: Bending control of the robotic manipulator to approach fetal trachea

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

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

2 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 a prenatal temporary tracheal occlusion, which enlarges the fetal lungs, and is a promising procedure 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, the 3-unit robotic manipulator with ball joint-shaped arthroses and a shaft diameter of 2.4 mm using a wire-driven mechanism has been developed to approach the fetal trachea without the risk of damage to fetal tissue. The robotic manipulator has a thin structure and 7 degrees of freedom to avoid damage to the fragile fetal cells. However, the positioning control of the robotic manipulator is very difficult. In this paper, the mechanism of the robotic manipulator positioning control was confirmed by measuring the motion of each unit through the experiment. Additionally, a simulation was developed to estimate the mechanism of the robotic manipulator positioning control, and an approach method was considered. The results of the evaluation experiment suggested that the robotic manipulator could approach the fetal trachea through the mouth, and that the contact force was controlled to under 0.05 [N].

Original languageEnglish
Title of host publicationConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Pages723-728
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011 - Anchorage, AK
Duration: 2011 Oct 92011 Oct 12

Other

Other2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011
CityAnchorage, AK
Period11/10/911/10/12

Fingerprint

Manipulators
Robotics
Surgery
Balloons
Degrees of freedom (mechanics)
Experiments
Wire
Tissue

Keywords

  • Congenital Diaphragmatic Hernia
  • Fetal Surgery
  • Robotic Manipulator

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

Cite this

Zhang, B., Maeda, Y., Chiba, T., Kobayashi, Y., & Fujie, M. G. (2011). Development of a robotic manipulator system for congenital diaphragmatic hernia: Bending control of the robotic manipulator to approach fetal trachea. In Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics (pp. 723-728). [6083727] https://doi.org/10.1109/ICSMC.2011.6083727

Development of a robotic manipulator system for congenital diaphragmatic hernia : Bending control of the robotic manipulator to approach fetal trachea. / Zhang, Bo; Maeda, Yoshinari; Chiba, Toshio; Kobayashi, Yo; Fujie, Masakatsu G.

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2011. p. 723-728 6083727.

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

Zhang, B, Maeda, Y, Chiba, T, Kobayashi, Y & Fujie, MG 2011, Development of a robotic manipulator system for congenital diaphragmatic hernia: Bending control of the robotic manipulator to approach fetal trachea. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics., 6083727, pp. 723-728, 2011 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2011, Anchorage, AK, 11/10/9. https://doi.org/10.1109/ICSMC.2011.6083727
Zhang B, Maeda Y, Chiba T, Kobayashi Y, Fujie MG. Development of a robotic manipulator system for congenital diaphragmatic hernia: Bending control of the robotic manipulator to approach fetal trachea. In Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2011. p. 723-728. 6083727 https://doi.org/10.1109/ICSMC.2011.6083727
Zhang, Bo ; Maeda, Yoshinari ; Chiba, Toshio ; Kobayashi, Yo ; Fujie, Masakatsu G. / Development of a robotic manipulator system for congenital diaphragmatic hernia : Bending control of the robotic manipulator to approach fetal trachea. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2011. pp. 723-728
@inproceedings{91b2b7ef7e4a4eae9361c40ec55c7133,
title = "Development of a robotic manipulator system for congenital diaphragmatic hernia: Bending control of the robotic manipulator to approach fetal trachea",
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 a prenatal temporary tracheal occlusion, which enlarges the fetal lungs, and is a promising procedure 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, the 3-unit robotic manipulator with ball joint-shaped arthroses and a shaft diameter of 2.4 mm using a wire-driven mechanism has been developed to approach the fetal trachea without the risk of damage to fetal tissue. The robotic manipulator has a thin structure and 7 degrees of freedom to avoid damage to the fragile fetal cells. However, the positioning control of the robotic manipulator is very difficult. In this paper, the mechanism of the robotic manipulator positioning control was confirmed by measuring the motion of each unit through the experiment. Additionally, a simulation was developed to estimate the mechanism of the robotic manipulator positioning control, and an approach method was considered. The results of the evaluation experiment suggested that the robotic manipulator could approach the fetal trachea through the mouth, and that the contact force was controlled to under 0.05 [N].",
keywords = "Congenital Diaphragmatic Hernia, Fetal Surgery, Robotic Manipulator",
author = "Bo Zhang and Yoshinari Maeda and Toshio Chiba and Yo Kobayashi and Fujie, {Masakatsu G.}",
year = "2011",
doi = "10.1109/ICSMC.2011.6083727",
language = "English",
isbn = "9781457706523",
pages = "723--728",
booktitle = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",

}

TY - GEN

T1 - Development of a robotic manipulator system for congenital diaphragmatic hernia

T2 - Bending control of the robotic manipulator to approach fetal trachea

AU - Zhang, Bo

AU - Maeda, Yoshinari

AU - Chiba, Toshio

AU - Kobayashi, Yo

AU - Fujie, Masakatsu G.

PY - 2011

Y1 - 2011

N2 - 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 a prenatal temporary tracheal occlusion, which enlarges the fetal lungs, and is a promising procedure 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, the 3-unit robotic manipulator with ball joint-shaped arthroses and a shaft diameter of 2.4 mm using a wire-driven mechanism has been developed to approach the fetal trachea without the risk of damage to fetal tissue. The robotic manipulator has a thin structure and 7 degrees of freedom to avoid damage to the fragile fetal cells. However, the positioning control of the robotic manipulator is very difficult. In this paper, the mechanism of the robotic manipulator positioning control was confirmed by measuring the motion of each unit through the experiment. Additionally, a simulation was developed to estimate the mechanism of the robotic manipulator positioning control, and an approach method was considered. The results of the evaluation experiment suggested that the robotic manipulator could approach the fetal trachea through the mouth, and that the contact force was controlled to under 0.05 [N].

AB - 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 a prenatal temporary tracheal occlusion, which enlarges the fetal lungs, and is a promising procedure 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, the 3-unit robotic manipulator with ball joint-shaped arthroses and a shaft diameter of 2.4 mm using a wire-driven mechanism has been developed to approach the fetal trachea without the risk of damage to fetal tissue. The robotic manipulator has a thin structure and 7 degrees of freedom to avoid damage to the fragile fetal cells. However, the positioning control of the robotic manipulator is very difficult. In this paper, the mechanism of the robotic manipulator positioning control was confirmed by measuring the motion of each unit through the experiment. Additionally, a simulation was developed to estimate the mechanism of the robotic manipulator positioning control, and an approach method was considered. The results of the evaluation experiment suggested that the robotic manipulator could approach the fetal trachea through the mouth, and that the contact force was controlled to under 0.05 [N].

KW - Congenital Diaphragmatic Hernia

KW - Fetal Surgery

KW - Robotic Manipulator

UR - http://www.scopus.com/inward/record.url?scp=83755173484&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=83755173484&partnerID=8YFLogxK

U2 - 10.1109/ICSMC.2011.6083727

DO - 10.1109/ICSMC.2011.6083727

M3 - Conference contribution

AN - SCOPUS:83755173484

SN - 9781457706523

SP - 723

EP - 728

BT - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

ER -