Micro manipulators for intrauterine fetal surgery in an open MRI

Kanako Harada, Kota Tsubouchi, Masakatsu G. Fujie, Toshio Chiba

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

    57 Citations (Scopus)

    Abstract

    We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages502-507
    Number of pages6
    Volume2005
    DOIs
    Publication statusPublished - 2005
    Event2005 IEEE International Conference on Robotics and Automation - Barcelona
    Duration: 2005 Apr 182005 Apr 22

    Other

    Other2005 IEEE International Conference on Robotics and Automation
    CityBarcelona
    Period05/4/1805/4/22

    Keywords

    • Fetal surgery
    • Intrauterine repair
    • Open MRI
    • Spina bifida
    • Surgical robot

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

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  • Cite this

    Harada, K., Tsubouchi, K., Fujie, M. G., & Chiba, T. (2005). Micro manipulators for intrauterine fetal surgery in an open MRI. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 502-507). [1570168] https://doi.org/10.1109/ROBOT.2005.1570168