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

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

*この研究の対応する著者

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ2892-2897
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
継続期間: 2011 5月 92011 5月 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
国/地域China
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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